CN113341927A - Flight control system servo actuator BIT fault detection method and device - Google Patents
Flight control system servo actuator BIT fault detection method and device Download PDFInfo
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- CN113341927A CN113341927A CN202110651762.8A CN202110651762A CN113341927A CN 113341927 A CN113341927 A CN 113341927A CN 202110651762 A CN202110651762 A CN 202110651762A CN 113341927 A CN113341927 A CN 113341927A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The application provides a flight control system servo actuator BIT fault detection method, and belongs to the technical field of flight control overall design. The method comprises the following steps: acquiring a monitoring threshold reference value of the BIT detection parameter of the servo actuator based on the monitoring threshold relation between the temperature and the BIT detection parameter of the servo actuator; the method comprises the steps of obtaining a monitoring threshold sampling value of a BIT detection parameter of the servo actuator at the ambient temperature, comparing a difference value between the sampling value and a monitoring threshold preset value of the BIT detection parameter corresponding to the ambient temperature with a corresponding monitoring threshold reference value, and judging the working state of the servo actuator according to the fault logic relation between the monitoring threshold of the BIT detection parameter and the servo actuator. The method introduces an environment temperature signal aiming at the existing BIT detection method, designs a dynamic monitoring threshold adaptive to the change of the environment temperature, can reduce the false alarm of the system, and improves the accuracy of detecting faults of the BIT system.
Description
Technical Field
The application belongs to the technical field of overall design of flight controllers, and particularly relates to a flight control system servo actuator BIT fault detection method and device.
Background
A flight control system, called a flight control system for short, is a key system influencing the flight safety of an airplane and mainly comprises a flight control computer, a control switch, a sensor, a servo actuator and the like. The flight control system detects the working state of each component of the flight control system through a self-detection system (build in Test, BIT for short) residing in the flight control computer, and ensures that faults or abnormal conditions of the components of the flight control system are found in time before flight.
The flight control system BIT detection method is used for testing the states of all parts of the flight control system one by one according to established testing steps, and the testing contents mainly comprise detection of the states of control switches, detection of state signals of sensors and signal demodulation circuits, and detection of the states and dynamic characteristics of servo actuators. And when the measured value is inconsistent with the theoretical design index, reporting a corresponding test step fault code, namely representing the fault of the corresponding tested component.
Due to the limitation requirement of BIT detection time before flight, the BIT detection content is limited, particularly, only partial parameters can be selectively checked for the dynamic performance detection of the servo actuator, the dynamic performance of the servo actuator is closely related to factors such as environmental temperature and hydraulic pressure, and the traditional BIT detection method adopts a monitoring threshold design with fixed detection parameters and is difficult to comprehensively and effectively judge whether real faults exist in system components. Meanwhile, when the fixed monitoring threshold parameters in the traditional flight control system BIT detection method are designed, the conditions of missed detection and false alarm of the working state of the system component need to be considered, and if the fixed monitoring threshold parameters need to be designed strictly in order to avoid missed detection of the fault state of the system component, a higher false alarm rate can be caused; if the design of the fault monitoring threshold is looser, the missed detection of the fault of the system component is caused, namely the two are contradictory.
Disclosure of Invention
The object of the present application includes, for example, to ameliorate at least some of the above problems.
The embodiment of the application can be realized as follows:
on one hand, the embodiment of the application provides a flight control system servo actuator BIT fault detection method, which comprises the following steps:
acquiring a monitoring threshold reference value of the BIT detection parameter of the servo actuator based on the monitoring threshold relation between the temperature and the BIT detection parameter of the servo actuator;
the method comprises the steps of obtaining a monitoring sampling value of a BIT detection parameter of the servo actuator at an ambient temperature, comparing an absolute difference value between the sampling value and a monitoring preset value of the BIT detection parameter corresponding to the ambient temperature with a corresponding monitoring threshold reference value, and judging the working state of the servo actuator according to the fault logic relation between the monitoring threshold of the BIT detection parameter and the servo actuator.
On the other hand, this application embodiment provides a flight control system servo actuator BIT fault detection device, includes:
the acquisition module is used for acquiring a monitoring threshold reference value of the BIT detection parameter of the servo actuator based on the monitoring threshold relation between the temperature and the BIT detection parameter of the servo actuator;
and the number of the first and second groups,
the monitoring threshold preset values are used for acquiring BIT detection parameters corresponding to different temperatures;
the monitoring module is used for acquiring a monitoring sampling value of a BIT detection parameter of the servo actuator at the ambient temperature;
and the determining module is used for comparing an absolute difference value between the monitoring sampling value obtained by the monitoring module and the monitoring preset value of the BIT detection parameter corresponding to the environment temperature obtained by the obtaining module with a corresponding monitoring threshold reference value, and judging the working state of the servo actuator according to the fault logic relationship between the monitoring threshold of the BIT detection parameter and the servo actuator.
The application provides a flight control system servo actuator BIT fault detection method, introduces ambient temperature signal to current BIT detection method, has designed the dynamic monitoring threshold that adapts to ambient temperature change, under different ambient temperature, the corresponding monitoring threshold who detects the parameter of dynamic adjustment servo actuator promptly, and the parameter monitoring threshold along with temperature dynamic adjustment accords with the real dynamic characteristic of servo actuator more, and then can reduce system false alarm, improves the degree of accuracy that BIT system detected the trouble.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a flow chart of fault logic determination in an embodiment of the present application.
FIG. 2 is a schematic diagram of a relationship between temperature and a monitoring threshold according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
When the flight control system carries out BIT detection on the servo actuator, test excitation is sent out through a BIT program, whether the function, the performance and the like of the servo actuator meet the requirements or not is judged through methods such as monitoring test, rewinding test and the like, and whether the working state of the servo actuator is in a fault state or a normal state is judged. False alarms are phenomena where a BIT or other monitoring circuit indicates a fault and there is virtually no fault or no recurrence. When the flight control system carries out BIT detection of the servo actuator, the BIT program sends an excitation instruction to the servo actuator, the servo actuator moves according to the instruction, the BIT system collects position values of the motion processes of the servo actuators and judges whether the position values are in the designed monitoring threshold (Lambda) range or not, the monitoring threshold is designed to be fixed parameters, however, BIT detection of the actuator is influenced by the environment, due to the physical effect of expansion with heat and contraction with cold and the increase of the viscosity of hydraulic oil caused by low temperature, the performance of the actuator is obviously influenced. Under the condition of low temperature, the valve core clearance is reduced, so that the friction force is increased; at low temperatures, the sensor deviates from standard operating conditions and the actuator cylinder and spool valve sensor consistency also deteriorates. The difference results in test out-of-tolerance after passing through the sampling amplification circuit.
Based on the above situation, the inventor improves on the basis of the traditional flight control system servo actuator BIT detection system and method, introduces an ambient temperature signal, designs a dynamic monitoring threshold adaptive to ambient temperature change, namely, the monitoring threshold dynamically adjusts corresponding detection parameters of the servo actuator under different ambient temperatures, and the parameter monitoring threshold dynamically adjusted along with the temperature better conforms to the real dynamic characteristics of the servo actuator, so that the false alarm of the system can be reduced, and the accuracy of detecting faults of the BIT system can be improved.
The following is a detailed description of the present invention with reference to an embodiment.
The application provides a flight control system servo actuator BIT fault detection method, which comprises the following steps:
acquiring a monitoring threshold reference value of the BIT detection parameter of the servo actuator based on the monitoring threshold relation between the temperature and the BIT detection parameter of the servo actuator;
in the steps, monitoring threshold reference values of BIT detection parameters respectively corresponding to a certain low temperature and a normal temperature of the flight control system servo actuator can be preset.
Specifically, as shown in fig. 2, T1 is a first temperature, which may be a certain normal temperature working temperature of a servo actuator of a certain model, and when T is greater than or equal to T1, a monitoring threshold corresponding to a BIT detection parameter of the servo actuator is Λ 1; t2 is the second temperature, and the second temperature can be a certain low temperature operating temperature of certain model servo actuator, and when T is less than or equal to T2, its control threshold that corresponds servo actuator BIT detection parameter is Λ 2, and Λ 1, Λ 2 parameter value can be predetermine, and when T2< T < T1, its control threshold that corresponds servo actuator BIT detection parameter is Λ n, and wherein Λ n is the linear proportion interpolation of Λ 1 ~ Λ 2.
The method comprises the steps of obtaining a monitoring sampling value of a BIT detection parameter of the servo actuator at an ambient temperature, comparing an absolute difference value between the sampling value and a monitoring preset value of the BIT detection parameter corresponding to the ambient temperature with a corresponding monitoring threshold reference value, and judging the working state of the servo actuator according to the fault logic relation between the monitoring threshold of the BIT detection parameter and the servo actuator.
Specifically, a logical relationship between a monitoring threshold of a BIT detection parameter of a servo actuator and a fault of the servo actuator is shown in fig. 1, an ambient temperature T is a temperature of a scene corresponding to a flight control system in a simulation system or an actual flight process, a monitoring sampling value Λ a of the BIT detection parameter can be a monitoring sampling value of the flight control system read by a BIT program, a monitoring preset value Λ b of the BIT detection parameter can be a monitoring preset value in theoretical design of the flight control system at the ambient temperature, and is influenced by various factors such as a manufacturing process and an external environment, and the monitoring preset value in theoretical design of the flight control system cannot be completely the same as the actual sampling value.
When T is larger than or equal to T1, if the absolute difference between the monitoring sampling value of the BIT detection parameter and the monitoring preset value of the BIT detection parameter corresponding to the environment temperature is smaller than or equal to Λ 1, namely: lambda 1 is not more than equal to | lambda a-lambda b |, then judge this servo actuator normal work, if the absolute difference between the control sampling value of BIT detection parameter and the control default value of BIT detection parameter that ambient temperature corresponds is greater than lambda 1, promptly: if the performance of the servo actuator is judged to be abnormal if the lambda-lambdab is larger than lambda 1, namely the detection result is the fault of the servo actuator.
When T2< T1, if the absolute difference between the monitored sampled value of the BIT detection parameter and the monitored preset value of the BIT detection parameter corresponding to the ambient temperature is less than or equal to Λ 1, that is: if the lambda-lambdab is less than or equal to lambda 1, judging that the detection result of the servo actuator is normal in working state; if the absolute difference value between the monitoring sampling value of the BIT detection parameter and the monitoring preset value of the BIT detection parameter corresponding to the environment temperature is between lambada 1 and lambada n and is different from lambada 1 and lambada n, namely: if the detection result of the servo actuator is judged to be a false alarm if the detection result is Λ 1< | Λ a- Λ b | < Λ n; if the absolute difference value between the monitoring sampling value of the BIT detection parameter and the monitoring preset value of the BIT detection parameter corresponding to the environment temperature is more than or equal to lambdan, namely: and if the lambda-lambda b is larger than or equal to lambda n, judging that the detection result of the servo actuator is a fault.
When T is less than or equal to T2, if the absolute difference between the monitoring sampling value of the BIT detection parameter and the monitoring preset value of the BIT detection parameter corresponding to the environment temperature is less than or equal to Λ 1, namely: if the lambda-lambdab is less than or equal to lambda 1, judging that the detection result of the servo actuator is normal in working state; if the absolute difference value between the monitoring sampling value of the BIT detection parameter and the monitoring preset value of the BIT detection parameter corresponding to the environment temperature is between Lambda 1 and Lambda 2 and is different from Lambda 1 and Lambda 2, namely: if the detection result of the servo actuator is judged to be a false alarm if the detection result is Lambda 1< | Lambda-Lambda | < Lambda 2; if the absolute difference value between the monitoring sampling value of the BIT detection parameter and the monitoring preset value of the BIT detection parameter corresponding to the environment temperature is more than or equal to lambda 2, namely: and if the lambda a-lambda b lambda is larger than lambda 2, judging that the detection result of the servo actuator is a fault.
Optionally, the fault logic determining further includes:
if the first detection result of a certain servo actuator parameter is a fault, the BIT fault detection of the servo actuator of the parameter flight control system is carried out for multiple times in a circulating mode, and the working state of the servo actuator is comprehensively judged according to the detection results of all times of judgment.
If the first detection result of a certain servo actuator parameter is a fault, performing flight control system servo actuator BIT fault detection of the parameter 2 times in a circulating manner, recording each detection result, if only one detection result is judged to be a fault in 3 times of flight control system servo actuator BIT fault detection circulating detection, judging the final detection result to be a false alarm, not performing fault declaration in the aircraft cabin, but performing maintenance and inspection after flight or at regular intervals, if the detection result is judged to be a fault 2 times or 3 times, judging the final detection result to be a fault, and when the detection result continuously occurs 2 times and is judged to be a fault, terminating the circulating detection, stopping executing a flight mission, and performing fault troubleshooting.
Taking a BIT _ N test step of a certain servo actuator as an example, a specific implementation method is as follows:
BIT_N()
{
v/BIT _ N denotes a certain BIT test step for a certain servo actuator
int i =0; defining the testing times i of the step of BIT _ N;
defining the fault times j of the step BIT _ N;
do
{
example of the contents of//. by BIT N step test
Sending a certain actuator servo excitation command CMD = xx V;
delay xx ms;
collecting a displacement value Lambda of an actuator;
//******************************
i + +, and/BIT _ N step detection times i + 1.
And if (| Lambda-Lambda | > Lambda)// judging whether the absolute difference value of the sampling value Lambda and the preset value Lambda exceeds the monitoring threshold Lambda by adopting the fault monitoring logic.
j + +; if the error is out of tolerance, the BIT _ N tests the step failure times j + 1.
}
While((i＜3)&(j!=0))
if((i=3)&(j＞=2))
Reporting a BIT _ N step test fault; v/declare BIT _ N step failure information, which must be immediately checked and maintained
else if((i=3)&(j=1))
Recording the step test false alarm of BIT _ N; v/record BIT _ N step false alarm information, can be periodically checked and maintained
else
Perform the next BIT _ N +1 test
}
The application also provides flight control system servo actuator BIT fault detection device, include:
the acquisition module is used for acquiring a monitoring threshold reference value of the BIT detection parameter of the servo actuator based on the monitoring threshold relation between the temperature and the BIT detection parameter of the servo actuator;
and the number of the first and second groups,
the monitoring preset values are used for acquiring BIT detection parameters corresponding to different temperatures;
the monitoring module is used for acquiring a monitoring sampling value of a BIT detection parameter of the servo actuator at the ambient temperature;
and the determining module is used for comparing an absolute difference value between the monitoring sampling value obtained by the monitoring module and the monitoring preset value of the BIT detection parameter corresponding to the environment temperature obtained by the obtaining module with a corresponding monitoring threshold reference value, and judging the working state of the servo actuator according to the fault logic relationship between the monitoring threshold of the BIT detection parameter and the servo actuator.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and modules may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present application, the coupling of the modules to each other may be an electrical, mechanical or other form of coupling.
In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The present application also provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor implements the method as described in the aforementioned method embodiments.
The present application also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method as described in the aforementioned method embodiments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (8)
1. Flight control system servo actuator BIT fault detection method is characterized by comprising the following steps:
acquiring a monitoring threshold reference value of the BIT detection parameter of the servo actuator based on the monitoring threshold relation between the temperature and the BIT detection parameter of the servo actuator;
the method comprises the steps of obtaining a monitoring threshold sampling value of a BIT detection parameter of the servo actuator at the ambient temperature, comparing a difference value between the sampling value and a monitoring threshold preset value of the BIT detection parameter corresponding to the ambient temperature with a corresponding monitoring threshold reference value, and judging the working state of the servo actuator according to the fault logic relation between the monitoring threshold of the BIT detection parameter and the servo actuator.
2. The BIT fault detection method of claim 1, wherein the monitoring threshold relationship based on temperature and the BIT detection parameters of the servo actuator comprises:
when the temperature is not lower than the first temperature, the monitoring threshold of the BIT detection parameter of the servo actuator is Λ 1;
when the temperature is not higher than the second temperature, the first temperature is higher than the second temperature, and the monitoring threshold of the BIT detection parameter of the servo actuator is lambada 2;
when the temperature is between the first temperature and the second temperature and does not contain the first temperature or the second temperature, the monitoring threshold of the BIT detection parameter of the servo actuator is lambdan, wherein the lambdan is linear proportional interpolation of the lambdan 1 to the lambada 2.
3. The BIT fault detection method of claim 2, wherein the logical relationship between the monitoring threshold of the BIT detection parameter and the fault of the servo actuator comprises:
when the ambient temperature is not lower than the first temperature, if the absolute difference value between the monitoring sampling value of the BIT detection parameter and the monitoring preset value of the BIT detection parameter corresponding to the ambient temperature is smaller than or equal to Lambda 1, the servo actuator is judged to normally work, and if the absolute difference value between the monitoring sampling value of the BIT detection parameter and the monitoring preset value of the BIT detection parameter corresponding to the ambient temperature is larger than Lambda 1, the detection result of the servo actuator is judged to be a fault.
When the environment temperature is between the first temperature and the second temperature and does not contain the first temperature or the second temperature, if the absolute difference value between the monitoring sampling value of the BIT detection parameter and the monitoring preset value of the BIT detection parameter corresponding to the environment temperature is less than or equal to lambda 1, judging that the detection result of the servo actuator is normal in working state; if the absolute difference value between the monitoring sampling value of the BIT detection parameter and the monitoring preset value of the BIT detection parameter corresponding to the environment temperature is between lambada 1 and lambada n and is different from lambada 1 and lambada n, judging that the detection result of the servo actuator is a false alarm; and if the absolute difference value between the monitoring sampling value of the BIT detection parameter and the monitoring preset value of the BIT detection parameter corresponding to the environment temperature is greater than or equal to lambdan, judging that the detection result of the servo actuator is a fault.
When the ambient temperature is not higher than the second temperature, if the absolute difference value between the monitoring sampling value of the BIT detection parameter and the monitoring preset value of the BIT detection parameter corresponding to the ambient temperature is less than or equal to Λ 1, judging that the detection result of the servo actuator is normal in working state; if the absolute difference value between the monitoring sampling value of the BIT detection parameter and the monitoring preset value of the BIT detection parameter corresponding to the environment temperature is between lambada 1 and lambada 2 and is different from lambada 1 and lambada 2, judging that the detection result of the servo actuator is a false alarm; and if the absolute difference value between the monitoring sampling value of the BIT detection parameter and the monitoring preset value of the BIT detection parameter corresponding to the environment temperature is greater than or equal to lambda 2, judging that the detection result of the servo actuator is a fault.
4. The BIT fault detection method of claim 3, wherein the fault determining further comprises:
if the first detection result of a certain servo actuator parameter is a fault, the BIT fault detection of the flight control system servo actuator of the parameter is repeatedly and circularly carried out for multiple times, and the working state of the servo actuator is comprehensively judged by combining the judgment results of the multiple times of detection.
5. The BIT fault detection method of claim 4, wherein the fault determining further comprises:
if the first detection result of a certain servo actuator parameter is a fault, performing flight control system servo actuator BIT fault detection of the parameter 2 times in a recycling mode, recording detection results of the times, if the parameter is detected in 3 flight control system servo actuator BIT fault detection circulation detections in total, if only one detection result is judged to be a fault, judging a final detection result to be a false alarm, if 2 or 3 detection results are judged to be a fault, judging the final detection result to be a fault, and when 2 detection results are continuously generated, judging the fault to be a fault, stopping circulation detection.
6. The utility model provides a flight control system servo actuator BIT trouble detection device which characterized in that includes:
the acquisition module is used for acquiring a monitoring threshold reference value of the BIT detection parameter of the servo actuator based on the monitoring threshold relation between the temperature and the BIT detection parameter of the servo actuator;
and the number of the first and second groups,
the monitoring preset values are used for acquiring BIT detection parameters corresponding to different temperatures;
the monitoring module is used for acquiring a monitoring sampling value of a BIT detection parameter of the servo actuator at the ambient temperature;
and the determining module is used for comparing an absolute difference value between the monitoring sampling value obtained by the monitoring module and the monitoring preset value of the BIT detection parameter corresponding to the environment temperature obtained by the obtaining module with a corresponding monitoring threshold reference value, and judging the working state of the servo actuator according to the fault logic relationship between the monitoring threshold of the BIT detection parameter and the servo actuator.
7. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-6 when executing the program.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 6.
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