CN106873616B - Method for judging ground state of flight control system - Google Patents
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Abstract
The invention belongs to the safety design technology of a flight control system, and relates to a method for judging the ground state of the flight control system, which adopts the technical scheme that: when the current start signal is in a put-down state and the host wheel bearing signal is in a non-bearing state, the step of judging whether the ground state condition is met is as follows: signal acquisition and processing; acquiring a state value array of a ground state; performing condition judgment of the ground state: and when the continuous 1s of the voting value of the speed state signal of the main wheel is that the speed of the main wheel is larger than the upper limit value of the speed of the main wheel, the ground state condition is not met, otherwise, the ground state condition is met. The method makes up the defect that the airplane wheel bearing signal is used as the only judgment condition of the ground state, and effectively improves the flight quality of the flight control system.
Description
Technical Field
The invention belongs to the safety design technology of a flight control system, and relates to a method for judging the ground state of the flight control system.
Background
The ground state of a certain type of airplane flight control system is taken as a typical flight control mode, and the ground filter is added in a longitudinal control structure to realize the switching of landing and landing states, reduce control transient state and realize the effective control of the ground state. The conventional ground state condition determination method depends on the state of the wheel carrying signal from two dual redundancy wheel carrying hardware switches. The conventional ground state condition determination method has disadvantages in that: firstly, security and reliability are poor, and the wheel bears the mechanical pressure that hardware switch signal state originated the wheel, receives external influence easily to two dual redundancy wheels bear hardware switch and easily produce 2: 2, the airplane wheel bears singular faults, so that the current high-safety and high-reliability use requirements are difficult to meet; secondly, the hardware switch failure rate is high, which results in reduced system maintainability.
Disclosure of Invention
The purpose of the invention is: the method for judging the ground state of the flight control system is reliable and effective, avoids the defect that a airplane wheel bearing signal is used as the only condition for judging the ground state, ensures the landing and landing of the flight control system and the effective switching of the ground state, realizes the effective control of the ground state, and meets the use requirements of an inner field and an outer field of the airplane flight control system.
The technical scheme of the invention is as follows:
a method for judging the ground state of a flight control system comprises the following steps:
step 1, respectively collecting front airplane wheel data by each redundancy flight control computer in four redundancy flight control computers, wherein the front airplane wheel data comprises: nose gear signals and wheel bearing signals; the front landing gear signal is divided into a front landing gear retraction state and a front landing gear extension state, and the airplane wheel bearing signal is divided into an airplane wheel bearing state and an airplane wheel non-bearing state;
one redundancy flight control computer in the four redundancy flight control computers collects data of a main wheel, wherein the data of the main wheel comprises: the speed of the left main machine wheel of the module A, the speed of the right main machine wheel of the module A, the speed of the left main machine wheel of the module B, the speed of the right main machine wheel of the module B and a wheel speed effective word; the wheel speed valid word is divided into a wheel speed valid state and a wheel speed invalid state;
step 2, each redundant flight control computer transmits the data of the front airplane wheel acquired by the flight control computer to other 3 flight control computers in a crossed manner, and the flight control computer which acquires the data of the main airplane wheel transmits the data of the main airplane wheel to the other 3 flight control computers;
each redundancy flight control computer converts the collected host wheel data into a module A left host wheel speed state signal, a module A right host wheel speed state signal, a module B left host wheel speed state signal and a module B right host wheel speed state signal of a discrete magnitude signal;
step 3, carrying out identical and consistent voting on the nose landing gear signals with the redundancy of 4 by each redundancy flight control computer, and giving out a voting result as a nose landing gear retraction state or a nose landing gear extension state; carrying out identical and consistent voting on the airplane wheel bearing signals with the redundancy of 4, and giving out a voting result as an airplane wheel bearing state or an airplane wheel non-bearing state;
the flight control computer of each redundancy votes the wheel speed state signal of the left main machine of the module A, the wheel speed state signal of the right main machine of the module A, the wheel speed state signal of the left main machine of the module B and the wheel speed state signal of the right main machine of the module B in majority, and the voting result of the wheel speed state signal of the main machine is '0' or '1';
step 4, when the nose landing gear signal voting value of a certain redundancy flight control computer is in a nose landing gear retraction state, the ground state of the redundancy flight control system is judged to be a non-ground state;
when the nose landing gear signal voting value of a certain redundancy flight control computer is in a nose landing gear down state, and the airplane wheel bearing signal voting value is in an airplane wheel bearing state, the ground state of the redundancy flight control system is judged to be the ground state;
when the nose landing gear signal voting value of a certain redundancy flight control computer is in a nose landing gear laying-down state, and the wheel bearing signal voting value is in a wheel non-bearing state, introducing a main engine wheel speed state signal to carry out condition judgment of a ground state:
when the voting value of the speed state signal of the main engine wheel is '1' and the continuous 1s is met, the ground state of the redundant flight control system is judged to be a non-ground state;
when the voting value of the main engine wheel speed state signal is 0, the ground state of the redundant flight control system is judged as the ground state.
The step 2 of converting the acquired data of the main wheel into discrete magnitude signals by the flight control computer with each redundancy specifically comprises the following steps:
the discrete magnitude signal is divided into three states for each of the main wheel speed states of each module: the main wheel speed is greater than the main wheel speed upper limit value and is a first state, the main wheel speed is less than or equal to the main wheel speed lower limit value and is a second state, and the main wheel speed is less than the main wheel speed and is less than or equal to the main wheel speed upper limit value and is a third state;
when a certain main engine wheel speed state of a certain module is a first state, the discrete quantity signal of the main engine wheel speed state is judged to be '1'; when the speed state of a certain main engine wheel of a certain module is in a second state, the discrete quantity signal of the speed state of the main engine wheel is judged to be 0; when the speed state of a certain main engine wheel of a certain module is in a third state, the discrete magnitude signal of the speed state of the main engine wheel is equal to the discrete magnitude signal value of the speed state of the main engine wheel in the last beat.
The method for voting the identity of the signals in the step 3 comprises the following steps: when the states of the four-redundancy discrete input signals are consistent, the state value of the redundancy discrete input signal is taken as the voting value; when the four-redundancy discrete input signal has the signal state of one redundancy different from other redundancies, judging that the redundancy is faulty, and taking a fault safety value as a voting value, wherein the fault safety value of the airplane wheel bearing signal is the airplane wheel non-bearing state, and the fault safety value of the nose landing gear signal is the nose landing gear down state.
The invention has the advantages that: the invention can effectively complete the condition judgment of the ground state according to the wheel bearing signal and the main engine wheel speed signal when the airplane is in the process of taking off and landing and switching the ground state, avoids the defect of taking off and landing by only adopting the wheel bearing signal, ensures the effective switching of the taking off and landing of the flight control system and the ground state, realizes the effective control of the ground state and meets the use requirements of an internal field and an external field of the airplane flight control system.
Detailed Description
The working principle of the invention is as follows: the condition judgment of the ground state of the flight control system is realized by adopting the wheel bearing signal and the main engine wheel speed signal, so that when the airplane is in landing and is in ground state conversion, a hardware switch 2 which is possibly generated is prevented: 2, the system state switching failure caused by singular faults affects the flight quality of the flight control system. When the airplane is subjected to the conditions of landing and ground states, the flight control computer judges whether the redundant flight control system meets the conditions of entering the ground state or not according to the nose landing gear signal, the airplane wheel bearing signal and the main engine wheel speed signal so as to realize effective control of the ground state.
A method for judging the ground state of a flight control system comprises the following steps:
step 1, respectively collecting front airplane wheel data by each redundancy flight control computer in four redundancy flight control computers, wherein the front airplane wheel data comprises: nose gear signals and wheel bearing signals; the front landing gear signal is divided into a front landing gear retraction state and a front landing gear extension state, and the airplane wheel bearing signal is divided into an airplane wheel bearing state and an airplane wheel non-bearing state;
one redundancy flight control computer in the four redundancy flight control computers collects data of a main wheel, wherein the data of the main wheel comprises: the speed of the left main machine wheel of the module A, the speed of the right main machine wheel of the module A, the speed of the left main machine wheel of the module B, the speed of the right main machine wheel of the module B and a wheel speed effective word; the wheel speed valid word is divided into a wheel speed valid state and a wheel speed invalid state;
step 2, each redundant flight control computer transmits the data of the front airplane wheel acquired by the flight control computer to other 3 flight control computers in a crossed manner, and the flight control computer which acquires the data of the main airplane wheel transmits the data of the main airplane wheel to the other 3 flight control computers;
each redundancy flight control computer converts the collected host wheel data into a module A left host wheel speed state signal, a module A right host wheel speed state signal, a module B left host wheel speed state signal and a module B right host wheel speed state signal of a discrete magnitude signal;
step 3, carrying out identical and consistent voting on the nose landing gear signals with the redundancy of 4 by each redundancy flight control computer, and giving out a voting result as a nose landing gear retraction state or a nose landing gear extension state; carrying out identical and consistent voting on the airplane wheel bearing signals with the redundancy of 4, and giving out a voting result as an airplane wheel bearing state or an airplane wheel non-bearing state;
the flight control computer of each redundancy votes the wheel speed state signal of the left main machine of the module A, the wheel speed state signal of the right main machine of the module A, the wheel speed state signal of the left main machine of the module B and the wheel speed state signal of the right main machine of the module B in majority, and the voting result of the wheel speed state signal of the main machine is '0' or '1'; details of majority voting can be found in the fly-by-wire flight control system, authors: songxiang, Zhang Xin, published in 2003, national defense industry publishing society.
Step 4, when the nose landing gear signal voting value of a certain redundancy flight control computer is in a nose landing gear retraction state, the ground state of the redundancy flight control system is judged to be a non-ground state;
when the nose landing gear signal voting value of a certain redundancy flight control computer is in a nose landing gear down state, and the airplane wheel bearing signal voting value is in an airplane wheel bearing state, the ground state of the redundancy flight control system is judged to be the ground state;
when the nose landing gear signal voting value of a certain redundancy flight control computer is in a nose landing gear laying-down state, and the wheel bearing signal voting value is in a wheel non-bearing state, introducing a main engine wheel speed state signal to carry out condition judgment of a ground state:
when the voting value of the speed state signal of the main engine wheel is '1' and the continuous 1s is met, the ground state of the redundant flight control system is judged to be a non-ground state;
when the voting value of the main engine wheel speed state signal is 0, the ground state of the redundant flight control system is judged as the ground state.
The step 2 of converting the acquired data of the main wheel into discrete magnitude signals by the flight control computer with each redundancy specifically comprises the following steps:
the discrete magnitude signal is divided into three states for each of the main wheel speed states of each module: the main wheel speed is greater than the main wheel speed upper limit value and is a first state, the main wheel speed is less than or equal to the main wheel speed lower limit value and is a second state, and the main wheel speed is less than the main wheel speed and is less than or equal to the main wheel speed upper limit value and is a third state;
when a certain main engine wheel speed state of a certain module is a first state, the discrete quantity signal of the main engine wheel speed state is judged to be '1'; when the speed state of a certain main engine wheel of a certain module is in a second state, the discrete quantity signal of the speed state of the main engine wheel is judged to be 0; when the speed state of a certain main engine wheel of a certain module is in a third state, the discrete magnitude signal of the speed state of the main engine wheel is equal to the discrete magnitude signal value of the speed state of the main engine wheel in the last beat.
The method for voting the identity of the signals in the step 3 comprises the following steps: when the states of the four-redundancy discrete input signals are consistent, the state value of the redundancy discrete input signal is taken as the voting value; when the four-redundancy discrete input signal has the signal state of one redundancy different from other redundancies, judging that the redundancy is faulty, and taking a fault safety value as a voting value, wherein the fault safety value of the airplane wheel bearing signal is the airplane wheel non-bearing state, and the fault safety value of the nose landing gear signal is the nose landing gear down state.
Examples
A method for judging the ground state of a flight control system comprises the following steps:
step 1, signal acquisition:
each redundancy flight control computer in the four redundancy flight control computers respectively collects front airplane wheel data, wherein the front airplane wheel data comprises: nose gear signals and wheel bearing signals; the front landing gear signal is divided into a front landing gear retraction state and a front landing gear extension state, and the airplane wheel bearing signal is divided into an airplane wheel bearing state and an airplane wheel non-bearing state;
one redundancy flight control computer in the four redundancy flight control computers collects data of a main wheel, wherein the data of the main wheel comprises: the speed of the left main machine wheel of the module A, the speed of the right main machine wheel of the module A, the speed of the left main machine wheel of the module B, the speed of the right main machine wheel of the module B and a wheel speed effective word; the wheel speed valid word is divided into a wheel speed valid state and a wheel speed invalid state;
in specific implementation, the nose landing gear signal is divided into two states of "0" and "1": state "0" indicates nose gear down, state "1" indicates nose gear up; the wheel carrying signal is divided into two states of '0' and '1': state "0" indicates that the wheel is not loaded, state "1" indicates that the wheel is loaded; the wheel speed valid word is divided into two states of '0' and '1': state "0" indicates that the wheel speed is invalid, and state "1" indicates that the wheel speed is valid;
at this time, the front wheel data collected by each redundant flight control computer includes: the nose landing gear signal is '0', and the wheel bearing signal is '0'; the step of collecting the data of the main wheel by a certain redundancy flight control computer X comprises the following steps: the module a left main wheel speed is 65, the module a right main wheel speed is 60, the module B left main wheel speed is 65, the module B right main wheel speed is 85, the wheel speed valid word is "1";
step 2, cross transmission of signals:
each redundant flight control computer transmits the data of the front airplane wheel acquired by the flight control computer to the other 3 flight control computers in a crossed manner, and the flight control computer which acquires the data of the main airplane wheel transmits the data of the main airplane wheel to the other 3 flight control computers;
each redundancy flight control computer converts the collected host wheel data into a module A left host wheel speed state signal, a module A right host wheel speed state signal, a module B left host wheel speed state signal and a module B right host wheel speed state signal of a discrete magnitude signal;
in specific implementation, the flight control computer of each redundancy all obtains the preceding wheel data of 4 redundancies, including: the nose landing gear signal is '0', and the wheel bearing signal is '0'; each redundant flight control computer obtains primary wheel data, including: the module a left main wheel speed is 65, the module a right main wheel speed is 60, the module B left main wheel speed is 65, the module B right main wheel speed is 85, the wheel speed valid word is "1";
the upper limit value of the main engine wheel speed is 80, and the lower limit value of the main engine wheel speed is 70; at this time, the flight control computer of each redundancy converts the acquired main machine wheel data into a discrete magnitude signal, wherein a module A left main machine wheel speed state signal is '0', a module A right main machine wheel speed state signal is '0', a module B left main machine wheel speed state signal is '0', and a module B right main machine wheel speed state signal is '1';
and step 3, voting of signals:
carrying out identical and consistent voting on the nose landing gear signals with the redundancy of 4 by each redundancy flight control computer, and giving out a voting result as a nose landing gear retraction state or a nose landing gear extension state; carrying out identical and consistent voting on the airplane wheel bearing signals with the redundancy of 4, and giving out a voting result as an airplane wheel bearing state or an airplane wheel non-bearing state;
the flight control computer of each redundancy votes the wheel speed state signal of the left main machine of the module A, the wheel speed state signal of the right main machine of the module A, the wheel speed state signal of the left main machine of the module B and the wheel speed state signal of the right main machine of the module B in majority, and the voting result of the wheel speed state signal of the main machine is '0' or '1';
the implementation of the identical voting is as follows:
the four-redundancy nose landing gear signals of each redundancy flight control computer are all in a state of 0, and a voting result of 0 is given to indicate that the nose landing gear is put down; the four-redundancy airplane wheel bearing signals of each redundancy flight control computer are all in a state of '0', and the voting result is given to be '0' to indicate that the airplane wheels do not bear;
the majority voting is implemented as:
the method comprises the steps that a module A left main engine wheel speed state signal of each redundancy flight control computer is '0', a module A right main engine wheel speed state signal of each redundancy flight control computer is '0', a module B left main engine wheel speed state signal of each redundancy flight control computer is '0', a module B right main engine wheel speed state signal of each redundancy flight control computer is '1', the 4 signals are subjected to majority voting, and the voting result of the main wheel speed state signal is '0', which indicates that the speed of a main wheel is less than or equal to the lower limit value of the main wheel speed;
and 4, judging the conditions of the ground state according to the voting result:
when the nose landing gear signal voting value of a certain redundancy flight control computer is in a nose landing gear retraction state, the ground state of the redundancy flight control system is judged to be a non-ground state;
when the nose landing gear signal voting value of a certain redundancy flight control computer is in a nose landing gear down state, and the airplane wheel bearing signal voting value is in an airplane wheel bearing state, the ground state of the redundancy flight control system is judged to be the ground state;
when the nose landing gear signal voting value of a certain redundancy flight control computer is in a nose landing gear laying-down state, and the wheel bearing signal voting value is in a wheel non-bearing state, introducing a main engine wheel speed state signal to carry out condition judgment of a ground state:
when the voting value of the speed state signal of the main engine wheel is '1' and the continuous 1s is met, the ground state of the redundant flight control system is judged to be a non-ground state;
when the voting value of the main engine wheel speed state signal is 0, the ground state of the redundant flight control system is judged as the ground state.
In specific implementation, the landing gear signal voting value of each redundant flight control computer is 0, which indicates that the nose landing gear is down; the voting value of the airplane wheel bearing signal of the flight control computer with each redundancy is 0, which indicates that the airplane wheel does not bear; the voting value of the host wheel speed state signal of the flight control computer with each redundancy is '0', which indicates that the speed of the host wheel is less than or equal to the lower limit value of the speed of the host wheel, therefore, the ground states of the flight control systems with four redundancies are all determined as the ground states.
Claims (3)
1. A method for judging the ground state of a flight control system is characterized by comprising the following steps:
step 1, respectively collecting front airplane wheel data by each redundancy flight control computer in four redundancy flight control computers, wherein the front airplane wheel data comprises: nose gear signals and wheel bearing signals; the front landing gear signal is divided into a front landing gear retraction state and a front landing gear extension state, and the airplane wheel bearing signal is divided into an airplane wheel bearing state and an airplane wheel non-bearing state;
one redundancy flight control computer in the four redundancy flight control computers collects data of a main wheel, wherein the data of the main wheel comprises: the speed of the left main machine wheel of the module A, the speed of the right main machine wheel of the module A, the speed of the left main machine wheel of the module B, the speed of the right main machine wheel of the module B and a wheel speed effective word; the wheel speed valid word is divided into a wheel speed valid state and a wheel speed invalid state;
step 2, each redundant flight control computer transmits the data of the front airplane wheel acquired by the flight control computer to other 3 flight control computers in a crossed manner, and the flight control computer which acquires the data of the main airplane wheel transmits the data of the main airplane wheel to the other 3 flight control computers;
each redundancy flight control computer converts the collected host wheel data into a module A left host wheel speed state signal, a module A right host wheel speed state signal, a module B left host wheel speed state signal and a module B right host wheel speed state signal of a discrete magnitude signal;
step 3, carrying out identical and consistent voting on the nose landing gear signals with the redundancy of 4 by each redundancy flight control computer, and giving out a voting result as a nose landing gear retraction state or a nose landing gear extension state; carrying out identical and consistent voting on the airplane wheel bearing signals with the redundancy of 4, and giving out a voting result as an airplane wheel bearing state or an airplane wheel non-bearing state;
the flight control computer of each redundancy votes the wheel speed state signal of the left main machine of the module A, the wheel speed state signal of the right main machine of the module A, the wheel speed state signal of the left main machine of the module B and the wheel speed state signal of the right main machine of the module B in majority, and the voting result of the wheel speed state signal of the main machine is '0' or '1';
step 4, when the nose landing gear signal voting value of a certain redundancy flight control computer is in a nose landing gear retraction state, the ground state of the redundancy flight control system is judged to be a non-ground state;
when the nose landing gear signal voting value of a certain redundancy flight control computer is in a nose landing gear down state, and the airplane wheel bearing signal voting value is in an airplane wheel bearing state, the ground state of the redundancy flight control system is judged to be the ground state;
when the nose landing gear signal voting value of a certain redundancy flight control computer is in a nose landing gear laying-down state, and the wheel bearing signal voting value is in a wheel non-bearing state, introducing a main engine wheel speed state signal to carry out condition judgment of a ground state:
when the voting value of the speed state signal of the main engine wheel is '1' and the continuous 1s is met, the ground state of the redundant flight control system is judged to be a non-ground state;
when the voting value of the main engine wheel speed state signal is 0, the ground state of the redundant flight control system is judged as the ground state.
2. The method for determining the ground state of the flight control system according to claim 1, wherein the step of converting the acquired data of the main wheel into the discrete quantity signal by the flight control computer of each redundancy in the step 2 is specifically as follows:
the discrete magnitude signal is divided into three states for each of the main wheel speed states of each module: the main wheel speed is greater than the main wheel speed upper limit value and is a first state, the main wheel speed is less than or equal to the main wheel speed lower limit value and is a second state, and the main wheel speed is less than the main wheel speed and is less than or equal to the main wheel speed upper limit value and is a third state;
when a certain main engine wheel speed state of a certain module is a first state, the discrete quantity signal of the main engine wheel speed state is judged to be '1'; when the speed state of a certain main engine wheel of a certain module is in a second state, the discrete quantity signal of the speed state of the main engine wheel is judged to be 0; when the speed state of a certain main engine wheel of a certain module is in a third state, the discrete magnitude signal of the speed state of the main engine wheel is equal to the discrete magnitude signal value of the speed state of the main engine wheel in the last beat.
3. The method for determining the ground state of the flight control system according to claim 1, wherein the method for voting the identity of the signals in step 3 is as follows: when the states of the four-redundancy discrete input signals are consistent, the state value of the redundancy discrete input signal is taken as the voting value; when the four-redundancy discrete input signal has the signal state of one redundancy different from other redundancies, judging that the redundancy is faulty, and taking a fault safety value as a voting value, wherein the fault safety value of the airplane wheel bearing signal is the airplane wheel non-bearing state, and the fault safety value of the nose landing gear signal is the nose landing gear down state.
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