CN113753223A - Undercarriage control method and device, electronic equipment and storage medium - Google Patents
Undercarriage control method and device, electronic equipment and storage medium Download PDFInfo
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- CN113753223A CN113753223A CN202010491780.XA CN202010491780A CN113753223A CN 113753223 A CN113753223 A CN 113753223A CN 202010491780 A CN202010491780 A CN 202010491780A CN 113753223 A CN113753223 A CN 113753223A
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- control board
- undercarriage
- board
- motor drive
- main control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/24—Operating mechanisms electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/26—Control or locking systems therefor
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Safety Devices In Control Systems (AREA)
Abstract
The embodiment of the invention provides a control method and a device of an undercarriage, electronic equipment and a storage medium, which are applied to a monitoring single chip microcomputer in an undercarriage controller, wherein the undercarriage controller also comprises a plurality of control boards and a motor drive board which are connected with the monitoring single chip microcomputer, and the method comprises the following steps: determining a main control board and a standby control board from the plurality of control boards; judging whether the working state of the main control panel is normal or not; if not, disconnecting the main control board from the motor drive board, and establishing the connection between the standby control board and the motor drive board; wherein the motor drive plate is used for controlling the retraction and the setting down of the undercarriage. When the main control panel breaks down, can be automatic seamless switching for being equipped with the control panel, avoid appearing the condition that can't control the undercarriage, avoid taking place the accident of unmanned aerial vehicle crash.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a control method and device of an undercarriage, electronic equipment and a storage medium.
Background
The undercarriage is one of the essential parts of unmanned aerial vehicle, and unmanned aerial vehicle slides when taking off and landing to and remove on ground, park all needs the help of undercarriage, the good or bad and the reliability of its working property directly influence unmanned aerial vehicle's use and safety.
The existing unmanned aerial vehicle undercarriage is generally controlled by an unmanned aerial vehicle undercarriage control system, an undercarriage controller is an important part of the unmanned aerial vehicle undercarriage control system, a flight control computer sends an undercarriage retraction and extension instruction to the undercarriage controller, and after the undercarriage controller receives the instruction, the undercarriage controller controls the action of the undercarriage, simultaneously receives undercarriage feedback signals and wheel-borne signals, and controls the undercarriage to be retracted and retracted. However, the control panel fault may occur in the working process of the undercarriage controller, the condition that the undercarriage cannot be controlled is generated, the performance of the unmanned aerial vehicle is affected, and the unmanned aerial vehicle can be even crashed in severe cases.
Disclosure of Invention
In view of the above problems, the present invention has been made to provide a control method and apparatus of a landing gear, an electronic device, and a storage medium, which overcome the above problems or at least partially solve the above problems, including:
in order to solve the above problems, an embodiment of the present invention discloses a control method for an undercarriage, which is applied to a monitoring single chip microcomputer in an undercarriage controller, wherein the undercarriage controller further includes a plurality of control boards and a motor drive board connected to the monitoring single chip microcomputer, and the method includes:
determining a main control board and a standby control board from the plurality of control boards;
judging whether the working state of the main control panel is normal or not;
if not, disconnecting the main control board from the motor drive board, and establishing the connection between the standby control board and the motor drive board;
wherein the motor drive plate is used for controlling the retraction and the setting down of the undercarriage.
Preferably, the landing gear controller further comprises a control relay connected with the monitoring single chip, and the step of determining the main control board and the standby control board from the plurality of control boards comprises:
receiving instruction sending authorities of the control panels sent by the control relay;
and determining the main control panel and the standby control panel according to the instruction sending permission.
Preferably, the step of judging whether the working state of the main control board is normal includes:
receiving a heartbeat signal sent by the main control board;
and judging whether the working state of the main control board is normal or not according to the heartbeat signal.
Preferably, the motor driving board has a main motor driving circuit and a standby motor driving circuit, and the step of disconnecting the main control board from the motor driving board and establishing the connection between the standby control board and the motor driving board includes:
disconnecting the main control board from the main motor drive circuit;
establishing connection between the standby control board and the main motor driving circuit; the main motor driving circuit is used for generating fault information corresponding to the main motor driving circuit;
when the fault message is received, disconnecting the connection between the standby control board and the main motor driving circuit;
and establishing connection between the standby control board and the standby driving circuit.
Preferably, the landing gear controller is connected to a plurality of landing gears;
the control board is used for sending a control instruction to the circuit driving board; the control instructions include a stow instruction and a set down instruction, the control instructions corresponding to at least one of the plurality of landing gears.
Preferably, the landing gear controller further comprises a plurality of lower position sensors, and the plurality of lower position sensors correspond to the plurality of landing gears one to one;
the control board is used for receiving position signals sent by the plurality of lower position sensors when the plurality of undercarriage are in a down state;
the control board is further used for sending the lowering command to the circuit driving board if the position signal changes, and the circuit driving board is used for lowering the undercarriage corresponding to the lowering command.
Preferably, the landing gear controller is connected with a wheel-mounted switch;
the control panel is used for detecting whether a wheel-mounted signal sent by the wheel-mounted switch is received or not before the plurality of undercarriage are retracted;
the control panel is further used for stopping retracting the plurality of undercarriage if the wheel-mounted signal is received.
The embodiment of the invention also discloses a control device of the undercarriage, which is applied to a monitoring singlechip in the undercarriage controller, the undercarriage controller also comprises a plurality of control boards and motor drive boards which are connected with the monitoring singlechip, and the device comprises:
the determining module is used for determining a main control board and a standby control board from the plurality of control boards;
the judging module is used for judging whether the working state of the main control panel is normal or not;
the connection establishing and disconnecting module is used for disconnecting the main control board from the motor drive board and establishing the connection between the standby control board and the motor drive board if the working state of the main control board is abnormal; wherein the motor drive plate is used for controlling the retraction and the setting down of the undercarriage.
The embodiment of the invention also provides electronic equipment, which comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the steps of the control method of the landing gear when being executed by the processor.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program is used for realizing the steps of the control method of the landing gear when being executed by a processor.
The invention has the following advantages:
in the embodiment of the invention, the main control board and the standby control board are determined from the plurality of control boards, whether the working state of the main control board is normal or not is judged, if not, the connection between the main control board and the motor drive board is disconnected, and the connection between the standby control board and the motor drive board is established, wherein the motor drive board is used for driving the undercarriage actuator cylinder motor to control the retraction and the extension of the undercarriage, so that when the main control board breaks down, the main control board can be automatically and seamlessly switched to the standby control board, the condition that the undercarriage cannot be controlled is avoided, and the accident that the unmanned aerial vehicle crashes is avoided.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic diagram of a landing gear controller provided by an embodiment of the present invention;
FIG. 2 is a flow chart illustrating steps of a method for controlling a landing gear according to an embodiment of the present invention;
FIG. 3 is a flow chart illustrating steps in an alternative method of controlling a landing gear in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of a motor drive plate provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of the operating principle of a landing gear controller according to an embodiment of the present invention;
fig. 6 is a block diagram of a control device for a landing gear according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The landing gear controller is an important component of an unmanned aerial vehicle landing gear control system, and as shown in fig. 1, the unmanned aerial vehicle landing gear adopts a three-point layout and is composed of a nose landing gear, a left main landing gear and a right main landing gear. The front landing gear, the left main landing gear and the right main landing gear are retracted and extended in an electric retraction and extension mode, and each landing gear is retracted and extended through an electric actuator cylinder driven by a landing gear motor. The undercarriage controller can be driven by a 28V power supply of a power supply system, can receive an undercarriage retracting instruction sent by an upper computer, and drives a motor to rotate to realize the retracting function of the undercarriage. In the process of retraction and extension, the undercarriage controller can realize variable-speed rotation of the motor, namely, the retraction actuator cylinder operates at a certain acceleration until the speed is limited after being unlocked, the middle stroke adopts constant-speed motion, and the final stroke before arrival adopts low-speed motion. Meanwhile, the undercarriage controller can collect travel information and feed the travel information back to the flight control computer.
After the undercarriage is put in place and locked, the undercarriage controller receives signals fed back by the upper position lock sensor and the lower position lock sensor, the motor is controlled to stop rotating after the motor is locked, and meanwhile, the undercarriage controller feeds back the signals in place of the upper position lock sensor and the lower position lock sensor to the upper computer.
Meanwhile, the undercarriage controller can receive a signal fed back by the wheel-mounted switch in real time and feed the signal back to the upper computer.
The undercarriage control system can send a retraction and extension instruction to the undercarriage controller through the RS422 communication interface by the upper computer, and after receiving the instruction, the undercarriage controller controls the undercarriage actuator cylinder to act and simultaneously receives an undercarriage feedback signal and a wheel-mounted signal to effectively control the retraction and extension functions. However, when the undercarriage controller breaks down, the undercarriage actuator cylinder is controlled to move by the instruction sent by the upper computer which can not be normally received, so that the undercarriage cannot be put down when the unmanned aerial vehicle lands, and the unmanned aerial vehicle is damaged. Based on the above, the application provides a control method and device of the undercarriage, electronic equipment and a storage medium, which can prevent the situation that the undercarriage of the unmanned aerial vehicle cannot be normally retracted and put down when the undercarriage controller fails.
Referring to fig. 2, a flowchart of steps of a method for controlling an undercarriage according to an embodiment of the present invention is shown, and the method is applied to a monitoring single chip microcomputer in an undercarriage controller, where the undercarriage controller further includes a plurality of control boards and a motor drive board connected to the monitoring single chip microcomputer, and the method includes:
the control board adopts a similar redundancy design, the similar redundancy is the requirement of meeting the reliability and the fault tolerance, and two or more than two same components or systems are adopted to correctly and coordinately complete the same task. As an example of the present invention, the similarity redundancy design may be configured with a dual MCU (micro controller Unit) architecture, one is backup and the other is backup, the main control board and the backup control board are both connected to the monitoring single chip, the monitoring single chip may monitor the operating state of the main control board, and issue an instruction to switch the main control board to the backup control board when the operating state is abnormal. The main control board and the standby control board receive an upper computer command and an external panel command simultaneously through designing a redundant communication interface, data sharing is carried out through an internal communication interface, after a correct command is obtained through comparison and judgment, the main control board of the current value sends a control command to the motor drive board through the internal communication interface, the motor drive board which is connected with a power supply receives the command and then drives the undercarriage motor to act, pulse data of a Hall element is recorded, the undercarriage position is calculated, and undercarriage state information and drive module state information are fed back to the main control board of the current value through the internal communication interface. When the landing gear is in place, the hall element count will be cleared and the landing gear angle value will be realigned.
In the embodiment of the invention, the main control panel and the standby control panel are determined from a plurality of control panels designed with similar redundancy, and the main control panel is the control panel in current working.
102, judging whether the working state of the main control panel is normal or not;
the working state of the main control board represents the running condition of the main control board, when the main control board breaks down, the working state of the main control board is abnormal, and the monitoring single chip microcomputer monitors the working state of the main control board and judges whether the main control board is in a normal state or not.
And 103, if not, disconnecting the main control board from the motor drive board, and establishing the connection between the standby control board and the motor drive board.
The motor drive board is used for completing the motor drive work of the undercarriage actuator cylinder, controlling the undercarriage to retract and put down, sending a switching instruction to disconnect the connection between the main control board and all the motor drive boards when the monitoring singlechip monitors that the working state of the main control board is abnormal, and establishing connection between the standby control board and all the motor drive boards, so that the current control board is switched from the main control board to the standby control board.
In the embodiment of the invention, the main control board and the standby control board are determined from the plurality of control boards, whether the working state of the main control board is normal or not is judged, if the working state of the main control board is abnormal, the connection between the main control board and the motor drive board is disconnected, and the connection between the standby control board and the motor drive board is established. Therefore, when the main control panel breaks down, the main control panel can be automatically and seamlessly switched to the standby control panel, the condition that the undercarriage cannot be controlled is avoided, and the accident that the unmanned aerial vehicle crashes is avoided.
Referring to fig. 3, a flowchart of steps of another landing gear control method provided in an embodiment of the present invention is shown, and is applied to a monitoring single chip microcomputer in a landing gear controller, where the landing gear controller further includes a plurality of control boards and a motor drive board connected to the monitoring single chip microcomputer, and the method includes:
in an optional embodiment of the present invention, the landing gear controller further includes a control relay connected to the monitoring single chip, and step 201 includes the following sub-steps:
receiving instruction sending authorities of the control panels sent by the control relay;
and determining the main control panel and the standby control panel according to the instruction sending permission.
The control relay is connected with the monitoring single chip microcomputer and the control panel, and the monitoring single chip microcomputer can determine the main control panel and the standby control panel through the control relay.
The control relay can send the feedback signal that the instruction was executed to the control panel, and control relay can judge whether each control panel possess the authority of sending drive instruction according to feedback signal simultaneously, sends the authority information of each control panel to the monitoring singlechip again, and the monitoring singlechip can confirm main control panel and reserve the control panel according to this information, and wherein, the control panel that possesses the authority of sending drive instruction is main control panel, and the control panel that does not send drive instruction authority is for reserve the control panel.
and the monitoring singlechip judges whether the working state of the main control panel is normal or not after confirming the main control panel and the standby control panel according to the permission information of the control panel sent by the control relay. The main control board and the standby control board can regularly send heartbeat signals representing working states to the monitoring single chip microcomputer, and when the heartbeat signals received by the monitoring single chip microcomputer and coming from the main control board are abnormal, the working states of the main control board can be confirmed to be abnormal.
in an alternative embodiment of the present invention, the motor driving board has a main motor driving circuit and a standby motor driving circuit, and step 204 further includes the following sub-steps:
disconnecting the main control board from the main motor drive circuit;
establishing connection between the standby control board and the main motor driving circuit; the main motor driving circuit is used for generating fault information corresponding to the main motor driving circuit;
when the fault message is received, disconnecting the connection between the standby control board and the main motor driving circuit;
and establishing connection between the standby control board and the standby driving circuit.
In the embodiment of the invention, the motor driving circuit on the motor driving board also adopts a similar redundancy design and comprises a main motor driving circuit and a standby motor driving circuit. As shown in fig. 4, each Motor driving board has a main Motor driving circuit and a standby Motor driving circuit, both of which adopt an MCU and the same driving circuit architecture and circuit, and each redundancy includes an MCU, an isolation circuit, a BLDC (Brushless Direct Current Motor) controller, a driving chip, and an MOSFET (Metal-Oxide-Semiconductor Field-Effect Transistor) power circuit. The motor driving board MCU is the core of the motor driving unit and is mainly used for realizing parameter setting of the motor operation by a control strategy and a control algorithm and communicating with the control board to upload operation state information.
When the motor driving circuit fails and cannot execute the instruction sent by the control panel, the control of the undercarriage is also affected, so that after the standby control panel is connected with the main motor driving circuit, when the main motor driving circuit fails, the main motor driving circuit can generate fault information corresponding to the fault, the monitoring singlechip disconnects the connection between the standby control panel and the main motor driving circuit after receiving the fault information, and establishes connection between the standby control panel and the standby driving circuit, so that the undercarriage controller can normally operate. In addition, the control relay can also monitor the connection state between the control relay and the monitoring single chip microcomputer, when the monitoring single chip microcomputer breaks down, the connection signal between the control machine electric appliance and the monitoring single chip microcomputer is abnormal, the control relay can automatically break off the connection between the main control board and the motor driving circuit, and the connection between the standby control board and the motor driving circuit is established. Therefore, even if the monitoring single chip microcomputer is simultaneously failed due to the fault involvement of the main control panel, the standby control panel can still ensure the normal work of the undercarriage controller.
In an alternative embodiment of the invention, the landing gear controller is connected to a plurality of landing gears, and when the value control board can send control commands including a retraction command and a retraction command to the circuit driver board, the control commands correspond to at least one of the plurality of landing gears, so that in the event of an accident, the control board can control a single landing gear to retract and retract in an emergency, and in addition, a stop command can be sent during the emergency retraction and retraction to stop executing the retraction or retraction command currently being executed.
In another alternative embodiment of the invention, the landing gear controller further comprises a plurality of low-position sensors, each low-position sensor corresponds to a landing gear, when the landing gear is in the down state, the low-position sensors can send out preset position signals, and when the value control board receives the position signals, the landing gear can be known to be in the down state. When unmanned aerial vehicle is in the state of parking ground, the undercarriage puts down, supports the unmanned aerial vehicle fuselage, if the undercarriage is packed up because of unexpected reason mistake this moment, then can make the unmanned aerial vehicle fuselage ground that drops, cause the fuselage to damage, consequently when the position signal that the sensor that targets in place sent changes, it does not be in the state of putting down to show the undercarriage promptly, can send the instruction of putting down to the circuit drive plate when the value control board, the circuit drive plate puts down the undercarriage, avoid because of the undercarriage normally puts down or because of the unmanned aerial vehicle damage that leads to when unexpected receipts.
In an alternative embodiment of the invention, the landing gear controller is also connected to a wheel load switch. At the in-process that unmanned aerial vehicle takes off, unmanned aerial vehicle need run on the runway now, just can take off successfully after having run the certain distance, and the in-process of running up, unmanned aerial vehicle fuselage weight that the undercarriage bearing wheel bore constantly reduces, when reducing to the certain degree, and the undercarriage just can be packed up, if pack up in advance, then unmanned aerial vehicle takes off the failure, the condition of direct crash can appear. And the wheel carries the switch and is used for detecting the weight that the unmanned aerial vehicle undercarriage bearing wheel bore, when the weight that the wheel carried the switch and detected is greater than predetermined threshold value, then sends the wheel and carries the signal, indicates that unmanned aerial vehicle has not succeeded in taking off, still needs the undercarriage to support the fuselage, consequently the control panel of value before sending the instruction of packing up, can also detect whether receive the wheel and carry the signal, when receiving the wheel and carry the signal, then stops packing up the undercarriage, in case the failure of taking off.
In the embodiment of the invention, the monitoring singlechip receives the instruction sending authority of a plurality of control panels sent by the control relay, determines the main control panel and the standby control panel according to the instruction sending authority, receives heartbeat signals sent by the main control panel, judges whether the working state of the main control panel is normal or not according to the heartbeat signals, if not, disconnects the main control panel from the main motor driving circuit, establishes the connection between the standby control panel and the main motor driving circuit, disconnects the connection between the standby control panel and the main motor driving circuit when receiving fault messages generated by the main motor driving circuit, establishes the connection between the standby control panel and the standby driving circuit, the control panels are used for sending control instructions corresponding to at least one of a plurality of undercarriage to the circuit driving panel, and is also used for receiving position signals sent by a plurality of lower in-position sensors when the plurality of undercarriage are in a down state, if the position signal changes, a put-down instruction is sent to the circuit driving board, the control board is further used for detecting whether a wheel load signal sent by the wheel load switch is received or not before the plurality of undercarriage are folded, and if the wheel load signal is received, the plurality of undercarriage are stopped to be folded. Thereby both avoided appearing the condition that can't control the undercarriage, avoided unmanned aerial vehicle to park or take off the condition that the undercarriage mistake that probably appears is packed up or is put by mistake again, reduced the risk of unmanned aerial vehicle damage.
In order to enable a person skilled in the art to better understand the solution of the present invention, the present application is exemplified below by way of example, but it should be understood that the present application is not limited thereto.
The overall working principle of the embodiment of the invention is shown in fig. 5, the landing gear controller adopts a main redundancy design and a standby redundancy design, and when the main redundancy fails, the redundancy is isolated and automatically switched to the standby redundancy for working. The landing gear controller is internally composed of a main board, a control board and a motor drive board. The control panel is used for executing functions of calculation, analysis, communication and the like, the motor drive board is used for finishing the motor drive work of the undercarriage actuator cylinder, the main board is used for monitoring states of other modules and switching backup in time and ensuring smooth circuits of the modules, the main board is used as an interface board of the two control panels, the three motor drive boards and an external lead, the monitoring single chip microcomputer and the control relay are arranged, the monitoring single chip microcomputer controls the opening and closing of the relay, and the control panel is used for switching between an RS485 serial port line of the two control panels and control lines of the relays 2, 3 and 4.
Referring to fig. 6, a block diagram of a control device for an undercarriage according to an embodiment of the present invention is shown, and the control device is applied to a monitoring single chip in an undercarriage controller, where the undercarriage controller further includes a plurality of control boards and a motor drive board connected to the monitoring single chip, and the control device may include the following modules:
a determining module 301, configured to determine a main control board and a standby control board from the plurality of control boards;
a judging module 302, configured to judge whether a working state of the main control board is normal;
a connection establishing and disconnecting module 303, configured to disconnect the connection between the main control board and the motor drive board and establish a connection between the standby control board and the motor drive board if the working state of the main control board is abnormal; wherein the motor drive plate is used for controlling the retraction and the setting down of the undercarriage.
In an embodiment of the present invention, the landing gear controller further includes a control relay connected to the monitoring single chip, and the determining module 301 further includes:
the authority receiving submodule is used for receiving the instruction sending authorities of the control panels sent by the control relay;
and the control board determining submodule is used for determining the main control board and the standby control board according to the instruction sending authority.
In an embodiment of the present invention, the determining module 302 further includes the following sub-modules:
the heartbeat signal receiving submodule is used for receiving heartbeat signals sent by the main control panel;
and the working state judgment submodule is used for judging whether the working state of the main control panel is normal or not according to the heartbeat signal.
In an embodiment of the present invention, the motor driving board has a main motor driving circuit and a standby motor driving circuit, and the connection establishing and disconnecting module 303 includes:
the first disconnection submodule is used for disconnecting the connection between the main control board and the main motor drive circuit;
the first connecting submodule is used for establishing connection between the standby control board and the main motor driving circuit; the main motor driving circuit is used for generating fault information corresponding to the main motor driving circuit;
the second disconnection submodule is used for disconnecting the connection between the standby control board and the main motor drive circuit when the fault message is received;
and the second connecting submodule is used for establishing the connection between the standby control board and the standby drive circuit.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
An embodiment of the present invention also provides an electronic device, which may include a processor, a memory, and a computer program stored on the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the control method of the landing gear.
An embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, the computer program, when executed by a processor, implementing the steps of the method for controlling a landing gear as described above.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The landing gear control method and device, the electronic device, and the storage medium provided by the present invention are described in detail above, and a specific example is applied in the present document to explain the principle and the implementation of the present invention, and the description of the above embodiment is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A control method of an undercarriage is characterized by being applied to a monitoring single chip microcomputer in an undercarriage controller, wherein the undercarriage controller further comprises a plurality of control boards and a motor drive board which are connected with the monitoring single chip microcomputer, and the method comprises the following steps:
determining a main control board and a standby control board from the plurality of control boards;
judging whether the working state of the main control panel is normal or not;
if not, disconnecting the main control board from the motor drive board, and establishing the connection between the standby control board and the motor drive board;
wherein the motor drive plate is used for controlling the retraction and the setting down of the undercarriage.
2. The method of claim 1, further comprising a control relay coupled to a monitoring single-chip, wherein the step of determining the primary control board and the backup control board from the plurality of control boards comprises:
receiving instruction sending authorities of the control panels sent by the control relay;
and determining the main control panel and the standby control panel according to the instruction sending permission.
3. The method according to claim 1 or 2, wherein the step of judging whether the working state of the main control board is normal comprises the steps of:
receiving a heartbeat signal sent by the main control board;
and judging whether the working state of the main control board is normal or not according to the heartbeat signal.
4. The method of claim 1, wherein said motor drive board has a main motor drive circuit and a standby motor drive circuit, and said step of disconnecting said main control board from said motor drive board and establishing a connection between said standby control board and said motor drive board comprises:
disconnecting the main control board from the main motor drive circuit;
establishing connection between the standby control board and the main motor driving circuit; the main motor driving circuit is used for generating fault information corresponding to the main motor driving circuit;
when the fault message is received, disconnecting the connection between the standby control board and the main motor driving circuit;
and establishing connection between the standby control board and the standby driving circuit.
5. The method of claim 2, wherein the landing gear controller is connected to a plurality of landing gears;
the control board is used for sending a control instruction to the circuit driving board; the control instructions include a stow instruction and a set down instruction, the control instructions corresponding to at least one of the plurality of landing gears.
6. The method of claim 5, wherein the landing gear controller further comprises a plurality of low-position sensors, the plurality of low-position sensors corresponding one-to-one with the plurality of landing gears;
the control board is used for receiving position signals sent by the plurality of lower position sensors when the plurality of undercarriage are in a down state;
the control board is further used for sending the lowering command to the circuit driving board if the position signal changes, and the circuit driving board is used for lowering the undercarriage corresponding to the lowering command.
7. The method of claim 5, wherein the landing gear controller is connected to an on-board switch;
the control panel is used for detecting whether a wheel-mounted signal sent by the wheel-mounted switch is received or not before the plurality of undercarriage are retracted;
the control panel is further used for stopping retracting the plurality of undercarriage if the wheel-mounted signal is received.
8. The utility model provides a controlling means of undercarriage which characterized in that is applied to the monitoring singlechip among the undercarriage controller, the undercarriage controller still include with a plurality of control panels and the motor drive board that the monitoring singlechip is connected, the device includes:
the determining module is used for determining a main control board and a standby control board from the plurality of control boards;
the judging module is used for judging whether the working state of the main control panel is normal or not;
the connection establishing and disconnecting module is used for disconnecting the main control board from the motor drive board and establishing the connection between the standby control board and the motor drive board if the working state of the main control board is abnormal; wherein the motor drive plate is used for controlling the retraction and the setting down of the undercarriage.
9. An electronic device, characterized in that it comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, the computer program, when executed by the processor, implementing the steps of the method for controlling a landing gear according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that it stores thereon a computer program which, when executed by a processor, carries out the steps of a method for controlling a landing gear according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010491780.XA CN113753223A (en) | 2020-06-02 | 2020-06-02 | Undercarriage control method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010491780.XA CN113753223A (en) | 2020-06-02 | 2020-06-02 | Undercarriage control method and device, electronic equipment and storage medium |
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| Publication Number | Publication Date |
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| CN113753223A true CN113753223A (en) | 2021-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010491780.XA Pending CN113753223A (en) | 2020-06-02 | 2020-06-02 | Undercarriage control method and device, electronic equipment and storage medium |
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| CN (1) | CN113753223A (en) |
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