CN113176747A - Automatic piloting system for navigation aircraft - Google Patents
Automatic piloting system for navigation aircraft Download PDFInfo
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- CN113176747A CN113176747A CN202110429054.XA CN202110429054A CN113176747A CN 113176747 A CN113176747 A CN 113176747A CN 202110429054 A CN202110429054 A CN 202110429054A CN 113176747 A CN113176747 A CN 113176747A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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Abstract
The invention discloses an automatic pilot system for a navigation aircraft, which comprises a comprehensive flight display, a control pilot, a sideslip coordinator, a steering wheel manipulator and a servo mechanism, wherein the comprehensive flight display is communicated with the control pilot through a bus, the comprehensive flight display transmits attitude data and navigation information of flight motion to the control pilot, the servo mechanism and the steering wheel manipulator are both connected with the control pilot, and the control pilot is provided with a switch button for controlling start and stop.
Description
Technical Field
The invention belongs to the field of navigation airplanes, and particularly relates to an automatic driving system for a navigation airplane.
Background
The general airplane automatic piloting system is a complete control system formed by adding an attitude control loop to a control pilot, mainly using a rudder loop stabilizing system, and matching with course instruction input of radio navigation and inertial navigation. The automatic piloting system is an important component of a modern high-performance airplane, and the design level of the automatic piloting system plays a decisive role in completing complex flight tasks and realizing safe flight of the airplane. The automatic pilot system plays an important role in the flight process of the airplane, and the safety performance of the airplane without the pilot control instrument is greatly reduced when the airplane encounters an emergency. In order to improve the safety performance of the airplane and reduce flight faults, a control pilot is an indispensable device for the airplane during flight, research on the control pilot is always a highly important content in developed aviation countries, the key technology of the control pilot is monopolized by respective airplane manufacturers abroad, and the control pilot specially applied to the navigation airplane is not provided at home.
Disclosure of Invention
The invention aims to provide an automatic piloting system for a navigation airplane.
In order to achieve the purpose, the invention adopts the technical scheme that:
an autopilot system for a navigable aircraft, characterized by: the comprehensive flight display and the control pilot are communicated through a bus, the comprehensive flight display transmits attitude data and navigation information of flight motion to the control pilot, the servo mechanism and the pilot controller are both connected with the control pilot, and the control pilot is provided with a switch button for controlling starting and stopping.
The invention discloses an automatic piloting system for a navigation airplane, which comprises a control panel and a flight control computer, wherein the control panel is connected with the flight control computer through a connector, the flight control computer of the control pilot generates a servo duty ratio command according to a specified control law algorithm and logic by acquiring an input command of a pilot and a motion parameter of the airplane, and the motion of the airplane is controlled through a servo mechanism.
The invention discloses an automatic pilot system for a navigation airplane.A control panel in a control pilot consists of buttons, knobs and LED lamps, and the required working modes of the control pilot are set through the buttons and the knobs on a control panel ACP.
The invention discloses an automatic pilot system for a navigation airplane, wherein a flight control computer in a pilot control instrument comprises a main processor MCU module, a coprocessor module, an analog interface circuit module, a serial interface circuit module, a discrete interface circuit module, a servo drive circuit module, a first bus interface circuit module, a second bus interface circuit module, an ARINC429 interface circuit module, a memory and a storage card, wherein the main processor MCU module is respectively connected with the analog interface circuit module, the serial interface circuit module, the discrete interface circuit module, the servo drive circuit module, the first bus interface circuit module and the second bus interface circuit module, the coprocessor module is connected with the main processor MCU module and is provided with a port connected with the memory module, and the coprocessor module is also provided with a port connected with the first bus interface circuit module, The second interface circuit module of the bus and the ARINC429 interface circuit module are connected with three different ports through which information can be exchanged.
The invention discloses an automatic piloting system for a navigation airplane, wherein a servo driving circuit is arranged in a servo mechanism, each motor in the servo driving circuit is composed of two half-bridge driving circuits, and driving signals of the servo mechanism are generated for pitching, rolling, balancing and the like so as to drive the motors to realize the required flying attitude and track.
The invention discloses an automatic pilot system for a navigation airplane.A data message received by a discrete interface circuit is transmitted to a coprocessor module, and the coprocessor module generates corresponding interrupt information after processing and transmits the interrupt information to a main processor to realize control logic.
The invention discloses an automatic piloting system for a navigation airplane, wherein a servo mechanism comprises a direct-current brushless servo motor, the motor is connected to a servo driving circuit in a pilot control instrument and is controlled by a voltage control servo driving circuit to drive the servo motor.
The invention discloses an automatic piloting system for a navigation airplane, wherein a programmable logic device is arranged in a bus to continuously monitor the normal operation of the bus. Each bus channel will be processed by a separate microcontroller and programmable logic device.
The invention discloses an automatic piloting system for a navigation airplane.A main processor MCU module adopts a processor with the model number of MPC 5634M.
By adopting the technical scheme of the invention, the control pilot designed by the scheme is adopted, the air data, the very high frequency and the AHRS information are received from the integrated flight display IFD through the dual redundant buses, the input of the turning coordination gyroscope is received and used for cross checking the ADAHRS, and the dual redundant buses enable the control pilot to have the characteristics of redundancy and fault tolerance, have the automatic switching function and automatically switch between the dual ADAHRS systems so as to improve the safety performance of flight. The control pilot uses a dual-processor architecture, a main processor is responsible for processing data information and realizing a control law algorithm, and a coprocessor FPGA is used as a signal management module in the control pilot, so that the defects of a customized circuit are overcome, and the defect that the number of circuits of an original programmable device is limited is overcome. The dual-processor architecture is used, so that the operation difficulty of multiple signal inputs in the pilot controller is optimized, more reasonable control logic is realized, the performance of the pilot controller is optimized, the possibility of flight accidents is reduced, and the operation efficiency of the airplane is improved.
The invention will be explained in more detail below with reference to the drawings and examples.
Drawings
The contents of the description and the references in the drawings are briefly described as follows:
FIG. 1 is a block diagram of a system for controlling a pilot according to the present invention;
FIG. 2 is a hardware schematic of the present invention for controlling the pilot;
FIG. 3 is a schematic view of a control panel for controlling a pilot according to the present invention.
Detailed Description
The following description of the embodiments of the present invention, with reference to the accompanying drawings, will be made in further detail for the purpose of providing a more complete, accurate and thorough understanding of the inventive concepts and technical solutions of the present invention, including the shapes of the components, the structures, the mutual positions and connection relationships of the components, the functions and operating principles of the components, the manufacturing processes, the operation and use methods, and the like.
Fig. 1 is a block diagram of a system for controlling a pilot according to the present invention, and the system shown in fig. 1 includes an Integrated Flight Display (IFD), a control pilot, a sideslip coordinator, a switch button, a steering wheel Control (CWS), and a servo mechanism, wherein the integrated flight display communicates with the control pilot via a bus, the integrated flight display transmits attitude data and navigation information of a flight motion to the control pilot, the servo mechanism and the steering wheel controller are both connected to the control pilot, and the control pilot is provided with a switch button for controlling start and stop.
The system comprises two Integrated Flight Displays (IFDs), the IFDs are communicated with a control pilot through a dual redundant bus to provide attitude data, navigation data and some state information of airplane movement, and some target values in a control pilot mode can be set through the IFDs, for example: a desired target vertical speed in the vertical speed mode, a desired target altitude in the altitude hold mode, etc.
The switch button is connected to the control pilot through a cable, and provides discrete signals for the control pilot. The pilot is controlled to determine whether to turn off the automatic driving mode by the discrete amount. When an emergency occurs, the control pilot can be timely disconnected through the switch button, and the pilot operates the airplane to fly.
The sideslip coordinator is used for providing an inclination angle and an attack angle for controlling the pilot to roll, matching and comparing the inclination angle and the attack angle with an AHRS signal provided by the IFD, and confirming the current rolling attitude of the airplane. The control pilot receives the turn coordination gyroscope input and is used to cross check ADAHRS.
The steering wheel manipulation (CWS) in this case is connected to the control pilot via a cable, provides a discrete signal to the control pilot, and informs the control pilot of the switch state of the CWS. When the control pilot is in CWS mode, the steering wheel is manually operated by the pilot, but the control plane of the aircraft is operated by the control pilot servo, providing an opportunity for the pilot to manually operate the aircraft as needed without disconnecting the control pilot. Once the pilot releases the steering wheel, the pilot is controlled to return to the attitude hold mode.
The control pilot in this case receives aircraft attitude, heading, altitude, and inputs from the pilot and a navigation system indicating the desired attitude, heading, climb/descent rate over a dual redundant data bus. And the control pilot calculates an accurate command according to the channel control rule to drive the servo motor in real time to obtain the expected flight path. The presence of the dual data bus provides redundancy and fault tolerance for the control pilot, automatic switching capability, and automatic switching between dual ADAHRS systems.
The control pilot comprises a control panel and a flight control computer, wherein the control panel is connected with the flight control computer through a connector.
FIG. 3 is a schematic view of a control panel for a control pilot of the present invention, such as the control panel ACP shown in FIG. 3 having command buttons for flight director, autopilot (servo "on"), vertical speed, indicating airspeed, heading hold, altitude hold, linear and horizontal, glide slope, approach, navigation, and vertical navigation functions. There is also a knob (with key synchronization) that controls the vertical speed or indicates airspeed.
The pilot sets the required control pilot operating mode by means of buttons and knobs on the control panel ACP. The buttons on the control panel of the present invention, as shown in fig. 3, are all connected to the FPGA, except for the AP. The AP is directly connected to the servo motor drive circuit and the discrete interface circuit through a dedicated discrete hardware disconnect circuit.
FIG. 2 is a hardware schematic diagram of a pilot control instrument according to the present invention, in which a flight control computer is the core of the pilot control instrument, and as shown in FIG. 2, the pilot control instrument mainly comprises a main processor MCU module, a coprocessor FPGA module, an analog interface circuit module, a serial interface circuit module, a discrete interface circuit module, a servo drive circuit module, a first bus interface circuit module, a second bus interface circuit module, an ARINC429 interface circuit module, a memory and a memory card, wherein the main processor MCU module is respectively connected with the analog interface circuit module, the serial interface circuit module, the discrete interface circuit module, the servo drive circuit module, the first bus interface circuit module and the second bus interface circuit module, the coprocessor module is connected with the main processor MCU module and is provided with a port connected with the memory module, and the coprocessor module is further provided with a port connected with the first bus interface circuit module, The bus second interface circuit module and the ARINC429 interface circuit module are connected with three different ports, and the coprocessor module is used for exchanging information through the three different ports.
The main processor MCU in this case is MPC 5639 5634M. The MPC5634M adopts a Qorivva series 32-bit microcontroller constructed by a Power Architecture technology, a main MCU adopts an e200z3 kernel, and the highest working dominant frequency can reach 80 MHz; the single instruction multiple data module supports DSP and floating point number operation; 32-channel enhanced timer eTPU2, adding an engine associated addressing mode; two flexcans with 64+32 stage buffers compatible with TouCAN; the analog-to-digital converter eQADC supports the 34 channels, 4 pairs of differential analog input channels and an integrated on-chip variable gain amplifier, and is connected to a 4MHz clock, SRAM, MSR, FPGA, EEPROM, 32 analog input monitors, two CAN buses to a bus processor and two RS-232 buses to external connectors, outside the main MCU.
The main processor in the scheme is communicated with the coprocessor FPGA through a 32-bit data bus. The coprocessor FPGA adopts ProASIC3 from Actel corporation, ProASIC3 device supports 25 ten thousand system gates to 300 ten thousand system gates, true dual-port SRAM and 620 user I/O with 504 kbit. With a configurable nested interrupt controller, this can be done with or without a debug block.
The FPGA for flight control calculation provides software interfaces to different hardware functions. Includes a synchronous interface to MPC 5638 5634M and to various board support circuits such as keyboard scan circuitry, encoding interface circuitry, discrete digital external I/O connection circuitry, I2C LED controller circuitry, SPI analog DAC circuitry, ARINC429 interface, and bi-directional bus transceiver interface.
The FPGA is respectively connected to a button signal and a knob signal of a control panel through a row/column interface and a coding interface, and the display of an LED on the control panel is controlled through an I2C bus. The FPGA is also connected with the bus communication chip through an FIFO interface to acquire data such as airplane attitude and the like output by the integrated flight display IFD. The MPC5634M is signaled by the FPGA to interrupt when a key on the control panel is pressed.
The main processor in the scheme can acquire the ADAHRS data from the serial interface circuit besides the dual redundant bus.
The switch button, the steering wheel Control (CWS) and the like in the system are connected with the control driver through a discrete interface circuit module in the control driver. The data information received by the discrete interface circuit is transmitted to the coprocessor FPGA module, and the FPGA module generates corresponding interrupt after processing and transmits the interrupt to the main processor MPC5634M to realize control logic.
In the servo drive circuit, the variable voltage range of the motor drive is 5-28V and 2A.
The IRS2109STRPBF forms a half-bridge FET drive, each motor is provided with a complete H-bridge control by two IRS2109, and a driving signal of a servo mechanism is generated for pitching, rolling, balancing and the like to drive the motors to realize the required flight attitude and track.
The ARINC429 interface circuit module is expanded in the system, and the ARINC429 interface circuit module is used for controlling the driving instrument to send and receive data of an ARINC429 protocol. The ARINC429 circuit is connected with the FPGA, and the FPGA realizes an ARINC429 transmission channel of an ARINC429 protocol. The FPGA implements an ARINC429 transmit buffer that is capable of storing at least 16 32-bit data words.
In the power circuit module, in order to obtain better voltage characteristics, a 28V power input is adopted, and outputs of 5V and 10V are generated through the LTC 3727. Then, voltage outputs of-10V, 3.3V, 2.6V and 1.5V are generated for the analog circuit, voltages needed by analog quantity and digital quantity parts are separated, and signal crosstalk is reduced.
In order to provide the integrity of the data bus, the bus interface circuit of the present invention employs a CPLD to continuously monitor the normal operation of the bus. Each bus channel will be processed by a separate microcontroller and CPLD.
In this case, the analog-to-digital converter for monitoring local voltage and current is directly mounted on the main CPU MPC5634M with appropriate level shifting circuitry between the power supply and the CPU. These connections also bypass the FPGA and provide a separate path for the main CPU MPC5634M to monitor the control voltage and current applied to the servo system. This allows the host CPU MPC5634M to alert the user of the fault condition and attempt mitigation through software/hardware functionality provided in the system to isolate the failed component.
The main processor in the scheme is connected to the memory card through the SPI bus, and the recording of the flight log of the pilot is controlled. The memory card can be used for storing audio sample information of sound alarm, recording and controlling data in the use process of the pilot, and is used for system maintenance and dynamic analysis after flight.
The invention selects the DC brushless servo motor which passes the authentication, the motor is connected to a servo drive circuit in the control pilot, and the servo motor is driven by voltage control. In order to constrain the response of the fuselage in the event of a sudden failure, the main processor limits the maximum voltage of each servomotor.
By adopting the technical scheme of the invention, the control pilot designed by the scheme is adopted, the air data, the very high frequency and the AHRS information are received from the integrated flight display IFD through the dual redundant buses, the input of the turning coordination gyroscope is received and used for cross checking the ADAHRS, and the dual redundant buses enable the control pilot to have the characteristics of redundancy and fault tolerance, have the automatic switching function and automatically switch between the dual ADAHRS systems so as to improve the safety performance of flight. The control pilot uses a dual-processor architecture, a main processor is responsible for processing data information and realizing a control law algorithm, and a coprocessor FPGA is used as a signal management module in the control pilot, so that the defects of a customized circuit are overcome, and the defect that the number of circuits of an original programmable device is limited is overcome. The dual-processor architecture is used, so that the operation difficulty of multiple signal inputs in the pilot controller is optimized, more reasonable control logic is realized, the performance of the pilot controller is optimized, the possibility of flight accidents is reduced, and the operation efficiency of the airplane is improved.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (9)
1. An autopilot system for a navigable aircraft, characterized by: the comprehensive flight display and the control pilot are communicated through a bus, the comprehensive flight display transmits attitude data and navigation information of flight motion to the control pilot, the servo mechanism and the pilot controller are both connected with the control pilot, and the control pilot is provided with a switch button for controlling starting and stopping.
2. The autopilot system of claim 1 wherein said pilot control is comprised of a control panel and a flight control computer, the control panel being connected to the flight control computer through connectors, the pilot control flight control computer generating servo duty cycle commands by collecting pilot input commands and aircraft motion parameters according to prescribed control law algorithms and logic and controlling aircraft motion through said servos.
3. The autopilot system according to claim 2, characterized in that the control panel in the control pilot is composed of buttons, knobs and LED lights and that the desired control pilot operating mode is set by means of the buttons and knobs on the control panel ACP.
4. The autopilot system of claim 2 wherein the flight control computer in the pilot control unit includes a main processor MCU module, a coprocessor module, an analog interface circuit module, a serial interface circuit module, a discrete interface circuit module, a servo drive circuit module, a first bus interface circuit module, a second bus interface circuit module, an ARINC429 interface circuit module, a memory and a memory card, wherein the main processor MCU module is connected to the analog interface circuit module, the serial interface circuit module, the discrete interface circuit module, the servo drive circuit module, the first bus interface circuit module, the second bus interface circuit module, the coprocessor module is connected to the main processor MCU module and has a port connected to the memory module, the coprocessor module has a port connected to the first bus interface circuit module, a second bus interface circuit module, a third bus interface circuit module, a fourth bus interface circuit module, a fifth bus interface circuit module, a sixth interface circuit module, a, The second interface circuit module of the bus and the ARINC429 interface circuit module are connected with three different ports through the ports so as to exchange information.
5. The autopilot system of claim 1 wherein a servo drive circuit is provided in said servo mechanism, each motor in the servo drive circuit being formed by two half-bridge drive circuits for generating servo drive signals for pitch roll trim and the like to drive the motors to achieve a desired attitude and trajectory.
6. The autopilot system of claim 4 wherein the data messages received by the discrete interface circuit are transmitted to the coprocessor module, the coprocessor module processing the data messages to generate corresponding interrupt messages for transmission to the host processor and implementing the control logic.
7. The autopilot system of claim 5 wherein the servo comprises a dc brushless servo motor connected to a servo drive circuit in the pilot and controlled by a voltage controlled servo drive circuit to drive the servo motor.
8. The autopilot system of claim 1 wherein a programmable logic device is disposed in the bus for continuously monitoring the normal operation of the bus. Each bus channel will be processed by a separate microcontroller and programmable logic device.
9. The autopilot system of claim 4 wherein said master processor MCU module employs a processor model MPC 5634M.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110429054.XA CN113176747A (en) | 2021-04-21 | 2021-04-21 | Automatic piloting system for navigation aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110429054.XA CN113176747A (en) | 2021-04-21 | 2021-04-21 | Automatic piloting system for navigation aircraft |
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| CN113176747A true CN113176747A (en) | 2021-07-27 |
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| CN202110429054.XA Pending CN113176747A (en) | 2021-04-21 | 2021-04-21 | Automatic piloting system for navigation aircraft |
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| CN1669874A (en) * | 2004-03-16 | 2005-09-21 | 清华大学 | Automatic pilot for aircraft |
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| CN104599547A (en) * | 2015-02-16 | 2015-05-06 | 冯岩 | Parallel computation and distribution control method for flight simulation system |
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| CN105425810A (en) * | 2015-12-29 | 2016-03-23 | 国家电网公司 | Unmanned aerial vehicle for inspection |
| CN109561007A (en) * | 2018-11-16 | 2019-04-02 | 安徽华明航空电子系统有限公司 | A kind of navigation aircraft avionics system design method based on FlexRay bus |
| US20200361518A1 (en) * | 2019-05-17 | 2020-11-19 | Denso Corporation | Electric driver device |
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2021
- 2021-04-21 CN CN202110429054.XA patent/CN113176747A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1669874A (en) * | 2004-03-16 | 2005-09-21 | 清华大学 | Automatic pilot for aircraft |
| CN102830708A (en) * | 2012-09-05 | 2012-12-19 | 北京理工大学 | ARM and FPGA (Field Programmable Gate Array) architecture based autopilot of fixed wing unmanned aerial vehicle |
| CN105094141A (en) * | 2014-05-20 | 2015-11-25 | 哈尔滨飞机工业集团有限责任公司 | Digital autopilot system of lightweight fixed-wing aircraft |
| CN104597912A (en) * | 2014-12-12 | 2015-05-06 | 南京航空航天大学 | Tracking flying control system and method of six-rotor unmanned helicopter |
| CN104599547A (en) * | 2015-02-16 | 2015-05-06 | 冯岩 | Parallel computation and distribution control method for flight simulation system |
| CN105425810A (en) * | 2015-12-29 | 2016-03-23 | 国家电网公司 | Unmanned aerial vehicle for inspection |
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| US20200361518A1 (en) * | 2019-05-17 | 2020-11-19 | Denso Corporation | Electric driver device |
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Application publication date: 20210727 |