CN113050676B

CN113050676B - Monitoring method for airplane yaw damping control instruction

Info

Publication number: CN113050676B
Application number: CN201911373912.2A
Authority: CN
Inventors: 高如钢; 伊鹤鹤; 张新慧; 吴绿原
Original assignee: AVIC First Aircraft Institute
Current assignee: AVIC First Aircraft Institute
Priority date: 2019-12-26
Filing date: 2019-12-26
Publication date: 2022-11-22
Anticipated expiration: 2039-12-26
Also published as: CN113050676A

Abstract

A monitoring method of an airplane yaw damping control instruction comprises a yaw damping control channel and a yaw damping monitoring channel, wherein a yaw damping instruction polarity monitoring module, a yaw damping instruction amplitude monitoring module, an input signal data validity judging module and a logic voting gate are arranged in the yaw damping monitoring channel; monitoring the polarity of the yaw damping control command and the data effectiveness of the input signal of the amplitude yaw damping monitoring channel; and synthesizing the monitoring result through a logic voting gate, and inputting the synthesized monitoring result to the yaw damping control channel.

Description

Monitoring method for airplane yaw damping control instruction

Technical Field

The invention belongs to the technical field of airplane flight control systems, and particularly relates to a method for monitoring an airplane yaw damping control instruction.

Background

At present, most airplane yaw damping control systems adopt a redundancy channel comparison mode to monitor the integrity of yaw damping instructions, the monitoring method mainly comprises the step of comparing whether the output values of redundancy channels of the yaw damping control systems are consistent or not, the method is simple to implement, and the safety problem that the redundancy channels fail simultaneously (common mode failure) cannot be solved.

The applicant's existing utility model patent "driftage damping control system" (patent number is ZL 201520605806.3) has proposed a driftage damping control system framework of driftage damping control unit and driftage damping monitoring unit, can effectively solve the common mode security problem that became invalid. However, the patent does not propose a method for monitoring the yaw damping control command of the system architecture of "yaw damping control unit + yaw damping monitoring unit".

Therefore, it is necessary to provide a monitoring method for yaw damping control commands, which is suitable for an aircraft yaw damping control system architecture.

Disclosure of Invention

The application aims to provide a monitoring method of an airplane yaw damping control command, and the problem of common-mode failure safety of the yaw damping command is effectively solved by monitoring the polarity of the airplane yaw damping command, the amplitude of the yaw damping command and the validity of input signal data.

A monitoring method of an airplane yaw damping control instruction comprises a yaw damping control channel and a yaw damping monitoring channel, and is characterized by comprising the following steps that 1) a yaw damping instruction polarity monitoring module, a yaw damping instruction amplitude monitoring module, an input signal data validity judging module and a logic voting door are arranged in the yaw damping monitoring channel; 2) Monitoring the polarity of the yaw damping control command through a yaw damping command polarity monitoring module, monitoring the amplitude of the yaw damping control command through a yaw damping command amplitude monitoring module, and monitoring the data validity of an input signal of a yaw damping monitoring channel through an input signal data validity judging module; 3) Synthesizing the monitoring results of the step 2) through a logic voting gate, and outputting the synthesized monitoring results; 4) And the logic voting gate inputs the integrated monitoring result to the yaw damping control channel.

The yaw damping instruction polarity monitoring module receives a yaw damping instruction, and outputs a yaw damping instruction polarity error if the yaw angle rate of the airplane is greater than a positive threshold, the yaw damping instruction is greater than zero and exceeds a set delay time; if the yaw angle rate of the airplane is smaller than the negative threshold, the yaw damping instruction is smaller than zero and exceeds the set delay time, outputting a yaw damping instruction with wrong polarity; otherwise, outputting the yaw damping command with correct polarity.

Setting a yaw damping control instruction limiting curve in the yaw damping instruction amplitude monitoring module, obtaining an absolute value of an instruction after the yaw damping instruction amplitude monitoring module receives a yaw damping instruction, comparing the absolute value of the instruction with the yaw damping control instruction limiting curve, judging whether the absolute value of the instruction exceeds the limiting curve, and outputting a yaw damping instruction amplitude overrun monitoring result if the absolute value of the instruction exceeds the limiting curve; otherwise, outputting a normal monitoring result of the yaw damping instruction amplitude.

The input signal data validity judging module respectively judges the flight state data of the airplane and the valid bit of the yaw damping control instruction data, and then the input signal data validity judging module synthesizes the valid bits through a logic voting gate in the input signal data validity judging module to obtain a monitoring result of the validity of the input signal data.

Compared with the traditional yaw damping command redundancy channel comparison monitoring, the airplane yaw damping control command monitoring provided by the invention has the following advantages:

1) The yaw damping instruction is combined with the yaw angle rate response and the instruction limiting range of the airplane, so that the problem of common mode failure safety of a redundant yaw damping system is solved, and the safety level of a yaw damping control system is improved.

2) The method is based on a yaw damping monitoring channel, utilizes the flight state parameters of the airplane to monitor yaw damping instructions, does not depend on a control law algorithm of a yaw damping control channel, and is relatively simple and easy to realize.

The present application is described in further detail below with reference to the accompanying drawings of embodiments.

Drawings

FIG. 1 is a schematic view of a yaw damping control command monitoring method.

FIG. 2 is a schematic view of a monitoring flow of a yaw damping command polarity monitoring module.

FIG. 3 is a schematic view of a monitoring process of the yaw damping control amplitude monitoring module.

FIG. 4 is a schematic view of a yaw damping control command amplitude limit curve.

Fig. 5 is a schematic diagram of a determination process of the input signal data validity determination module.

Detailed Description

Referring to the attached drawings, the monitoring method of the aircraft yaw damping control command of the application, as shown in fig. 1, includes a yaw damping control channel and a yaw damping monitoring channel, including the following contents that 1) a yaw damping command polarity monitoring module, a yaw damping command amplitude monitoring module, an input signal data validity judging module and a logic voting gate are arranged in the yaw damping monitoring channel; 2) Monitoring the polarity of the yaw damping control command through a yaw damping command polarity monitoring module, monitoring the amplitude of the yaw damping control command through a yaw damping command amplitude monitoring module, and monitoring the data validity of an input signal of a yaw damping monitoring channel through an input signal data validity judging module; 3) Synthesizing the monitoring results obtained in the step 2) through a logic voting gate, outputting the synthesized monitoring results, and when the logic value of the monitoring results is 0, indicating that the yaw damping control instruction is invalid, and when the logic value of the monitoring results is 1, indicating that the yaw damping control instruction is valid; 4) And the logic voting gate inputs the integrated monitoring result to the yaw damping control channel.

The monitoring flow of the yaw damping instruction polarity monitoring module is shown in fig. 2, after the yaw damping monitoring channel receives a yaw damping instruction, if the yaw angle rate of the airplane is greater than a positive threshold, the yaw damping instruction is greater than zero and exceeds a set delay time, outputting a yaw damping instruction polarity error, and the logic value is 1; if the yaw angle rate of the airplane is less than the negative threshold, the yaw damping instruction is less than zero and exceeds the set delay time, outputting a yaw damping instruction with wrong polarity, and the logic value is 1; otherwise, the yaw damping command is output with correct polarity and the logic value is 0.

The monitoring flow of the yaw damping instruction amplitude monitoring module is shown in fig. 3, a yaw damping control instruction limiting curve is set in the yaw damping instruction amplitude monitoring module, the yaw damping control instruction limiting curve is shown in fig. 4, and the curve shows that the yaw damping control instruction amplitude limiting value is reduced along with the increase of the airspeed of the airplane, and the minimum limit and the maximum limit are set along with specific examples. After receiving the yaw damping instruction, the yaw damping instruction amplitude monitoring module obtains an absolute value of the instruction, compares the absolute value of the instruction with a yaw damping control instruction limiting curve, judges whether the absolute value of the instruction exceeds the limiting curve, and outputs a yaw damping instruction amplitude overrun monitoring result if the absolute value of the instruction exceeds the limiting curve, wherein the logic value of the yaw damping instruction amplitude monitoring result is 1; otherwise, outputting a normal monitoring result of the yaw damping instruction amplitude, wherein the logic of the normal monitoring result is 0.

The judging process of the input signal data validity judging module is shown in fig. 5, and the judging process respectively judges the flight state parameters of the airplane and the data valid bit of the yaw damping control instruction, and then the data valid bits are integrated through a logic voting gate in the input signal data validity judging module to obtain the monitoring result of the validity of the input signal data, wherein 0 represents that the input signal data is valid, and 1 represents that the input signal data is invalid.

Claims

1. A monitoring method of an airplane yaw damping control instruction comprises a yaw damping control channel and a yaw damping monitoring channel, and is characterized by comprising the following steps that 1) a yaw damping instruction polarity monitoring module, a yaw damping instruction amplitude monitoring module, an input signal data validity judging module and a logic voting door are arranged in the yaw damping monitoring channel; 2) Monitoring the polarity of the yaw damping control command through a yaw damping command polarity monitoring module, monitoring the amplitude of the yaw damping control command through a yaw damping command amplitude monitoring module, and monitoring the data validity of an input signal of a yaw damping monitoring channel through an input signal data validity judging module; the yaw damping instruction polarity monitoring module receives a yaw damping instruction, and if the yaw angle rate of the airplane is greater than a positive threshold, the yaw damping instruction is greater than zero and exceeds a set delay time, outputs a yaw damping instruction polarity error; if the yaw angle rate of the airplane is smaller than the negative threshold and the yaw damping instruction is smaller than zero and exceeds the set delay time, outputting a yaw damping instruction with wrong polarity; otherwise, outputting a yaw damping instruction with correct polarity; setting a yaw damping control instruction limiting curve in the yaw damping instruction amplitude monitoring module, obtaining an absolute value of an instruction after the yaw damping instruction amplitude monitoring module receives a yaw damping instruction, comparing the absolute value of the instruction with the yaw damping control instruction limiting curve, judging whether the absolute value of the instruction exceeds the limiting curve, and outputting a yaw damping instruction amplitude overrun monitoring result if the absolute value of the instruction exceeds the limiting curve; otherwise, outputting a normal monitoring result of the yaw damping instruction amplitude; the input signal data validity judging module respectively judges the valid bits of the flight state data and the yaw damping control instruction data of the airplane, and then synthesizes the valid bits through a logic voting gate in the input signal data validity judging module to obtain a monitoring result of the validity of the input signal data; 3) Synthesizing the monitoring results obtained in the step 2) through a logic voting gate, and outputting the synthesized monitoring results; 4) And the logic voting gate inputs the integrated monitoring result to the yaw damping control channel.