CN114013628A - Wing folding control method and device - Google Patents
Wing folding control method and device Download PDFInfo
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- CN114013628A CN114013628A CN202111136367.2A CN202111136367A CN114013628A CN 114013628 A CN114013628 A CN 114013628A CN 202111136367 A CN202111136367 A CN 202111136367A CN 114013628 A CN114013628 A CN 114013628A
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Abstract
The invention discloses a wing folding control method and a device, wherein the method comprises the following steps: the flight control computer acquires the motion attitude data of an aircraft for controlling the folding wing; the wing folding control processor comprehensively judges the current motion attitude of the aircraft; when the comprehensive logic operation result is ground parking, a furling instruction is sent out; when the comprehensive logic operation result is takeoff running, air flight and landing running, an expansion instruction is sent out; the wing folding control processor controls the actuation process of unfolding and folding; the device includes: the device comprises a wing folding control processor, a sensor data processor, a Hall angle sensor, a pressure sensor, a displacement sensor, a folding actuator driver, a folding actuator amplifier, a folding actuator, a locking actuator driver, a locking actuator amplifier and a locking actuator; the aircraft of the invention solves the motion instruction of the folding wing system without human participation, and has high intelligent degree and strong adaptability.
Description
Technical Field
The invention belongs to the technical field of aerospace, and particularly relates to a wing folding control method and device.
Background
With the development of aircraft technology and products, in order to improve the usability of the aircraft and expand the application range of the aircraft, more and more aircraft adopting the wing folding technology are available. The wing folding can adjust the wing span and area according to the use stage and the flight stage of the aircraft, so that the flight performance of the aircraft is changed, the aircraft is matched with a flight task, and the task efficiency of the aircraft is effectively improved.
Therefore, various wing folding modes, power driving modes, power transmission modes and wing locking modes are proposed by domestic and foreign research institutions, enterprises, colleges and universities and the like. The folding wings are a set of complex systems which integrate a mechanical structure, a motion mechanism and an actuating system, and in order to ensure the performance of the folding wings in the folding process, a folding control system is required to accurately control the motion states of the folding wings, such as the position, the speed, the acceleration and the like.
The control loop of the wing folding control system in the prior art is still a semi-automatic and semi-manual control loop: the links of wing folding and wing unfolding in the control loop are both manually finished, flight operators are an important loop in the control loop, and the operation level and the operation capacity of the flight operators play an important role in determining the state of the aircraft and issuing an execution instruction.
With the rapid development of aircraft technology, a semi-automatic control loop is changed into a full-automatic control loop, a manned folding control system is changed into an unmanned folding wing control system, and people are removed from the control system, so that the intelligent degree of autonomous perception, logic judgment, actuation decision and instruction issuing of the aircraft is enhanced, and the method has great significance for improving the task adaptability and the intelligent degree of the aircraft.
The difficulty in realizing the unmanned folding wing control system is as follows: the unmanned folding wing control system is required to autonomously sense the state of the aircraft, and autonomously logic judgment and autonomous actuation decision are carried out. The most important of the three is that the state of the aircraft is sensed autonomously, and only if the state of the aircraft is sensed accurately, the wings can be folded and unfolded autonomously in time. In the semi-automatic control loop, the flight state is obtained through manual eyes without autonomous perception, if the current aircraft is in any one of ground parking, take-off running, air flight and landing running, the flight state can be obtained by a manual visual inspection method, and the time for folding and unfolding the wings can be well controlled by the manual visual inspection: when the aircraft is parked on the ground by manual visual inspection, the aircraft is operated to fold the wings, and when the aircraft is in take-off running, air flight and landing running states by manual visual inspection, the aircraft is operated to unfold the wings. The difficulty of the 'full-automatic' control loop is that the flight state is invisible, the flight state can be judged only by various measuring devices, the flight state is judged by the measuring devices to be more complicated, and because the factors for determining each flight state are not one but multiple, a single measuring method is far from meeting the requirement, and the influence factors related to each flight state can be the same, for example, the 'airspeed' can be related to each flight state, but the measurement values of the same influence factor 'airspeed' in each flight state are different. Therefore, a difficulty in autonomously sensing the state of an aircraft is the complex relationship between flight state and various influencing factors, namely "one-to-many" and "many-to-one".
Disclosure of Invention
The invention provides a wing folding control method and a wing folding control device aiming at solving the problem that a control loop of a folding control system in the prior art is still a semi-automatic and semi-manual control loop.
In order to solve the technical problem, the invention provides the following technical scheme:
a wing folding control method is characterized by comprising the following steps,
the method comprises the following steps: after the aircraft is powered on, the wing folding control system maintains the state and the position before the last power off;
step two: the flight control computer obtains current aircraft motion attitude data, the aircraft motion attitude data comprises aircraft motion attitude data for folding wing control, and the aircraft motion attitude data for folding wing control comprises: pitch angle velocity, yaw angle velocity, roll angle velocity, course acceleration, ground speed and airspeed data of the aircraft;
step three: the wing folding control processor comprehensively judges the current motion attitude of the aircraft: after reading the aircraft motion attitude data for folding wing control from the flight control computer, carrying out comprehensive logical operation by combining the throttle signal and the undercarriage signal data acquired in the electromechanical management calculation, and judging whether the current spatial position state of the aircraft is in any state of ground parking, takeoff running, air flight and landing running according to the logical operation result; the comprehensive logic operation comprises ground parking comprehensive logic operation, take-off running comprehensive logic operation, air flight comprehensive logic operation and landing running comprehensive logic operation;
step four: and the wing folding control processor sends out an instruction according to the comprehensive logic operation result of the third step: when the comprehensive logic operation result is ground parking, a furling instruction is sent out; when the comprehensive logic operation result is takeoff running, air flight or landing running, an unfolding instruction is sent out;
step five: the wing folding control processor controls the unfolding actuating process:
1) after the wing folding control processor sends an unfolding instruction, acquiring sensor information through a sensor data processor and carrying out furling position comprehensive logic operation, wherein the furling position comprehensive logic operation is furling in-place state comprehensive logic operation;
2) judging whether the wings are in a 'furled in-place' state or not; if the unfolding lock is in the folding in-place state, continuing the process 3), if the unfolding lock is not in the folding in-place position, judging whether the unfolding lock is locked, if the unfolding lock is locked, turning to the process 7), and if the unfolding lock is not locked, turning to the process 4);
3) locking and unlocking;
4) unfolding and actuating the folding actuator;
5) judging whether the wings are unfolded, if so, continuing the process 6), and if not, returning to the process 4);
6) the wing folding control processor outputs an unfolding lock-up instruction, and the locking actuator executes unfolding lock-up actuation to complete unfolding actuation;
7) the wing is unfolded;
step six: the wing folding control processor is used for controlling the closing actuation process:
1) after the wing folding control processor sends a 'furling' instruction, the sensor information acquired by the sensor data processor is used for carrying out the comprehensive logical operation of the unfolding position, and the comprehensive logical operation of the unfolding position is the comprehensive logical operation of the 'unfolding in-place' state;
2) judging whether the wings are folded in place or not, if so, continuing the process 3), and if not, turning to the process 5);
3) judging whether the folding lock is locked, if not, continuing the process 4), if locked, completing the furling action;
4) the wing folding control processor outputs a folding lock locking instruction, executes the instruction and turns to a process 8);
5) judging whether the wing is in the state of unfolding in place, if so, continuing the process 6), if not, turning to the process 7)
6) Unlocking the wings by unfolding and locking;
7) the folding actuator executes furling actuation and returns to the process 1);
8) and closing the wing.
The ground parking comprehensive logic operation of the third step is as follows: the spatial position state of the aircraft is ground parking when the logical AND operation result of the following four conditions is true:
1) the ground speed is less than 5m/s, and the speed is the transport speed in the field;
2) the airspeed is less than 13.9m/s, and the airspeed is less than 7 grades of wind;
3) the throttle signal is 'throttle off';
4) the undercarriage wheel load switch state is 'load bearing';
the take-off running comprehensive logic operation of the third step is as follows: the spatial position state of the aircraft is takeoff running when the logical AND operation result of the following four conditions is true:
1) course acceleration is more than 0m/s2；
2) The ground speed is more than 0 m/s;
3) the space velocity is more than 0 m/s;
4) the throttle signal is 'big throttle';
5) the undercarriage wheel load switch state is 'load'.
The comprehensive logical operation of the air flight in the third step is as follows: the spatial position state of the aircraft is in air flight when the logical AND operation result of the following four conditions is true:
1) the space velocity is more than 0 m/s;
2) the ground speed is more than 0 m/s;
3) the sum of the absolute value of the pitch angle velocity, the absolute value of the roll angle velocity and the absolute value of the yaw angle velocity is greater than 0;
4) the undercarriage wheel load switch state is 'no load'.
The landing and running comprehensive logic operation of the third step is as follows: the spatial position state of the aircraft is landing and running when the logical AND operation result of the following three conditions is true:
1) course acceleration is less than 0m/s2；
2) The ground speed is more than 5 m/s;
3) the wheel load switch state of the landing gear (if any) is 'load bearing';
4) the throttle signal is 'not shutting down'.
When the comprehensive logical operation result of the aircraft spatial position does not meet any one of ground parking, take-off running, air flight and landing running, the value of the existing spatial position state is kept unchanged;
the comprehensive logic operation of the furling position in the fifth step and the sixth step is as follows: when the logical AND operation is carried out under the following three conditions, the wing is in a furled in-place state:
1) the state of the pressure sensor at the furling position is 'load bearing';
2) the state of the furled position angle sensor is in place;
3) the absolute value of the movement rate of the folding actuator is less than 0.1.
The comprehensive in-place unfolding judgment method in the step six comprises the following steps of: when the logical AND operation is carried out under the following three conditions, the wing is in a state of being unfolded in place:
1) the state of the pressure sensor at the unfolding position is 'load bearing';
2) the state of the unfolding position angle sensor is in place;
3) the absolute value of the movement rate of the folding actuator is less than 0.1.
A wing folding control device comprises a wing folding control processor, a sensor data processor, a Hall angle sensor, a pressure sensor, a displacement sensor, a folding actuator driver, a folding actuator amplifier, a folding actuator, a locking actuator driver, a locking actuator amplifier and a locking actuator;
the wing folding control processor is used for receiving data, performing logical operation, storing data and outputting control instructions, the input end of the wing folding control processor receives flight control computer information, an electromechanical management computer and sensor data processor information respectively, and the output end of the wing folding control processor is connected with a folding actuator driver and a locking actuator driver respectively;
the sensor data processor is used for receiving and processing sensor data, performing logic operation, and amplifying, filtering and converting acquired sensor signals; the input end of the device is respectively connected with a Hall angle sensor, a pressure sensor and a displacement sensor, and the output end of the device is connected with a wing folding control processor;
the Hall angle sensor is used for collecting a position signal of the folding wing; the pressure sensor is used for collecting a folding wing position signal and a lock pressure signal; the displacement sensor is used for acquiring lock position signals; the output ends of the Hall angle sensor, the pressure sensor and the displacement sensor are respectively connected with a sensor data processor;
the folding actuator driver is used for receiving and processing a control command about folding action and sending a motion parameter command comprising folding speed and displacement of the folding actuator, the input end of the folding actuator driver is connected with the wing folding control processor, and the output end of the folding actuator driver is connected with the folding actuator amplifier; the folding actuator amplifier is used for receiving an instruction of the folding actuator driver, amplifying and converting the control instruction and outputting a control signal to the folding actuator, and the input end of the folding actuator amplifier is connected with the folding actuator driver and the output end of the folding actuator amplifier is connected with the folding actuator; the folding actuator is used for receiving and processing a control instruction of the folding actuator and outputting angle action, the input end of the folding actuator is connected with the folding actuator amplifier, and the output end of the folding actuator is connected with the folding wing;
the locking actuator driver is used for receiving and processing a control command about the locking mechanism and sending a motion parameter command comprising the actuating speed and displacement of the locking actuator, the input end of the locking actuator driver is connected with the wing folding control processor, and the output end of the locking actuator driver is connected with the locking actuator amplifier; the locking actuator amplifier is used for receiving an instruction of the locking actuator driver, amplifying, converting and outputting a control signal to the control instruction, the input end of the locking actuator amplifier is connected with the locking actuator driver, and the output end of the locking actuator amplifier is connected with the locking actuator; the locking actuator is used for receiving and processing a control instruction of the locking actuator and outputting linear motion, the input end of the locking actuator is connected with an amplifier of the locking actuator, and the output end of the locking actuator is connected with a locking mechanism of the folding wing;
the method is characterized in that: the logical operation of the wing folding control processor comprises a ground parking comprehensive logical operation module, a take-off and running comprehensive logical operation module, an air flight comprehensive logical operation module and a landing and running comprehensive logical operation module; the four modules respectively comprehensively judge the ground parking state, the takeoff running state, the air flight state and the landing running state of the aircraft by a method of taking the logic and operation as true; the logic operation of the sensor data processor comprises a furled position comprehensive logic operation module and an unfolded position comprehensive logic operation module, and the furled position state and the unfolded position state of the aircraft are comprehensively judged by the two modules respectively through a method that the logic and operation is true.
Advantageous effects of the invention
1. The aircraft autonomously judges the spatial position through sensors, equipment, instruments and the like which are installed and carried by the aircraft, so that the motion instruction of the folding wing system is solved, human participation is not needed, the intelligent degree is high, and the adaptability is strong; the spatial position judgment logic provided by the invention has strong expandability, and can adaptively increase or decrease the logic judgment condition according to the specific configuration of the aircraft; the invention can independently design the wing folding system into a set of universal subsystems, and has wide application range; the framework of the folding system and the device provided by the invention is easy to isolate and position faults in the using process, and has good testability and maintainability;
2. the four factors of the ground parking state are organically combined and mutually supported, the four factors of the take-off running state are organically combined and mutually supported, the four factors of the air flight state are organically combined and mutually supported, the four factors of the landing running state are organically combined and mutually supported, and the four states of the aircraft, the folding process and the unfolding process are organically combined, the normal state of the aircraft can be ensured only if the four factors of the aircraft, the folding process and the unfolding process are completed in place, and if the wings are not locked before the unfolding process is finished, the aircraft can not be ensured to take-off running, air flight and landing running; if the judgment of the flight state is inaccurate, the running state is judged to be the parking state, and the wings are folded when the wings are unfolded during landing and running, the control of the folding process is meaningless. Therefore, the judgment of the flight state, the folding process and the unfolding process are mutually supported and supplemented. The invention organically combines and mutually supports the factors, and the effect after combination is much superior to the effect before combination.
Drawings
FIG. 1 is a flow chart of a method of controlling wing folding in accordance with the present invention;
FIG. 2 is a functional block diagram of a wing fold control system of the present invention;
FIG. 3 is a functional block diagram of a wing fold control processor of the present invention;
FIG. 4 is a functional block diagram of a sensor data processor according to the present invention.
Detailed Description
The invention is further explained below with reference to the drawings
Design principle of the invention
1. Design principle for autonomously sensing flight state
1) The ground parking comprehensive logic operation design principle is as follows:
firstly, the purpose of judging the 'ground parking' is to send out a 'wing furling' instruction. If the ground wind speed is more than or equal to 7-grade wind, the aircraft moves to a machine room, and all outfield operations stop at the moment, so that a condition that the airspeed is less than 7-grade wind is set in the logical AND operation, which is a condition 2);
secondly, the wings are folded not only in a static state of the aircraft, but also in a moving state of the aircraft for transferring goods, and the ground speed is less than 5m/s, which is the transfer speed in a common field, so the condition that the ground speed is less than 5m/s, which is the condition 1, must be set in the logic and operation; the throttle and the landing gear are two conditions existing at the same time, and the throttle is not turned off, the landing gear is not borne because the throttle is also turned off in special air conditions, and the 'wing furling' command is only most reliable when the throttle is turned off and the landing gear is borne at the same time, namely the condition 3) and the condition 4).
In a word, in the four conditions, if the condition 1) does not exist, the situation of 'wing furling' is limited, and if the condition 2) does not exist, the situation of 'wing furling' is also limited; without the 3 rd), 4) conditions, there is a danger of collapsing the wing without the throttle being closed or the landing gear falling.
2) The design principle of take-off and running comprehensive logic operation is as follows:
the first, takeoff run state 2), 3) condition is in conflict with "ground park", and therefore its independent 1) condition must be added;
the second condition is still in conflict with the air flight state only by the 1 st), 2 nd) and 3 rd) conditions, so 4) the throttle signal is the big throttle, and 5) the undercarriage wheel-mounted switch state is the load condition, so as to distinguish the air flight, because the air flight undercarriage can not bear the load, and the big throttle is only in the takeoff and running stage, and once the plane flight stage is entered, the throttle signal is changed.
In summary, of the five conditions, the 1 st) condition is to distinguish the "ground parking" state, the 4 th), 5) condition is to distinguish the "air flight", "landing run", the 1 st), 2), 3) condition is to distinguish the "landing run". Therefore, the five conditions must exist simultaneously, and the logical and operation is true simultaneously, so that the "take-off running" state can be determined.
3) The design principle of the air flight comprehensive logic operation is as follows:
the first, 1) th and 2) nd conditions are used for distinguishing whether the test environment is in the air or in the test environment, if the test is carried out in a factory building, the 3) th and 4) th conditions are also true, but the airspeed is not more than 0 at the moment, and the ground speed is not more than 0;
secondly, 1) the airspeed is greater than 0m/s, 2) the ground speed is greater than 0m/s, and the two conditions conflict with the conditions of ' ground parking ' 1) and ' 2), so that the ' air flight ' state also needs special conditions;
thirdly, in order to distinguish the 'takeoff and running' state, the conditions that the state of a wheel-mounted switch of the undercarriage is 'no load' and 3) the sum of the absolute value of the pitch angle velocity + the absolute value of the roll angle velocity + the absolute value of the yaw angle velocity is larger than 0 are added, the conditions 3) and 4) are complementary, and the conditions 3) and 4) are only mistakenly judged due to unexpected reasons, but the conditions 3) and 4) are less likely to be mistakenly judged.
In summary, four conditions, the first 2 to distinguish whether the aircraft is in a test environment or in the air, and the second 2 to complement each other, are all true to confirm the "air flight" status.
4) Landing and running comprehensive logic operation design principle:
the common point of the first, landing and takeoff is that the wheel-mounted switch state of the landing gear is 'load bearing'; therefore, it is necessary to increase the condition 1) that the heading acceleration is less than 0m/s2This is an independent condition that the "landing run" state differs from the "take-off run" state;
secondly, the throttle signal is ' non-closing ' which means that the throttle can be ' big throttle ', but the ' big throttle ' conflicts with ' big throttle ' of ' take-off and run ', so that the ' ground speed is required to be increased to be more than 5 m/s; "is used in the above-mentioned conditions.
In summary, with "1) heading acceleration less than 0m/s2(ii) a 1) heading acceleration "different from" take-off run "is greater than 0m/s2However, if only the 1 st) condition is adopted, and the 2 nd) condition is not adopted, it is difficult to distinguish whether the landing gear is in a factory test environment or in a landing and running state, because the conditions 3) that the undercarriage wheel-mounted switch state is 'load-bearing' and 4) that the throttle signal is 'off-vehicle' can be met in the factory test environment.
2. Design principle of folding or unfolding process
Firstly, whether the folding or unfolding is carried out, each process is required to be locked before finishing, and the process is completely finished;
secondly, based on the principle, when the state is changed from 'furling' to 'spreading' or from 'spreading' to 'furling', the previous state must be unlocked, and the state can be converted into the next state after the unlocking;
thirdly, once the 'folding' or 'unfolding' command is sent, the command is sent in a loop mode until the current process is finished. In the process of sending the command in a circulating way, at least the first time sends the command and the intermediate process sends the command, the 'folded' or 'unfolded' state of the wings is different, for example, when the 'folded' command is sent for the first time, the state of the wings is still maintained in the 'unfolded' state, when the 'folded' command is received again after the 'unfolded' is unlocked, the current state is changed into the 'folded' state but not necessarily in place, and because a process can be carried out from the beginning to the folding in place, whether the wings are folded in place or not needs to be judged continuously, and the wings can be locked after being folded in place. Similarly, when the 'unfolding' command is sent for the first time, the state of the wing is still maintained in the 'folded' state, after the 'folded' is unlocked, when the 'unfolding' command is received again, the current state is changed into the 'unfolded' state, but the wing is not necessarily in the state of being unfolded in place, because a process is still available from the beginning of unfolding to the unfolding in place, whether the wing is unfolded in place or not needs to be continuously judged, and the wing can be locked after being unfolded in place.
Based on the principle, the invention designs a wing folding control method
A wing folding control method is characterized by comprising the following steps,
the method comprises the following steps: after the aircraft is powered on, the wing folding control system maintains the state and the position before the last power off.
Step two: the flight control computer obtains current aircraft motion attitude data, the aircraft motion attitude data comprises aircraft motion attitude data for folding wing control, and the aircraft motion attitude data for folding wing control comprises: pitch angle velocity, yaw angle velocity, roll angle velocity, course acceleration, ground speed and airspeed data of the aircraft;
step three: the wing folding control processor comprehensively judges the current motion attitude of the aircraft: after reading the aircraft motion attitude data for folding wing control from the flight control computer, carrying out comprehensive logical operation by combining the throttle signal and the undercarriage signal data acquired in the electromechanical management calculation, and judging whether the current spatial position state of the aircraft is in any state of ground parking, takeoff running, air flight and landing running according to the logical operation result; the comprehensive logic operation comprises ground parking comprehensive logic operation, take-off running comprehensive logic operation, air flight comprehensive logic operation and landing running comprehensive logic operation;
the ground parking comprehensive logic operation of the third step is as follows: the spatial position state of the aircraft is ground parking when the logical AND operation result of the following four conditions is true:
1) the ground speed is less than 5m/s, and the speed is the transport speed in the field;
2) the airspeed is less than 13.9m/s, and the airspeed is less than 7 grades of wind;
3) the throttle signal is 'throttle off';
4) the undercarriage wheel load switch state is 'load bearing';
the take-off running comprehensive logic operation of the third step is as follows: the spatial position state of the aircraft is takeoff running when the logical AND operation result of the following four conditions is true:
1) course acceleration is more than 0m/s2；
2) The ground speed is more than 0 m/s;
3) the space velocity is more than 0 m/s;
4) the throttle signal is 'big throttle';
5) the undercarriage wheel load switch state is 'load'.
The comprehensive logical operation of the air flight in the third step is as follows: the spatial position state of the aircraft is in air flight when the logical AND operation result of the following four conditions is true:
1) the space velocity is more than 0 m/s;
2) the ground speed is more than 0 m/s;
3) the sum of the absolute value of the pitch angle velocity, the absolute value of the roll angle velocity and the absolute value of the yaw angle velocity is greater than 0;
4) the undercarriage wheel load switch state is 'no load'.
The landing and running comprehensive logic operation of the third step is as follows: the spatial position state of the aircraft is landing and running when the logical AND operation is true under the following three conditions:
1) course acceleration is less than 0m/s2；
2) The ground speed is more than 5 m/s;
3) the wheel load switch state of the landing gear (if any) is 'load bearing';
4) the throttle signal is 'not shutting down'.
Step four: and the wing folding control processor sends out an instruction according to the comprehensive logic operation result of the third step: when the comprehensive logic operation result is ground parking, a furling instruction is sent out; when the comprehensive logic operation result is takeoff running, air flight or landing running, an unfolding instruction is sent out;
step five: the wing folding control processor controls the unfolding actuating process:
1) after the folding wing control processor sends an unfolding instruction, acquiring sensor information through a sensor data processor and carrying out comprehensive logic operation on a folding position, wherein the comprehensive logic operation on the folding position is the comprehensive logic operation on a folding in-place state;
2) judging whether the wings are in a 'furled in-place' state or not; if the unfolding lock is in the folding in-place state, continuing the process 3), if the unfolding lock is not in the folding in-place position, judging whether the unfolding lock is locked, if the unfolding lock is locked, turning to the process 7), and if the unfolding lock is not locked, turning to the process 4);
3) locking and unlocking;
4) unfolding and actuating the folding actuator;
5) judging whether the wings are unfolded, if so, continuing the process 6), and if not, returning to the process 4);
6) the wing folding control processor outputs an unfolding lock-up instruction, and the locking actuator executes unfolding lock-up actuation to complete unfolding actuation;
7) and (5) finishing wing unfolding.
Supplementary explanation:
firstly, after an unfolding instruction is sent out, the logical operation of unfolding to the position is carried out, wherein the unfolding to the position is the position unfolded to the target position but not the position in the unfolding process. The logical operation of unrolling into place is as follows: 1) the state of the pressure sensor at the unfolding position is 'load bearing'; 2) the state of the unfolding position angle sensor is in place; 3) the absolute value of the movement rate of the folding actuator is less than 0.1.
And secondly, controlling the unfolding process, wherein whether the wings are unfolded or not can be judged firstly, and whether the wings are folded or not can be judged firstly. The implementation firstly judges the folding in place.
Thirdly, when an unfolding instruction is sent for the first time, the state of the wing should be maintained in the last state, namely the folded state, at the moment, a unfolding process link should be branched from the left side, whether the folding lock is locked or not is judged, if the folding lock is not locked, the folding lock is folded and unlocked, and then a series of unfolding actions are carried out; this process corresponds to the left branch of the deployment process control.
Fourthly, if the folding lock is judged not to be locked, the folding lock is unlocked and is changed into the unfolding state from the folding state, and the situation that the folding lock is locked before the last process is finished is assumed, so that once the folding lock is unlocked, the folding lock is changed into the unfolding state without unlocking the folding lock again;
fifthly, after the wings enter the unfolding state, the wings can be in two states, one state is unfolding in place, the wings are directly locked if being unfolded in place in the unfolding process, and the wings continue to be unfolded if not being unfolded in place. This process corresponds to the right branch of the deployment process control.
Step six: the wing folding control processor is used for controlling the closing actuation process:
1) after the folding wing control processor sends a 'furling' instruction, the unfolding position comprehensive logic operation is carried out through the sensor information acquired by the sensor data processor, and the unfolding position comprehensive logic operation is the 'unfolding in-place' state comprehensive logic operation;
2) judging whether the wing is folded in place, if so, continuing the process 3), if not, turning to the process 5)
3) Judging whether the folding lock is locked, if not, continuing the process 4), if locked, completing the furling action;
4) the folding wing control processor outputs a folding lock locking instruction, executes the instruction and turns to a process 8);
5) judging whether the wing is in the state of unfolding in place, if so, continuing the process 6), if not, turning to the process 7)
6) Unlocking the wings by unfolding and locking;
7) the folding actuator executes furling actuation and returns to the process 1);
8) and closing the wing.
Supplementary explanation:
firstly, after a furling instruction is sent out, logic operation of 'furling in place' is carried out, wherein the furling in place refers to furling to a target position but not a position in the furling process. The logic operation of gathering in place is as follows: 1) the state of the pressure sensor at the furling position is 'load bearing'; 2) the state of the furled position angle sensor is in place; 3) the absolute value of the movement rate of the folding actuator is less than 0.1.
Secondly, sending a furling instruction for the first time, wherein the wings are in an unfolded state, the furling action can be started only by unlocking the unfolding lock of the wings, and the furling link of the flow chart is branched on the right side;
thirdly, once the furling instruction is sent, the furling instruction is sent circularly before the process is finished, when the furling instruction is sent for the second time, the flow chart still moves to the right branch because the furling instruction is not furled in place, and the judgment of whether the wing is unfolded or not is carried out by 'N' because the wing is in the furling process, then the furling action is continued, and the judgment of whether the wing is furled in place is returned until the wing is furled in place, and the flow chart is not branched from the right branch to the left branch to lock the wing in place.
When the comprehensive logical operation result of the aircraft spatial position does not meet any one of ground parking, take-off running, air flight and landing running, the value of the existing spatial position state is kept unchanged;
the comprehensive logic operation of the furling position in the fifth step and the sixth step is as follows: when the logical AND operation is carried out under the following three conditions, the wing is in a furled in-place state:
1) the state of the pressure sensor at the furling position is 'load bearing';
2) the state of the furled position angle sensor is in place;
3) the absolute value of the movement rate of the folding actuator is less than 0.1.
The comprehensive in-place unfolding judgment method in the step six comprises the following steps of: when the logical AND operation is carried out under the following three conditions, the wing is in a state of being unfolded in place:
4) the state of the pressure sensor at the unfolding position is 'load bearing';
5) the state of the unfolding position angle sensor is in place;
6) the absolute value of the movement rate of the folding actuator is less than 0.1.
A wing folding control device comprises a wing folding control processor, a sensor data processor, a Hall angle sensor, a pressure sensor, a displacement sensor, a folding actuator driver, a folding actuator amplifier, a folding actuator, a locking actuator driver, a locking actuator amplifier and a locking actuator;
the wing folding control processor is used for receiving data, performing logical operation, storing data and outputting control instructions, the input end of the wing folding control processor receives flight control computer information, an electromechanical management computer and sensor data processor information respectively, and the output end of the wing folding control processor is connected with a folding actuator driver and a locking actuator driver respectively;
the sensor data processor is used for receiving and processing sensor data, performing logic operation, and amplifying, filtering and converting acquired sensor signals; the input end of the device is respectively connected with a Hall angle sensor, a pressure sensor and a displacement sensor, and the output end of the device is connected with a wing folding control processor;
the Hall angle sensor is used for collecting a position signal of the folding wing; the pressure sensor is used for collecting a folding wing position signal and a lock pressure signal; the displacement sensor is used for acquiring lock position signals; the output ends of the Hall angle sensor, the pressure sensor and the displacement sensor are respectively connected with a sensor data processor;
the folding actuator driver is used for receiving and processing a control command about folding action and sending a motion parameter command comprising folding speed and displacement of the folding actuator, the input end of the folding actuator driver is connected with the wing folding control processor, and the output end of the folding actuator driver is connected with the folding actuator amplifier; the folding actuator amplifier is used for receiving an instruction of the folding actuator driver, amplifying and converting the control instruction and outputting a control signal to the folding actuator, and the input end of the folding actuator amplifier is connected with the folding actuator driver and the output end of the folding actuator amplifier is connected with the folding actuator; the folding actuator is used for receiving and processing a control instruction of the folding actuator and outputting angle action, the input end of the folding actuator is connected with the folding actuator amplifier, and the output end of the folding actuator is connected with the folding wing;
the locking actuator driver is used for receiving and processing a control command about the locking mechanism and sending a motion parameter command comprising the actuating speed and displacement of the locking actuator, the input end of the locking actuator driver is connected with the wing folding control processor, and the output end of the locking actuator driver is connected with the locking actuator amplifier; the locking actuator amplifier is used for receiving an instruction of the locking actuator driver, amplifying, converting and outputting a control signal to the control instruction, the input end of the locking actuator amplifier is connected with the locking actuator driver, and the output end of the locking actuator amplifier is connected with the locking actuator; the locking actuator is used for receiving and processing a control instruction of the locking actuator and outputting linear motion, the input end of the locking actuator is connected with an amplifier of the locking actuator, and the output end of the locking actuator is connected with a locking mechanism of the folding wing;
the method is characterized in that: the logical operation of the wing folding control processor comprises a ground parking comprehensive logical operation module, a take-off and running comprehensive logical operation module, an air flight comprehensive logical operation module and a landing and running comprehensive logical operation module; the four modules respectively comprehensively judge the ground parking state, the takeoff running state, the air flight state and the landing running state of the aircraft by a method of taking the logic and operation as true; the logic operation of the sensor data processor comprises a furled position comprehensive logic operation module and an unfolded position comprehensive logic operation module, and the furled position state and the unfolded position state of the aircraft are comprehensively judged by the two modules respectively through a method that the logic and operation is true.
The above description is not meant to be limiting, it being noted that: it will be apparent to those skilled in the art that various changes, modifications, additions and substitutions can be made without departing from the true scope of the invention, and these improvements and modifications should also be construed as within the scope of the invention.
Claims (9)
1. A wing folding control method is characterized by comprising the following steps,
the method comprises the following steps: after the aircraft is powered on, the wing folding control system maintains the state and the position before the last power off;
step two: the flight control computer obtains current aircraft motion attitude data, the aircraft motion attitude data comprises aircraft motion attitude data for folding wing control, and the aircraft motion attitude data for folding wing control comprises: pitch angle velocity, yaw angle velocity, roll angle velocity, course acceleration, ground speed and airspeed data of the aircraft;
step three: the wing folding control processor comprehensively judges the current motion attitude of the aircraft: after reading the aircraft motion attitude data for folding wing control from the flight control computer, carrying out comprehensive logical operation by combining the throttle signal and the undercarriage signal data acquired in the electromechanical management calculation, and judging whether the current spatial position state of the aircraft is in any state of ground parking, takeoff running, air flight and landing running according to the logical operation result; the comprehensive logic operation comprises ground parking comprehensive logic operation, take-off running comprehensive logic operation, air flight comprehensive logic operation and landing running comprehensive logic operation;
step four: and the wing folding control processor sends out an instruction according to the comprehensive logic operation result of the third step: when the comprehensive logic operation result is ground parking, a furling instruction is sent out; when the comprehensive logic operation result is takeoff running, air flight or landing running, an unfolding instruction is sent out;
step five: the wing folding control processor controls the unfolding actuating process:
1) after the wing folding control processor sends an unfolding instruction, acquiring sensor information through a sensor data processor and carrying out furling position comprehensive logic operation, wherein the furling position comprehensive logic operation is furling in-place state comprehensive logic operation;
2) judging whether the wings are in a 'furled in-place' state or not; if the unfolding lock is in the folding in-place state, continuing the process 3), if the unfolding lock is not in the folding in-place position, judging whether the unfolding lock is locked, if the unfolding lock is locked, turning to the process 7), and if the unfolding lock is not locked, turning to the process 4);
3) locking and unlocking;
4) unfolding and actuating the folding actuator;
5) judging whether the wings are unfolded, if so, continuing the process 6), and if not, returning to the process 4);
6) the wing folding control processor outputs an unfolding lock-up instruction, and the locking actuator executes unfolding lock-up actuation to complete unfolding actuation;
7) the wing is unfolded;
step six: the wing folding control processor is used for controlling the closing actuation process:
1) after the wing folding control processor sends a 'furling' instruction, the sensor information acquired by the sensor data processor is used for carrying out the comprehensive logical operation of the unfolding position, and the comprehensive logical operation of the unfolding position is the comprehensive logical operation of the 'unfolding in-place' state;
2) judging whether the wings are folded in place or not, if so, continuing the process 3), and if not, turning to the process 5);
3) judging whether the folding lock is locked, if not, continuing the process 4), if locked, completing the furling action;
4) the wing folding control processor outputs a folding lock locking instruction, executes the instruction and turns to a process 8);
5) judging whether the wing is in the state of unfolding in place, if so, continuing the process 6), if not, turning to the process 7)
6) Unlocking the wings by unfolding and locking;
7) the folding actuator executes furling actuation and returns to the process 1);
8) and closing the wing.
2. The wing folding control method according to claim 1, wherein the third step of ground parking synthesis logic operation is: the spatial position state of the aircraft is ground parking when the logical AND operation result of the following four conditions is true:
1) the ground speed is less than 5m/s, and the speed is the transport speed in the field;
2) the airspeed is less than 13.9m/s, and the airspeed is less than 7 grades of wind;
3) the throttle signal is 'throttle off';
4) the undercarriage wheel load switch state is 'load bearing';
3. the wing folding control method according to claim 1, wherein the take-off running comprehensive logic operation of the third step is as follows: the spatial position state of the aircraft is takeoff running when the logical AND operation result of the following four conditions is true:
1) course acceleration is more than 0m/s2；
2) The ground speed is more than 0 m/s;
3) the space velocity is more than 0 m/s;
4) the throttle signal is 'big throttle';
5) the undercarriage wheel load switch state is 'load'.
4. The wing folding control method according to claim 1, wherein the air flight comprehensive logic operation of the third step is: the spatial position state of the aircraft is in air flight when the logical AND operation result of the following four conditions is true:
1) the space velocity is more than 0 m/s;
2) the ground speed is more than 0 m/s;
3) the sum of the absolute value of the pitch angle velocity, the absolute value of the roll angle velocity and the absolute value of the yaw angle velocity is greater than 0;
4) the undercarriage wheel load switch state is 'no load'.
5. The wing folding control method according to claim 1, wherein the landing and running synthetic logic operation of the third step is: the spatial position state of the aircraft is landing and running when the logical AND operation result of the following three conditions is true:
1) course acceleration is less than 0m/s2；
2) The ground speed is more than 5 m/s;
3) the wheel load switch state of the landing gear (if any) is 'load bearing';
4) the throttle signal is 'not shutting down'.
6. The wing folding control method according to claim 1, wherein when the aircraft spatial position synthetic logic operation result does not satisfy any one of ground parking, takeoff running, air flight and landing running, the value of the existing spatial position state is kept unchanged;
7. the wing folding control method according to claim 1, wherein the synthetic logic operation of the folded position in the fifth step and the sixth step is: when the logical AND operation is carried out under the following three conditions, the wing is in a furled in-place state:
1) the state of the pressure sensor at the furling position is 'load bearing';
2) the state of the furled position angle sensor is in place;
3) the absolute value of the movement rate of the folding actuator is less than 0.1.
8. The wing folding control method according to claim 1, wherein the comprehensive determination method of the deployment in place in the sixth step is: when the logical AND operation is carried out under the following three conditions, the wing is in a state of being unfolded in place:
1) the state of the pressure sensor at the unfolding position is 'load bearing';
2) the state of the unfolding position angle sensor is in place;
3) the absolute value of the movement rate of the folding actuator is less than 0.1.
9. A wing folding control device for use in a wing folding control method according to any one of claims 1 to 8, the device comprising a wing folding control processor, a sensor data processor, a hall angle sensor, a pressure sensor, a displacement sensor, a folding actuator driver, a folding actuator amplifier, a folding actuator, a locking actuator driver, a locking actuator amplifier, a locking actuator;
the wing folding control processor is used for receiving data, performing logical operation, storing data and outputting control instructions, the input end of the wing folding control processor receives flight control computer information, an electromechanical management computer and sensor data processor information respectively, and the output end of the wing folding control processor is connected with a folding actuator driver and a locking actuator driver respectively;
the sensor data processor is used for receiving and processing sensor data, performing logic operation, and amplifying, filtering and converting acquired sensor signals; the input end of the device is respectively connected with a Hall angle sensor, a pressure sensor and a displacement sensor, and the output end of the device is connected with a wing folding control processor;
the Hall angle sensor is used for collecting a position signal of the folding wing; the pressure sensor is used for collecting a folding wing position signal and a lock pressure signal; the displacement sensor is used for acquiring lock position signals; the output ends of the Hall angle sensor, the pressure sensor and the displacement sensor are respectively connected with a sensor data processor;
the folding actuator driver is used for receiving and processing a control command about folding action and sending a motion parameter command comprising folding speed and displacement of the folding actuator, the input end of the folding actuator driver is connected with the wing folding control processor, and the output end of the folding actuator driver is connected with the folding actuator amplifier; the folding actuator amplifier is used for receiving an instruction of the folding actuator driver, amplifying and converting the control instruction and outputting a control signal to the folding actuator, and the input end of the folding actuator amplifier is connected with the folding actuator driver and the output end of the folding actuator amplifier is connected with the folding actuator; the folding actuator is used for receiving and processing a control instruction of the folding actuator and outputting angle action, the input end of the folding actuator is connected with the folding actuator amplifier, and the output end of the folding actuator is connected with the folding wing;
the locking actuator driver is used for receiving and processing a control command about the locking mechanism and sending a motion parameter command comprising the actuating speed and displacement of the locking actuator, the input end of the locking actuator driver is connected with the wing folding control processor, and the output end of the locking actuator driver is connected with the locking actuator amplifier; the locking actuator amplifier is used for receiving an instruction of the locking actuator driver, amplifying, converting and outputting a control signal to the control instruction, the input end of the locking actuator amplifier is connected with the locking actuator driver, and the output end of the locking actuator amplifier is connected with the locking actuator; the locking actuator is used for receiving and processing a control instruction of the locking actuator and outputting linear motion, the input end of the locking actuator is connected with an amplifier of the locking actuator, and the output end of the locking actuator is connected with a locking mechanism of the folding wing;
the method is characterized in that: the logical operation of the wing folding control processor comprises a ground parking comprehensive logical operation module, a take-off and running comprehensive logical operation module, an air flight comprehensive logical operation module and a landing and running comprehensive logical operation module; the four modules respectively comprehensively judge the ground parking state, the takeoff running state, the air flight state and the landing running state of the aircraft by a method of taking the logic and operation as true; the logic operation of the sensor data processor comprises a furled position comprehensive logic operation module and an unfolded position comprehensive logic operation module, and the furled position state and the unfolded position state of the aircraft are comprehensively judged by the two modules respectively through a method that the logic and operation is true.
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