CN109823522B - Multi-redundancy undercarriage electric retraction controller - Google Patents
Multi-redundancy undercarriage electric retraction controller Download PDFInfo
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Abstract
The invention discloses a multi-redundancy undercarriage electric retraction controller, and aims to provide a controller which is light in weight, small in size, good in reliability and strong in environmental adaptability. The invention is realized by the following technical scheme: the main control CPU combination module is connected with the standby control CPU combination module, correspondingly connected with the main control drive combination module and the standby control drive combination module through a forward rotation and reverse rotation, output enabling, starting device 1, motor speed regulation, current sampling and hardware turn-off control line respectively, and connected with the main and standby switching module through a driving main and standby switching signal line and a motor driving control line, wherein the main and standby switching module is connected with the landing gear motor unit through the motor driving signal line; the main control CPU combination module receives the retraction command of the landing gear, processes the control logic and sends a motor control command; the main control drive combination module and the standby control drive combination module receive motor control commands and motor Hall sensor signals of the main control CPU combination module and the standby control CPU combination module.
Description
Technical Field
The invention relates to an undercarriage retraction controller, in particular to an electric undercarriage retraction controller for an unmanned aerial vehicle.
Background
The traditional landing gear retraction actuating cylinder of the aircraft is driven by adopting a centralized hydraulic source of the aircraft, long hydraulic pipelines are used for connecting hydraulic components with various functions and the hydraulic actuating cylinder to drive all parts to act, leakage and pipeline along-distance pressure loss exist when hydraulic accessories work, a throttle valve is used for adjusting the movement speed when the landing gear acts, a large amount of energy is consumed in the forms of leakage, pipeline loss and throttling heat, and the energy utilization rate of hydraulic actuation is low; meanwhile, the hydraulic system not only comprises a power hydraulic element, but also comprises a corresponding hydraulic control element, a hydraulic actuating element and a complex hydraulic pipeline, so that the system is huge in size and heavy in weight. Therefore, the traditional hydraulic undercarriage retraction scheme is difficult to apply to small and medium unmanned aerial vehicles with strict requirements on quality, for example: the taking-off weight of a certain unmanned aerial vehicle with an integrated taking-off and taking-off function is about 1.5 tons, the required weight of the carrier is large, and if the conventional hydraulic source is adopted to drive the retraction of the landing gear, the weight of the aircraft can be increased, so that the weight of the carrier of the aircraft is reduced, and therefore, the landing gear retraction scheme adopting electric power as the power source is urgently needed to be invented.
Disclosure of Invention
The invention aims to provide the multi-redundancy undercarriage electric retraction controller which is light in weight, small in size, good in reliability and strong in environmental adaptability.
The object of the invention can be achieved by the following measures: a multi-redundancy landing gear electric retraction controller comprising: the main control CPU combination module, the standby control CPU combination module, the main control drive combination module, the standby control drive combination module, the main standby switching module, the power supply combination module, the motherboard combination module and three undercarriage motor drive circuits integrated on a printed board, and is characterized in that: the main control CPU combination module is connected with the standby control CPU combination module, correspondingly connected with the main control drive combination module and the standby control drive combination module through a forward rotation and reverse rotation, output enabling, starting device 1, motor speed regulation, current sampling and hardware turn-off control line respectively, and connected with the main and standby switching module through a driving main and standby switching signal line and a motor driving control line, wherein the main and standby switching module is connected with the landing gear motor unit through the motor driving signal line; the main control CPU combination module receives the retraction command of the landing gear, processes various sensor signals and feedback of a controller state signal, processes control logic and sends a motor control command; the main control drive combination module and the standby control drive combination module receive the main control CPU combination module, the standby control CPU combination module motor control command and the motor Hall sensor signal, and send a main and standby drive switching signal to the main and standby switching module through a main and standby drive switching signal line to perform electronic commutation.
Compared with the prior art, the invention has the following effects.
Light weight and small volume. The invention adopts the main control CPU combination module, the standby control CPU combination module, the main control driving combination module, the standby control driving combination module, the main standby switching module and the power supply combination module to form the electric landing gear retraction controller, and uses the electric power as the energy to drive the retraction of the landing gear, thereby effectively reducing the weight of the integrated unmanned aerial vehicle. Meanwhile, 3 landing gear motor driving circuits integrated with a current detection circuit, an overcurrent protection circuit, a cycle-by-cycle current limiting circuit and a power release circuit are integrated on a printed board, so that the controller is compact in structure, small in size and light in weight. The defects of huge system volume and heavy weight of the hydraulic control element, the hydraulic actuating element and the complex hydraulic pipeline in the prior art are avoided.
The reliability is good. The invention adopts a main control CPU combination module to receive the retraction command of the landing gear, process the feedback of various sensor signals and controller state signals, process the control logic and send motor control commands; the main control drive combination module and the standby control drive combination module receive a main control CPU combination module, a standby control CPU combination module motor control command and a motor Hall sensor signal, and send a main and standby drive switching signal to the main and standby switching module through a main and standby drive switching signal line so as to perform electronic phase change; the dual-redundancy CPU combined module and the driving combined module control the retraction and the extension of the landing gear by utilizing the dual redundancy of the circuit and the dual redundancy of the communication, so that the probability that the landing gear cannot be retracted and extended due to the possibility of faults is effectively reduced, and the working reliability is high. The electric landing gear retraction controller is adopted, so that the aircraft landing gear retraction system is simplified, the structural weight is reduced, the complexity of the whole system is reduced, and the reliability and maintainability indexes are greatly improved.
The environmental adaptability is strong. The invention adopts the main control CPU combination module to connect with the standby control CPU combination module, and respectively connects with the main control drive combination module and the standby control drive combination module through the positive rotation and the negative rotation, the output enable, the start device 1, the motor speed regulation, the current sampling and the hardware turn-off control line, and connects with the main and standby switching modules through the main and standby switching signal line and the motor drive control line.
Compared with an electro-hydrostatic actuator, the electric landing gear retraction controller has the advantages of high reliability, simple structure, high transmission efficiency and the like, and experimental results show that the electric landing gear retraction controller has a good speed control effect, can accurately finish landing gear locking, is suitable for low-power landing gear control application occasions, and is particularly suitable for an electro-mechanical retraction system of a small and medium-sized unmanned aerial vehicle with the weight of 2 tons or less.
Drawings
FIG. 1 is a schematic diagram of the configuration of the multiple redundancy landing gear electric retraction controller of the present invention.
Fig. 2 is a schematic diagram of the landing gear retraction controller circuit of fig. 1.
Fig. 3 is a schematic block diagram of a circuit of the main control CPU combination module and the standby control CPU combination module in fig. 1.
Fig. 4 is a schematic diagram of a power tube driving circuit of the main control driving combination module and the standby control driving combination module in fig. 1.
Fig. 5 is a schematic diagram of a three-phase full-bridge inverter circuit of the master control driving combination module and the backup control driving combination module in fig. 1.
Fig. 6 is a schematic diagram of a current sampling circuit of the master control driving combination module and the slave control driving combination module in fig. 1.
Fig. 7 is a schematic diagram of a hardware overcurrent protection circuit of the main control drive combination module and the standby control drive combination module in fig. 1.
Fig. 8 is a schematic diagram of the principle of the power discharging circuit of the main control driving combination module and the standby control driving combination module 8 in fig. 1.
The invention will be further described with reference to the accompanying drawings, which are not intended to limit the invention to the embodiments described.
Detailed Description
See fig. 1 and 2. In the embodiments described below, a multiple redundancy landing gear power extension and retraction controller is comprised of a combination of chassis structural components and 6 electronics. The chassis structural component comprises a front panel module, a bottom plate combination and an upper cover plate combination, wherein the front panel module is used for power supply selection, surge suppression, filtering and main and standby channel switching. The electronic component includes: the system comprises a main control CPU combination module, a standby control CPU combination module, a main control driving combination module, a standby control driving combination module, a main standby switching module, a power supply combination module and a motherboard combination module. The power supply combination module, the main control CPU combination module, the standby control CPU combination module, the main control drive combination module, the standby control drive combination module and the main and standby switching module adopt the same connector and locating pin to realize error prevention. Is connected with the motherboard through an electric connector and is fixed with the chassis through screws. The joint of the chassis parts is filled with conductive rubber, so that the conductive capacity of the chassis parts is improved, the chassis shell and the aircraft body are well lapped through a well designed lap joint way, and the electromagnetic protection performance of the whole aircraft can be improved.
The motherboard combination module is a passive motherboard and is arranged on a bottom plate combination of the chassis structural member. The connection between the motherboard and other combinations is realized by an in-line connector, and the function of the motherboard combination module is to provide an electrical channel for signals between the electronic combinations for signal transmission between the combination modules.
The main control CPU combination module and the standby control CPU combination module comprise: the system comprises a clock circuit, a main/standby switching circuit, an RS422 bus communication circuit, an analog acquisition circuit, an EEPROM, a motor control interface circuit, a flight control interface circuit, a hardware watchdog, level conversion, a digital signal processor DSP, a complex programmable logic device CPLD and the like. Wherein the clock circuit mainly provides a time base for the system; the main function of the main/standby switching circuit is to drive and control a relay for main/standby switching; the watchdog circuit is mainly used for improving the running reliability of software; the 422 communication circuit mainly realizes serial port loading of the program and communicates with the flight control machine and the ground maintenance equipment; the analog quantity acquisition circuit samples power supply voltage, a motor single phase and bus current; the EEPROM is used as a reserved design of the system, and can store some important parameters; the motor control interface circuit realizes interface conversion between the main control CPU combination modules and the standby control CPU combination modules; the flight control machine interface circuit realizes interface butt joint of communication between the controller and the flight control machine; the level conversion circuit is used for realizing the conversion of 3.3V/5V level so as to realize level matching; the digital signal processor DSP mainly completes data acquisition and signal processing; the complex programmable logic device CPLD mainly completes I/O read/write logic, watchdog sequential logic, 422 communication conversion logic and the like; besides, the complex programmable logic device CPLD calculates the motor rotation speed according to the Hall pulse signals to participate in the main/standby switching logic, namely, when the CPU combination is identified as the main control combination, the RS422 bus of the CPU combination is transmitted to enable. In addition, the complex programmable logic device CPLD calculates the motor rotation speed according to the Hall pulse signals.
The main control CPU combination module, the standby control CPU combination module and the main control drive combination module are all designed by adopting dual redundancy, so that circuit redundancy is formed, communication is carried out with the flight control machine by adopting two modes of RS422 bus and DO, so that the logic time sequence communication redundancy of receiving landing gear retraction commands, sending motor control commands, processing feedback of various sensor signals and state signals and controlling the motor is formed.
The main control CPU combination module and the standby control CPU combination module are used as a receiving and releasing controller to receive and process external information, send out control commands and state information, and judge whether the main control CPU combination module or the standby control CPU combination module is by detecting the level state of the position of the inserted motherboard through CPU combination software, and normally, only the main control CPU combination module sends RS422 bus and DI information to the flight control machine, and only the standby control CPU combination module sends a main and standby switching signal to the front panel.
The main control CPU combination module and the standby control CPU combination module can adopt digital signal processor chips of which TI companies are TMS320F28335 as main processors, the bus width is 32 bits, the main frequency is 150M (the maximum main frequency is only 100M for derating the product), 256K 16-bit Flash in a chip is used as a program memory, and working software resides in the memory. The digital signal processor DSP acquires the current of each phase of the motor through a 2*8 channel and an 80ns conversion rate 12-bit precision analog-to-digital converter ADC which are arranged in a chip, and is used as the basis of automatic current limiting and overcurrent protection, and meanwhile, the analog-to-digital converter ADC acquires the power supply voltage, so that the detection of the power supply voltage is realized.
The communication of the RS422 bus communication circuit is an extremely important part of the CPU units of the main control CPU combination module and the standby control CPU combination module, and mainly realizes the communication with the flight control computer and the ground maintenance equipment and the serial loading of programs. As the flight control interface UC1 and the ground maintenance equipment interface UC2 are required to be functionally interchangeable, and software upgrade and maintenance can be required through the RS422 bus.
The main control CPU combination module and the standby control CPU combination module can adopt DS26C31 and DS26C32 differential transceivers, the differential transceivers convert differential signals conforming to the RS422 bus protocol into serial data, and then the serial data are transmitted and received through an SCI transceiver in a digital signal processor DSP chip, so that the design requirement can be met. The CPU unit of the CPU combination module and the standby control CPU combination module adopts differential transceivers with the model number of DS26C31 and the model number of DS26C32, the differential transceivers convert differential signals conforming to the RS422 bus protocol into serial data, and then the serial data are transmitted and received through a Digital Signal Processor (DSP) chip-in-chip (SCI) transceiver; when the serial port is used for program loading, an external BootLoad signal is introduced for logic judgment, whether a program is loaded to the main control CPU or the standby control CPU is judged, and the corresponding RS422 bus is enabled/disabled or serial port communication is established through corresponding RS422 bus transmission enabling.
When program loading is carried out by utilizing a serial port, the problem of main/standby conflict is related, logic judgment is carried out by introducing an external BootLoad signal, and the corresponding RS422 bus is sent to enable/disable, so that the problem is solved. When the CPU combination detects that the CPU combination is a standby control CPU combination module, the RS422 bus of the standby control CPU combination module is forbidden to be sent. Meanwhile, when the RS422 bus serial port is used for loading programs to the CPU units, whether the programs are loaded to the main control CPU or the standby control CPU is judged through an external BootLoad signal, and the corresponding RS422 bus is sent to enable the serial port communication to be established.
When communicating with the flight control computer/ground equipment, the level states of the external interfaces CHEK1+ (UC 1) and CHEK2+ (UC 2) are detected, so that whether the data of the flight control computer or the data of the ground maintenance equipment are received is judged. Performing logic judgment by using the main/standby identification bits, and when the main control CPU combination module works, disabling the RS422 bus of the standby control CPU combination module; when the standby control CPU combination module works, the RS422 bus of the standby control CPU combination module is forbidden to transmit, so that the RS422 bus is prevented from transmitting conflict analog quantity acquisition circuits, and the sampling of power supply voltage, motor single phase and bus current is mainly realized.
The analog signal acquisition of the controller is realized by using two independent 8-channel analog-to-digital converters ADC_A and ADC_B in a digital signal processor DSP chip, the sampling precision is 12Bit, and the sampling frequency (sampling period) is determined by combining actual conditions. The analog quantity acquisition mainly comprises 2 paths of +5VDC and +12VDC power supply voltage sampling and 9 paths of current sampling of 0-5VDC, and the analog quantity is converted into 0-3.0VDC through a signal conditioning circuit and then is acquired after filtering. The analog quantity acquisition function mainly detects motor current and realizes automatic current limiting and monitoring function on power supply voltage.
The motor control interface circuits of the main control CPU combination module and the standby control CPU combination module are interacted with a driving board connected with the motherboard combination module to realize control and state feedback of the landing gear motor. The motor speed regulating signal and the motor rotation direction control signal are output through the optical coupler connected with the CPU combination module, and the open-collector output of the secondary of the optical coupler is adopted, when the control signal is effective, the corresponding resistor end on the driving plate is pulled down through the collector output of the rear stage of the optical coupler, so that the speed regulation and the steering control of the motor are realized.
The power supply combination module comprises an energy storage capacitor circuit capable of bearing 50ms power interruption, a DC/DC module, a filter circuit and a voltage sampling circuit. The power supply combination module converts the 28V direct current power supply into various secondary power supplies, such as +12V, +5V and the like, required by the operation of the internal circuit of the landing gear retraction control unit. N2 and N4 are DC/DC power modules and energy storage capacitors C, so that the controller can bear 50ms of power failure. The power supply combination module is used for power supply conversion, outputting driving power supplies of 3 motors, filtering +12V and +5V power output to the CPU combination and driving combination module, and dividing +12V and +5V voltage by resistors to obtain 0-3V voltage acceptable by A/D sampling of an analog-digital converter of the digital signal processor DSP so as to monitor the power supply.
Any anomaly in the landing gear state or controller state is considered a failure of the landing gear channel, requiring feedback of the failure status word. The flight control machine sends landing gear control instructions to the main control CPU combination module and the standby control CPU combination module through a flight control machine interface circuit (discrete quantity), an RS422 bus and a DO port, and when the RS422 bus is normal, the RS422 bus data is used as the reference. The main control CPU combination module and the standby control CPU combination module feed back the power-on BIT and period self-checking information, the landing gear state information, the working state of the retraction controller, the wheel load switch state and the current stroke percentage of the landing gear to the flight control machine through the RS422 bus; when the RS422 bus fails, a command sent by the DO port is executed to retract/put down the landing gear, and a landing gear state signal is fed back to the flight control machine through the DI port. In order to realize the exchange of interface functions of the flight control machine and the ground maintenance equipment, DO signals of UC1 and UC2 are respectively collected and processed by adopting 8 paths of I/O ports, when only the flight control machine is accessed, data of D0-D3 and D4-D7 are read, and which path of signals are effective to execute which path of command; the DI signals (from the controller to the flight control or the ground maintenance equipment) can be not transmitted separately, but only the corresponding I/O is controlled by software.
The main control CPU combination module and the standby control CPU combination module send power-on BIT self-checking information, cycle self-checking information, undercarriage state information and undercarriage retraction fault information to the flight control machine through an RS422 bus and DI, and the main control drive combination module and the standby control drive combination module are used for receiving motor control commands of the main control CPU combination module and the standby control CPU combination module CPU and motor Hall sensor signals to carry out electronic commutation, and output driving power supplies of 3 motors.
The main control CPU combination module and the standby control CPU combination module collect signals and current signals of a Hall sensor of the landing gear motor, detect the state of locked rotation and wheel load switch of the motor and the state of position lock of the landing gear, calculate the current stroke percentage of the landing gear according to the signals of the Hall sensor of the motor, and judge whether the current instruction to be executed is self-checking, state inquiry or normal control of retraction and extension of the landing gear according to the command sent by the flight control machine; when the main control CPU combination module and the standby control CPU combination module receive a normal control undercarriage command, a motor control signal is sent to the main control drive combination module and the standby control drive combination module according to the received retraction command and a Hall sensor signal fed back by a motor, and the motor is controlled to rotate; the current of the landing gear motor is detected in real time by utilizing a Hall current sensor, and when the main control driving combination module and the standby control driving combination module receive in-place signals fed back by the upper position lock sensor and the lower position lock sensor and detect that the motor is locked, the motor is controlled to stop rotating. The landing gear motor adopts a sectional speed regulation mode, and runs at a low speed for the last 50mm before the landing gear is started and in place, and runs at a higher speed in the middle stroke. Landing gear travel is calculated from the number of collected hall sensor pulses.
See fig. 3. The driving combination is of a dual redundancy design and is divided into a main control driving combination module and a standby control driving combination module. The main control driving combination module and the standby control driving combination module are core combinations for the running of the landing gear retraction controller driving motor, and the circuits and functions of the main control driving combination module and the standby control driving combination module are completely consistent. The main control driving combination module and the standby control driving combination module mainly comprise a motor control circuit, a MOSFET power tube driving circuit, a three-phase full-bridge inverter circuit, a current detection circuit, an overcurrent protection circuit, a cycle-by-cycle current limiting circuit, a power bleeder circuit and the like. The motor control circuit receives motor enabling, speed regulating, electronic phase-changing forward and reverse rotation signals and motor Hall sensor signals, a Pulse Width Modulation (PWM) signal for controlling the motor is generated through the internal circuit, the PWM signal is amplified by the MOSFET power tube driving circuit, the direct-current bus voltage is inverted into a variable motor three-phase power supply by the three-phase full-bridge inversion circuit, when the current detection circuit detects bus current of the three-phase full-bridge inversion circuit and current of two phases in three phases, the overcurrent protection circuit limits the current in a control range through the cycle-by-cycle current limiting circuit, the power bleeder circuit opens the bleeder circuit after the direct-current bus voltage rises to a certain value, and redundant energy is consumed on the bleeder resistor. The overcurrent protection circuit adopts software to judge that the motor stalling is larger than a preset current value, and turns off the motor drive; when the current flows, the hardware current limiting circuit on the drive board works, the motor is protected, the fault state is sent to the main control CPU combination module and the standby control CPU combination module CPU through the level conversion circuit, and the CPU carries out corresponding processing through the signal.
The motor control circuit can adopt a MC33035 brushless direct current motor special control chip of a motorola company, receives motor enabling, speed regulating and forward and reverse rotation signals and motor Hall sensor signals for electronic phase conversion, and generates PWM signals through an internal circuit to control the motor. Three groups of identical landing gear motor driving circuits respectively control the direct current brushless motors of the front landing gear and the left and right main landing gears.
The main control CPU combination module is connected with the standby control CPU combination module, correspondingly connected with the main control drive combination module and the standby control drive combination module through a positive rotation and negative rotation, an output enabling, a starting device 1, a motor speed regulation, a current sampling and a hardware turn-off control line respectively, and connected with the main and standby switching module through a driving main and standby switching signal line and a motor driving control line, and receives a retraction command of the landing gear, processes various sensor signals and feedback of a controller state signal, processes control logic and sends a motor control command; the main control drive combination module and the standby control drive combination module receive a main control CPU combination module, a standby control CPU combination module motor control command and a motor Hall sensor signal, and send a main and standby drive switching signal to the main and standby switching module through a main and standby drive switching signal line so as to perform electronic phase change; the main and standby switching modules are connected with the landing gear motor unit through motor driving signal lines.
The main control CPU combination module and the standby control CPU combination module receive landing gear retraction control instructions sent by the flight control machine through the RS422 bus combination, and according to upper and lower lock sensor signals, hall sensor signals and wheel load switch signals which are sent by the landing gear, and current sampling signals which are sent by the main control drive combination module and the standby control drive combination module, output corresponding motor driving signals according to a preset control logic to drive the landing gear motor to work, and execute functions of landing gear retraction and the like.
When the main control drive combination module is well combined, the RS422 bus, the communication function of the flight control computer and the motor control signal are sent out by the main control drive combination module, and the standby control combination does not output the RS422 bus signal and the motor drive signal. A redundancy switching judging unit is arranged in the standby control CPU combination, and the erasable and editable logic device EPLD completes a programmable combination or sequential logic function.
When the main control driving combination module and the standby control driving combination module work normally, the main control driving combination module outputs a high-level state signal to the standby control CPU combination module, when the main control driving combination module fails, the main control driving combination module changes the state signal output to the standby control CPU combination module into a low level, at the moment, the standby control CPU combination module sends a switching signal to a relay connected with the main standby switching module to drive a normally open contact to be closed, the standby control driving combination module is switched to a main control working mode, the standby control CPU combination module sends a communication signal to the aircraft, and the standby control CPU combination module sends a redundancy switching signal according to a motor control signal, so that the safety and reliability of the retraction control of the undercarriage of the aircraft are controlled within an acceptable range.
See fig. 4. The power tube driving circuit adopts IR2130 of IR company, PWM signals AB1, BB1, CB1, AT1, BT1 and CT1 are amplified by IR2130 to be RAB1, RBB1, RCB1, RAT1, RBT1 and RCT1, and the signals are further sent to the MOSFET power tube to control the on-off of the power tube. IR2130 may also generate a 2us interlock delay time for 2 MOSFET drive signals up and down the same leg to ensure that they do not turn on at the same time.
See fig. 5. The three-phase full-bridge inverter circuit adopts a three-phase two-by-two conduction mode, the switching tube adopts an N-channel enhanced MOSFET power tube IRF540N of an IR company, and the switching tube is conducted and turned off according to the control of PWM signals, so that the direct-current bus voltage is inverted into a variable three-phase power supply to control the start and stop, the positive and negative rotation and the rotating speed of the motor. The rotating speed is realized by adjusting the PWM duty ratio of RAB1, RBB1, RCB1, RAT1, RBT1 and RCT1, and the positive and negative rotation is realized by adjusting the conduction sequence of RAB1, RBB1, RCB1, RAT1, RBT1 and RCT 1.
See fig. 6. The electric detection circuit adopts a linear current sensor ACS712 to detect the current of each motor, and each motor detects the bus current and the current of two phases of three phases, and the output voltage of the ACS712 is 0.5V-4.5V, so that the ACS712 needs to be subjected to signal conditioning and then sent to a CPU for processing. The signal conditioning circuit mainly comprises an integrated operational amplifier, wherein the operational amplifier is F124, and the reference voltage is 0.5V.
See fig. 7. And the overcurrent protection circuit is used for turning off hardware and prohibiting the motor from being enabled when detecting that the current is greater than 13A. Because the motor starting current is larger, the overcurrent protection circuit is closed when the motor is started, and the motor is prevented from being unable to be started due to overcurrent protection.
See fig. 8. When the power bleeder circuit is used for a load test, the load laying-down speed is higher due to the action of gravity, the direct-current bus voltage can be increased when the motor is in a power generation state, in order to prevent the circuit board from being damaged, the power bleeder circuit is designed, after the direct-current bus voltage is increased to a certain value, the LM193JGB outputs high-level drive S9013 to be conducted, and then about 10V voltage is applied to the grid electrode of the IRF540N, so that the IRF540N is conducted, the bleeder circuit is opened, and redundant energy is consumed on the bleeder resistor.
Claims (9)
1. A multi-redundancy landing gear electric retraction controller comprising: the main control CPU combination module, the standby control CPU combination module, the main control drive combination module, the standby control drive combination module, the main standby switching module, the power supply combination module, the motherboard combination module and three undercarriage motor drive circuits integrated on a printed board, and is characterized in that: the main control CPU combination module is connected with the standby control CPU combination module, correspondingly connected with the main control drive combination module and the standby control drive combination module through a forward rotation and reverse rotation, an output enabling, a starting device 1, a motor speed regulating, a current sampling and a hardware turn-off control line respectively, and connected with the main and standby switching modules through a driving main and standby switching signal line and a motor driving control line, wherein the main and standby switching modules are connected with the landing gear motor unit through the motor driving signal line; the main control CPU combination module receives the retraction command of the landing gear, processes various sensor signals and feedback of a controller state signal, processes control logic and sends a motor control command; the main control drive combination module and the standby control drive combination module receive a main control CPU combination module, a standby control CPU combination module motor control command and a motor Hall sensor signal, and send a main and standby drive switching signal to the main and standby switching module through a main and standby drive switching signal line to perform electronic commutation;
the main control CPU combination module and the standby control CPU combination module collect signals and current signals of a Hall sensor of the landing gear motor, detect the state of locked rotation and wheel load switch of the motor and the state of position lock of the landing gear, calculate the current stroke percentage of the landing gear according to the signals of the Hall sensor of the motor, and judge whether the current instruction to be executed is self-checking, state inquiry or normal control of retraction and extension of the landing gear according to the command sent by the flight control machine;
when the main control driving combination module and the standby control driving combination module work normally, the main control driving combination module outputs a high-level state signal to the standby control CPU combination module, when the main control driving combination module fails, the main control driving combination module changes the state signal output to the standby control CPU combination module into a low level, at the moment, the standby control CPU combination module sends a switching signal to a relay connected with the main standby switching module to drive a normally open contact to be closed, the standby control driving combination module is switched to a main control working mode, the standby control CPU combination module sends a communication signal to the aircraft, and the standby control CPU combination module sends a redundancy switching signal according to a motor control signal, so that the safety and reliability of the retraction control of the undercarriage of the aircraft are controlled within an acceptable range.
2. The multiple redundancy landing gear electric retraction controller according to claim 1 wherein: the main control CPU combination module, the standby control CPU combination module and the main control drive combination module are all designed by adopting dual redundancy to form circuit redundancy, and are communicated with the flight control computer by adopting two communication modes of an RS422 bus and DO to form receiving landing gear retraction commands, sending motor control commands, processing feedback of various sensor signals and state signals and controlling logic time sequence communication redundancy of the motor.
3. The multiple redundancy landing gear electric retraction controller according to claim 1 wherein: the main control CPU combination module and the standby control CPU combination module are used as a receiving and releasing controller to receive and process external information, send out control commands and state information, and judge whether the main control CPU combination module or the standby control CPU combination module is by detecting the level state of the position of the inserted motherboard through CPU combination software, and normally, only the main control CPU combination module sends RS422 bus and DI information to the flight control machine, and only the standby control CPU combination module sends a main and standby switching signal to the front panel.
4. The multiple redundancy landing gear electric retraction controller according to claim 1 wherein: the main control CPU combination module and the standby control CPU combination module send power-on BIT self-checking information, cycle self-checking information, undercarriage state information and undercarriage retraction fault information to the flight control machine through an RS422 bus and DI, and the main control drive combination module and the standby control drive combination module are used for receiving motor control commands of the main control CPU combination module and the standby control CPU combination module CPU and motor Hall sensor signals to carry out electronic commutation, and output driving power supplies of 3 motors.
5. The multiple redundancy landing gear electric retraction controller according to claim 1 wherein: the main control CPU combination module and the standby control CPU combination module receive landing gear retraction control instructions sent by the flight control machine through the RS422 bus combination, and according to upper and lower lock sensor signals, hall sensor signals and wheel load switch signals which are sent by the landing gear, and current sampling signals which are sent by the main control drive combination module and the standby control drive combination module, the corresponding motor drive signals are output according to a preset control logic to drive the landing gear motor to work, and landing gear retraction/retraction is executed.
6. The multiple redundancy landing gear electric retraction controller according to claim 1 wherein: the CPU units of the main control CPU combination module and the standby control CPU combination module respectively adopt a DS26C31 differential transceiver and a DS26C32 differential transceiver, the differential transceivers convert differential signals conforming to an RS422 bus protocol into serial data, and then the serial data are transmitted and received through a Digital Signal Processor (DSP) chip internal SCI transceiver; when the serial port is used for program loading, an external BootLoad signal is introduced for logic judgment, whether a program is loaded to the main control CPU or the standby control CPU is judged, and the corresponding RS422 bus is enabled/disabled or serial port communication is established through corresponding RS422 bus transmission enabling.
7. The multiple redundancy landing gear electric retraction controller according to claim 1 wherein: the motor control interface circuits of the main control CPU combination module and the standby control CPU combination module realize control and state feedback of the landing gear motor through interaction with a driving plate connected with the motherboard combination module; the motor speed regulating signal and the motor rotation direction control signal are output through the optical coupler which is connected with the CPU in a combined way, the secondary of the optical coupler adopts the open collector output, and when the control signal is effective, the corresponding resistor end on the driving plate is pulled down through the collector output of the rear stage of the optical coupler, so that the speed regulation and the steering control of the motor are realized.
8. The multiple redundancy landing gear electric retraction controller according to claim 1 wherein: the main control CPU combination module and the standby control CPU combination module collect signals and current signals of a Hall sensor of the landing gear motor, detect the state of locked rotation and wheel load switch of the motor and the state of position lock of the landing gear, calculate the current stroke percentage of the landing gear according to the signals of the Hall sensor of the motor, and judge whether the current instruction to be executed is self-checking, state inquiry or normal control of retraction and extension of the landing gear according to the command sent by the flight control machine; when the main control CPU combination module and the standby control CPU combination module receive the normal control undercarriage command, a motor control signal is sent to the main control drive combination module and the standby control drive combination module according to the received retraction command and the Hall sensor signal fed back by the motor, and the motor is controlled to rotate.
9. The multiple redundancy landing gear electric retraction controller according to claim 1 wherein: the main control driving combination module and the standby control driving combination module consist of a motor control circuit, a MOSFET power tube driving circuit, a three-phase full-bridge inverter circuit, a current detection circuit, an overcurrent protection circuit, a cycle-by-cycle current limiting circuit and a power bleeder circuit; the motor control circuit receives motor enabling, speed regulating, electronic phase-changing forward and reverse rotation signals and motor Hall sensor signals, a Pulse Width Modulation (PWM) signal for controlling the motor is generated through the internal circuit, the PWM signal is amplified by the MOSFET power tube driving circuit, the direct-current bus voltage is inverted into a variable motor three-phase power supply by the three-phase full-bridge inversion circuit, when the current detection circuit detects bus current for driving the combination module and current of two phases in three phases, the overcurrent protection circuit limits the current in a control range through the cycle-by-cycle current limiting circuit, the power bleeder circuit is opened after the direct-current bus voltage is raised to a certain value, and redundant energy is consumed on the bleeder resistor.
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| CN113753223A (en) * | 2020-06-02 | 2021-12-07 | 北京航天易联科技发展有限公司 | Undercarriage control method and device, electronic equipment and storage medium |
| CN112407257B (en) * | 2020-12-04 | 2021-06-22 | 北京北航天宇长鹰无人机科技有限公司 | Dual-redundancy electric retraction and extension method and device of undercarriage |
| CN114384793B (en) * | 2022-03-24 | 2022-06-07 | 成都万创科技股份有限公司 | Monitoring system of multiple intelligent devices and control method thereof |
| CN114577254B (en) * | 2022-05-07 | 2022-09-09 | 成都凯天电子股份有限公司 | High-reliability detection method and system based on undercarriage inductive proximity sensor |
| CN114701663B (en) * | 2022-06-07 | 2022-09-09 | 工业富联(杭州)数据科技有限公司 | Aircraft testing method and related equipment |
| CN116176832B (en) * | 2023-05-04 | 2023-10-24 | 成都凯天电子股份有限公司 | Method for controlling retraction, extension and extension based on complex undercarriage configuration |
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