CN114114894B - Fly-by-wire backup control system and fly-by-wire backup control method - Google Patents
Fly-by-wire backup control system and fly-by-wire backup control method Download PDFInfo
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- CN114114894B CN114114894B CN202111406026.2A CN202111406026A CN114114894B CN 114114894 B CN114114894 B CN 114114894B CN 202111406026 A CN202111406026 A CN 202111406026A CN 114114894 B CN114114894 B CN 114114894B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
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- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
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Abstract
Fly-by-wire backup control systems and methods are disclosed. The fly-by-wire backup control system may include: the backup control computer receives the fault information of the main control system, wherein the backup control computer identifies the flight control computer which works normally based on the fault information of the main control system; and a backup remote control electronics unit (EREU) located on the control surface, the EREU being connected to the backup control computer, wherein the backup control computer identifies the control surface having EREU and connected to a normally operating flight control computer as a force fighting control surface and inhibits use of backup control instructions from the backup control computer to control an associated control surface actuator.
Description
Technical Field
The invention relates to the field of aircrafts, in particular to a fly-by-wire backup control system and method.
Background
In the development process of the fly-by-wire control system, the redundant electronic equipment with high complexity has high similarity, the possibility of simultaneous failure of the redundant electronic equipment caused by common mode faults cannot be completely eliminated, and the risk that the requirement of 'single failure regardless of probability cannot cause catastrophic consequences' in the regulations (25.1309) is not met exists.
While fly-by-wire control systems have been designed with consideration of the effects of common mode factors caused by external factors such as lightning, current mainstream airliners have taken some measures to alleviate common mode problems, both from the standpoint of enhancing local, airline, pilot and public confidence, and from market competition requirements and from the standpoint of design inheritance and conservation.
Measures for alleviating common mode problems can be divided into two aspects, on one hand, strict development flow control is adopted, on the other hand, framework alleviating measures are adopted, and the damage of the common mode problems to the independence of redundant frameworks is relieved from the perspective of system frameworks. Because of the high safety requirement of the civil aircraft flight control system, the strict development flow is an indispensable measure for meeting the airworthiness requirement, the aim of reducing development errors is achieved to a certain extent, however, the development errors are unavoidable, and therefore, the current mainstream machine type adopts a mode of dissimilar design, configuration of a backup control system or combination of the two, and the damage of the common mode problem to the independence of a system redundancy architecture is further relieved.
However, the existing backup scheme has a large number of backup devices, the system reconstruction difficulty is high, information needs to be exchanged between remote control electronics (REU), and the independence of the master control system and the backup control system cannot be ensured.
Accordingly, there is a need in the art for an improved fly-by-wire backup control system and method.
Disclosure of Invention
In order to further ensure the independence between the main control system and the backup control system, the invention does not need to communicate among a plurality of remote control electrons on the same control surface, and the backup control computer can avoid controlling corresponding actuators of EREU by identifying the control surface where the Enhanced REU (EREU) is located when the main control computer normally controls other actuators on the same control surface. The invention provides a Backup Control System (BCS) independent of a main control channel, which effectively improves the safety margin of a flight control system.
In one embodiment of the present invention, there is provided a fly-by-wire backup control system comprising: the backup control computer receives the fault information of the main control system, the fault information of the main control system comprises working states of a plurality of flight control computers, the flight control computers are used for controlling a main control remote control electronic unit on a control surface, and the backup control computer identifies the flight control computer which works normally based on the fault information of the main control system; and a backup remote control electronic unit located on the control surface, the backup remote control electronic unit being connected to the backup control computer, wherein the backup control computer identifies the control surface having the backup remote control electronic unit and having the master remote control electronic unit connected to the normally operating flight control computer as a force fighting control surface, the backup control computer causes the backup remote control electronic unit on the force fighting control surface to inhibit the control surface actuator associated with the backup remote control electronic unit from using a backup control instruction from the backup control computer.
In one aspect, the backup control computer stores control surface allocation information indicating pairing information between the plurality of flight control computers and control surfaces, and the backup control computer identifies the force fighting control surface based on the control surface allocation information and the main control system fault information.
In an aspect, the control surface allocation information further indicates pairing information between the backup control computer and control surfaces, and the backup control computer identifies the force fighting control surface based on the control surface allocation information and the master control system fault information.
In an aspect, the backup control computer is further configured to: control surface wrapping information is received from the backup remote control electronic unit, the control surface wrapping information indicates a control surface where the backup remote control electronic unit is located, and the backup control computer identifies the force fighting control surface based on the control surface allocation information, the control surface wrapping information, and the main control system fault information.
In one aspect, the backup remote control electronic unit is further connected to at least one flight control computer, and when the backup remote control electronic unit on the force fighting control surface receives a control instruction provided by the flight control computer which works normally and a backup control instruction provided by the backup control computer, the backup remote control electronic unit is controlled by the flight control computer which works normally.
In an aspect, the backup control computer is further configured to: when the backup remote control electronic unit on the force fighting control surface does not receive a control instruction provided by the flight control computer which works normally, the backup control computer sends disabling information to the backup remote control electronic unit on the force fighting control surface so that the control surface actuator associated with the backup remote control electronic unit is in a bypass state or a power-off state.
In an aspect, the backup control computer is further configured to: and identifying the control surface of the flight control computer which is not connected with the main control remote control electronic unit and normally works, and sending a control surface control instruction to the backup remote control electronic unit on the identified control surface.
In an aspect, the backup control computer is further configured to: determining control surface position information based on control surface wrap-around information received from the backup remote control electronics unit; and carrying out desalination processing on the control surface control instruction generated by the backup control computer based on the control surface position information.
In one aspect, the fly-by-wire backup control system further comprises: a reset and activate switch, wherein the backup control computer is reset or activated in response to operation of the reset and activate switch.
In one embodiment of the present invention, there is provided a fly-by-wire backup control method including: receiving master control system fault information at a backup control computer, wherein the master control system fault information comprises working states of a plurality of flight control computers; identifying a flight control computer which works normally based on the fault information of the main control system; identifying a control surface of a main control remote control electronic unit which is provided with a backup remote control electronic unit connected to the backup control computer and is connected to a normal working flight control computer as a force fighting control surface; and the backup control computer enables the backup remote control electronic unit on the force fighting control surface to inhibit the control surface actuator associated with the backup remote control electronic unit from being controlled by using the backup control instruction from the backup control computer.
In one aspect, the backup control computer stores control surface allocation information indicating pairing information between the plurality of flight control computers and control surfaces, and the backup control computer identifies the force fighting control surface based on the control surface allocation information and the main control system fault information.
In an aspect, the control surface allocation information further indicates pairing information between the backup control computer and control surfaces, and the backup control computer identifies the force fighting control surface based on the control surface allocation information and the master control system fault information.
In one aspect, the fly-by-wire backup control method further comprises: control surface wrapping information is received from the backup remote control electronic unit at the backup control computer, the control surface wrapping information indicates a control surface where the backup remote control electronic unit is located, and the backup control computer identifies the force fighting control surface based on the control surface allocation information, the control surface wrapping information, and the main control system fault information.
In one aspect, the backup remote control electronic unit is further connected to at least one flight control computer, and when the backup remote control electronic unit on the force fighting control surface receives a control instruction provided by the flight control computer which works normally and a backup control instruction provided by the backup control computer, the backup remote control electronic unit is controlled by the flight control computer which works normally.
In one aspect, the fly-by-wire backup control method further comprises: when the backup remote control electronic unit on the force fighting control surface does not receive a control instruction provided by the flight control computer which works normally, the backup control computer sends disabling information to the backup remote control electronic unit on the force fighting control surface so that the control surface actuator associated with the backup remote control electronic unit is in a bypass state or a power-off state.
In one aspect, the fly-by-wire backup control method further comprises: the backup control computer identifies the control surface of the flight control computer which is not connected with the main control remote control electronic unit and normally works, and sends a control surface control instruction to the backup remote control electronic unit on the identified control surface.
In one aspect, the fly-by-wire backup control method further comprises: the backup control computer determines control surface position information based on control surface wrapping information received from the backup remote control electronic unit; and carrying out desalination processing on the control surface control instruction generated by the backup control computer based on the control surface position information.
In one embodiment of the present invention, there is provided a flight control system comprising: a cockpit steering device; a plurality of flight control computers that generate control commands to control the control surface actuators based on input signals from the cockpit controls; and a fly-by-wire backup control system as claimed in any preceding claim.
Drawings
FIG. 1 is a schematic diagram of a flight control system architecture according to one embodiment of the invention.
FIG. 2 is a schematic illustration of a flight control system control surface configuration according to one embodiment of the invention.
FIG. 3 is a schematic view of a flight control system control surface configuration according to another embodiment of the present invention.
FIG. 4 is a schematic view of a flight control system control surface configuration according to another embodiment of the present invention.
FIG. 5 is a schematic view of a flight control system control surface configuration according to another embodiment of the present invention.
Fig. 6 is a flow chart of a fly-by-wire backup control method according to one embodiment of the invention.
Detailed Description
The invention will be further described with reference to specific examples and figures, which should not be construed as limiting the scope of the invention.
The invention provides a Backup Control System (BCS) independent of a main control channel, which effectively improves the safety margin of a flight control system.
FIG. 1 is a schematic diagram of a flight control system architecture 100 according to one embodiment of the invention. The flight control system architecture 100 may include one or more flight control computers 102, and the flight control computers 102 may perform control law calculations based on input signals from the cockpit controls 101 and generate control commands that are transmitted over a data bus 111 to remote control electronics (REU) 103 located on the control surfaces to control corresponding control surface actuators 104 to drive the control surfaces into motion. The flight control computer 102, REU 103, and control surface actuators 104 may form a master control system, and they may sometimes be referred to as a master control computer, a master REU, and a master control surface actuator, respectively.
The flight control system architecture 100 may also include one or more backup control computers 106, where the backup control computers 106 may perform (backup) control law calculations based on input signals from the cockpit controls 101 and generate backup control commands that are transmitted over a data bus 109 to backup remote control electronics (EREU) 107 located on the control surfaces to control corresponding backup control surface actuators 108 to drive the control surfaces into motion. The backup control computers 106, EREU, 107 and the backup control surface actuators 108 may form a backup control system. EREU 107 may sometimes be referred to as a backup REU or enhanced REU, and may also be referred to simply as REU. In one embodiment EREU 107,107 may be controlled solely by backup control computer 106.
In another embodiment EREU 107,107 may receive both control commands sent by the flight control computer 102 over data bus 110 and control commands sent by the backup control computer 106 over data bus 109, in which case the control commands sent by the flight control computer 102 have priority on EREU 107,107 side. For example, EREU 107,107 may have dual input/output (IO) interfaces, a master command interface and a backup command interface, that receive control commands from the flight control computer and control commands from the backup control computer, respectively. The master instructions may have control priority, and when the master instructions arrive EREU at the same time as the backup instructions, EREU will execute the master instructions and suppress the backup instructions. For example, EREU master instruction interface will enable the suppression or jumper suppression EREU backup instruction interface by signals, ensuring that the master instruction is executed when EREU receives the master instruction.
The cockpit manipulation device 101 may have associated sensors to generate input signals based on manipulation of the cockpit manipulation device 101. The flight control computer 102 and the backup control computer 106 may share sensors or may each have independent sensors. In another example, the backup control computer 106 may have a backup system cockpit manipulation device independent of the cockpit manipulation device 101 of the host system, so that pilot manipulation instructions (e.g., tri-axis control instructions) are collected independently of the cockpit manipulation device 101 of the host system, the independence of the backup control system is ensured, the redundancy setting of the backup system cockpit manipulation device may be set according to a specific model, and the complexity of the backup control system is minimized. Although not shown, both the flight control computer 102 and the backup control computer 106 may communicate with other systems, such as with an onboard avionics system, satellite system, and the like. Each of the flight control computer 102 and the backup control computer 106 can be implemented using a computer, processor, integrated circuit, programmable logic device, microprocessor, controller, microcontroller, or state machine, etc.
In one embodiment of the invention EREU 107,107 may be connected to both the flight control computer 102 and the backup control computer 106.EREU 107 (also referred to simply as remote control electronics REU) may receive control commands from the flight control computer 102 and/or control commands from the backup control computer 106, and based on the received control commands, cause the backup control surface actuators 108 to drive the corresponding control surfaces to move. In one embodiment, the backup control surface actuator 108 may drive the associated control surface alone or may drive the same control surface in conjunction with the control surface actuator 104.
The backup control computer 106 may receive status signals of the flight control computer 102, the backup control computer 106 is in a backup state (e.g., only monitoring) when the flight control computer 102 is operating normally, no control commands are provided to EREU 107,107, and modules (e.g., hardware and/or software modules) associated with flight control in the backup control computer 106 may be selectively in a dormant or powered-off state.
And when one or more of the flight control computers 102 fails, resulting in the aircraft being below a Minimum Acceptable Control (MAC), the backup control computer 106 may activate the backup control, energize EREU and the backup control actuators 108, take over control of the aircraft control. The backup control computer 106 may receive EREU the wrap-around information (e.g., feedback instructions and status data) of the control surface actuator 108 to monitor the operational status of the backup control surface actuator.
The backup control computer 106 adopts a backup system architecture independent of the flight control computer 102, and when the common mode fault occurs to the backup object so that the flight control computer 102 fails, the backup control computer 106 can rapidly take over the aircraft control and perform independent flight control, thereby providing the capability of continuous safe flight and quick landing of the aircraft. In one example, backup control computer 106 may be of a dissimilar design (e.g., dissimilar hardware or software or a combination thereof) as compared to the primary control channel (the control channel in which flight control computer 102 resides) such that failures in the primary control channel do not occur in the backup system architecture.
The backup control computer 106 may automatically activate backup control based on the primary control system failure information of the flight control computer 102. For example, the backup control computer 106 receives the failure information of the main control system sent by the flight control computer 102, and when the backup control computer 106 determines that part or all of the flight control computers 102 fail (the aircraft does not meet the minimum acceptable control), the backup control computer 106 automatically activates the backup control, so that the backup control computer 106 controls the backup control surface actuator 108 through EREU 107 to ensure the safe flight and landing of the aircraft.
In another example, the flight control system architecture 100 can include a reset and activate switch 105. In response to the reset and activate switch 105 being operated, the backup control computer 106 may be reset or activated accordingly. For example, when the flight control computer fails to identify a fault (or does not identify a fault), the pilot may make a decision whether to activate the backup system based on the primary system fault condition and the display of an alert message. When it is decided to start the backup system, the pilot can activate the backup control computer 106 by resetting and activating the switch 105, and the control of the aircraft is taken over by the backup control computer 106. The reset and activate switch 105 may also implement functions such as restarting the backup control computer 106, clearing latch failures, etc., in the event of a failure of the backup control computer 106.
In one embodiment, the backup control computer 106 may receive EREU the wrapping information sent by the control computer 106 through the data bus 109, and after the backup control computer 106 activates the backup control, the control command generated by the backup control computer 106 may be desalted according to the current control location information provided by the wrapping information, so as to ensure smooth taking over of the control.
According to one embodiment of the invention, the backup control computer 106 is capable of receiving fault status information for the flight control computer 102 and determining whether the corresponding flight control computer is faulty. When any one of the non-faulty flight control computers 102 and the backup control computer 106 control a control surface at the same time, a force dispute may occur on the control surface. To avoid a large force fight against the control surface, the backup control computer 106 may identify a force fight control surface having EREU a 107 and having the REU 103 connected to the normal operating flight control computer 102 and cause EREU a 107 to refrain from controlling the associated backup control surface actuator 108 using the backup control instructions from the backup control computer 106. Further, for the force fighting control surface, to reduce the power load of the system, the backup control computer 106 may further control the corresponding EREU to close the solenoid valve (SOV) drive, so that the corresponding backup control surface actuator 108 enters the bypass state or the power-off state.
Compared with the backup scheme in the prior art, the backup control system provided by the invention is independent of the main control system, the system reconstruction difficulty is low, the capability of continuous safe flight and landing can be provided, and the complexity of remote control electronic design is reduced.
FIG. 2 is a schematic illustration of a flight control system control surface configuration according to one embodiment of the invention. In this embodiment, the redundancy of the flight control computer 102 is n (. Gtoreq.2). Fig. 2 shows a control surface 217 that includes a plurality of power control units PCUs (e.g., control surface actuators) and associated REUs. The control surface 217 may be, for example, a spoiler, aileron, rudder, elevator, or the like. For example, EREU, 207 are controlled by the backup control computer 206 (and optional flight control computer 2) to drive the control surface 217 through the PCU 216, and REU 203 is controlled by the flight control computer 3 to drive the control surface 217 through the corresponding PCU. The flight control computer 1 and the flight control computer n may control REUs and/or EREU (not shown) on other control surfaces.
Under normal conditions, the flight control computers 1-n receive pilot control instructions collected by the cockpit control devices, after control instruction calculation is performed, the flight control computer 2 sends control surface control instructions to EREU and 207, and the flight control computer 3 sends control surface control instructions to REU 203 to respectively control the corresponding control surface actuators to drive the control surfaces 217 to deflect. Each flight control computer can also receive EREU control surface and actuator state information fed back by REU 203 and control surface, and carry out necessary monitoring.
The backup control computer 206 activates the backup control in the event that some or all of the flight control computers 1-n fail and the aircraft is below minimum acceptable control. For example, the backup control computer 206 receives the fault status signal sent by the flight control computer 1-n, and when the activation condition is determined to be satisfied, the backup control computer 106 takes over control of the PCU 216 through EREU a 207, ensuring safe flight and landing of the aircraft. In addition, as described above, when the flight control computer 1-n fails but cannot identify itself, the pilot can make a decision whether to start the backup system based on the failure condition of the main system and the display of the warning message. When it is decided to start the backup system, the pilot can activate the backup control system by resetting and activating switch 105, taking over control of the aircraft by backup control computer 106.
After the backup control system is activated, the backup control computer 206 sends a backup control command to EREU to 207 via the data bus and receives EREU the wrapping information (which may include control surface position information, actuator status information, etc.) sent by 207. If the control surface is not detected to be in the zero position, the control surface control instruction generated by the backup control computer 206 can be subjected to desalination treatment. To prevent false activation of the backup control system, the instructions sent by the flight control computer 1-n may have priority at EREU, which may suppress the instructions sent by the backup control computer 206.
As shown in fig. 2, when only the flight control computer 3 is operating normally, the aircraft is below the minimum acceptable control, and the backup control system is activated, at this time, the control surface 217 may be controlled by both the control surface control command sent by the flight control computer 3 and the control surface control command sent by the backup control computer 206. In order to avoid the control surface from generating larger force fighting when the instruction difference or asynchronism (caused by instruction delay) from different computers or different control laws is larger, the backup control computer 206 adopts certain force fighting protection measures.
The backup control computer 206 may receive the master system failure information including the operational status of the plurality of flight control computers before or after activating the backup control, whereby the backup control computer 206 may identify a properly functioning flight control computer based on the master system failure information. The backup control computer 206 may identify a force fighting control surface (e.g., control surface 217) having a backup remote control electronics unit (e.g., EREU 207,207) and having a master remote control electronics unit (e.g., REU 203) connected to the properly functioning flight control computer.
The backup control computer 206 may store control surface assignment information indicating pairing information between the plurality of flight control computers 1-n and the control surface. For example, the control surface assignment information may store information for a flight control computer corresponding to each control surface, such as a control surface identification, a corresponding flight control computer identification, an optional REU identification, and the like. The backup control computer 206 may identify control surfaces connected to the normal operating flight control computer (or having a master remote control electronic unit connected to the normal operating flight control computer) based on the control surface assignment information and the master system fault information.
In the first embodiment, the control surface assignment information also indicates pairing information between the backup control computer 206 and the control surfaces, such as which control surfaces are connected to the backup control computer or have EREU, or corresponding EREU identification. Accordingly, the backup control computer 206 may identify force fighting control surfaces that are both connected to the backup control computer 206 (i.e., having a backup remote control electronics unit) and to the properly functioning flight control computer based on the control surface allocation information and the main control system fault information.
In one implementation of the first embodiment, the control surface allocation information stored by the backup control computer 206 may be control surface common information indicating control surface information having both REU and EREU (e.g., control surface identification, corresponding flight control computer identification, optionally including REU identification, EREU identification). Accordingly, the backup control computer 206 may identify force fighting control surfaces (i.e., those control surfaces included in the control surface sharing information and connected to the properly functioning flight control computer) based on the control surface sharing information and the main control system fault information. Compared with storing the complete list of the control surface allocation information, storing only the control surface shared information can reduce the information amount and the search time stored in the backup control computer 206, and improve the control efficiency of the backup control computer 206.
In a second embodiment, the backup control computer 206 may receive control surface wrap information from EREU 207,207, which may indicate the control surface at which EREU 207,207 is located. Accordingly, the backup control computer 206 may identify a flight control computer connected to normal operation based on the control surface allocation information and the main control system fault information, and further identify a force fighting control surface 217 in combination with control surface wrap-around information (which indicates the control surface connected to the backup control computer).
In addition, the first embodiment and the second embodiment can be combined and realized, wherein the control surface wrapping information can help to confirm the identification of the control surface in force fighting, and misjudgment is reduced.
After identifying the force fighting control surface 217, the backup control computer 206 may control EREU 207,207 on the force fighting control surface 217 such that EREU 207,207 refrains from using backup control instructions from the backup control computer 206 to control the control surface actuators associated with EREU 207,207. In one example, backup control computer 206 may refrain from sending backup control instructions to EREU 207,207. In another example, the backup control computer 206 may send a disable signal to EREU 207 to cause EREU 207 to refrain from controlling the control surface actuator associated with EREU 207 using the backup control instructions from the backup control computer 206.
In the embodiment shown in fig. 2, where the flight control computer 2 fails (or EREU a 207 is not connected to the flight control computer 2) and the flight control computer 3 is active, the backup control computer 206 identifies the output force fighting control surface 217 (which has EREU a 207 and has the REU 203 connected to the flight control computer 3 that is operating properly), and the backup control computer 206 causes EREU a 207 to refrain from using backup control instructions from the backup control computer 206 to control the control surface actuators associated with EREU a 207. Therefore, the flight control computer 3 will control the force fighting control surface 217 through the REU 203. Alternatively, since EREU 207,207 did not receive the control instructions provided by the properly functioning flight control computer, the backup control computer 206 may learn this based on the wrap-around information of EREU 207,207 or the primary control system fault information, and the backup control computer 206 may send disabling information to EREU 207,207 to place the control surface actuator (e.g., PCU 216 or solenoid SOV 215) associated with EREU 207,207 in a bypass state or a de-energized state.
FIG. 3 is a schematic view of a flight control system control surface configuration according to another embodiment of the present invention. In the embodiment shown in fig. 3, where the flight control computer 2 is active and the flight control computer 3 is active, the backup control computer 206 identifies the output fighting control surface 217 (which has EREU s 207 and has REU 203 connected to the flight control computer 3 that is operating properly) and the backup control computer 206 causes EREU207 to refrain from controlling the control surface actuators associated with EREU207 using the backup control instructions from the backup control computer 206. For example, the backup control computer 206 may refrain from sending backup control instructions to EREU207,207. Even if the backup control computer 206 sends a backup control command, EREU207 will follow the control command sent by the flight control computer 2 because the control command sent by the flight control computer 2 has priority at EREU and 207. In another embodiment, the backup control computer 206 may send the disable information to EREU207 causing EREU207 to ignore backup control instructions from the backup control computer 206. In this case, a double assurance may be provided that EREU that the backup control instructions from backup control computer 206 are avoided from being used by EREU to prevent inconsistent control of the flight control computers 2 and 3 and the backup control computer 206.
Thus, in the embodiment shown in FIG. 3, the flight control computer 2 will control the PCU 216 of the control surface 217 via EREU 207 and the flight control computer 3 will control the other PCU of the force fighting control surface 217 via REU 203.
FIG. 4 is a schematic view of a flight control system control surface configuration according to another embodiment of the present invention. In the embodiment shown in fig. 4, where the flight control computer 2 is active and the flight control computer 3 is inactive, the backup control computer 206 recognizes that the control surface 217 is not a force fighting control surface (which has EREU a 207 but the REU 203 is not connected to the flight control computer 3 that is operating properly). The backup control computer 206 may send backup control instructions, but since the control instructions sent by the flight control computer 2 have priority at EREU and 207, EREU and 207 will follow the control instructions sent by the flight control computer 2. Thus, in the embodiment shown in FIG. 4, flight control computer 2 will control surface 217 via EREU 207,207.
FIG. 5 is a schematic view of a flight control system control surface configuration according to another embodiment of the present invention. In the embodiment shown in fig. 5, where the flight control computers 2 and 3 fail and one or more other flight control computers n are active, the backup control computer 206 recognizes that the control surface 217 is not a force fighting control surface (which has EREU a 207 but REU 203 is not connected to the flight control computer 3 that is operating properly). In contrast, since no REUs and EREU are connected to a properly functioning flight control computer, the backup control computer 206 may identify the control surface 217 as a failed control surface. The backup control computer 206 may send backup control instructions to EREU 207,207 and no control instructions are sent as the flight control computer 2 fails, EREU 207,207 will follow the control instructions sent by the backup control computer 206. Thus, in the embodiment shown in FIG. 5, the backup control computer 206 will control the control surface 217 via EREU and 207.
Fig. 6 is a flow chart of a fly-by-wire backup control method 600 according to one embodiment of the invention. The method may be implemented using a backup control computer 106 or 206, or a processor, integrated circuit, programmable logic device, microprocessor, controller, microcontroller, state machine, or the like, as described above. Fly-by-wire backup control method 600 may be performed automatically or may be performed in response to an activation operation.
At step 602, primary control system failure information may be received at a backup control computer, which may include operating states of a plurality of flight control computers.
In step 603, a properly functioning flight control computer is identified based on the master control system fault information. In one example, in response to determining that one or more flight control computers fail causing the aircraft to be below a Minimum Acceptable Control (MAC), the backup control computer may activate the backup control and generate the backup control instructions.
At step 604, control surface wrap information (e.g., control surface feedback information) may be received at the backup control computer from EREU.
In optional step 605, the control surface at which EREU is located may be determined based on the control surface wrap-around information.
In optional step 606, stored flight control computer (or backup control computer) and control surface pairing information may be read. For example, the backup control computer stores control surface assignment information indicating pairing information between the plurality of flight control computers (and optionally the backup control computer) and the control surfaces or REUs and EREU on the control surfaces. Or the control surface allocation information can indicate the control surface allocated by the flight control computer and the control surface allocated by the backup control computer.
At step 607, the backup control computer may identify a force fighting control surface having EREU connected to the backup control computer and having REUs connected to the properly functioning flight control computers. In one embodiment, the backup control computer identifies force fighting control surfaces based on control surface assignment information (e.g., optional step 606) and master system fault information. In another embodiment, the backup control computer may identify force fighting control surfaces based on control surface assignment information, control surface wrap-around information (e.g., optional step 605), and master system fault information.
At step 608, the backup control computer may control EREU on the force fighting control surface such that the EREU suppresses the use of backup control instructions from the backup control computer to control the force fighting control surface. For example, when EREU on the force fighting control surface receives control commands provided by a normally operating flight control computer and backup control commands provided by a backup control computer, EREU is controlled by the normally operating flight control computer. When EREU on the force fighting control surface does not receive a control instruction provided by the flight control computer which works normally, the backup control computer can send disabling information to EREU on the force fighting control surface so that the control surface actuator associated with the EREU is in a bypass state or a power-off state.
In addition, the backup control computer may identify control surfaces for which no REU is connected to the properly operating flight control computer and send control surface control instructions to EREU on the identified control surfaces to cause the EREU to control the control surface actuators associated with the EREU using the backup control instructions from the backup control computer. Alternatively, the backup control computer may determine control surface position information based on the control surface wrap-around information received from EREU, and fade control surface control instructions generated by the backup control computer based on the control surface position information.
As described above, according to an embodiment of the present invention, in the case where the backup control system is activated, the backup control computer may identify all the working states (normal or failure states) of the main flight control computers according to the failure state information transmitted from the main flight control computer, and then determine the flight control computer that is working normally at this time. In addition, the working state of the corresponding actuating mechanism (EREU +PCU) and the control surface can be identified according to the wrapping information sent by EREU. The backup control computer may determine whether a control surface may have a contention state controlled by the main flight control computer and the backup control computer at the same time according to the state information of the main flight control computer, the information fed back by EREU, and/or pre-stored control surface allocation information (for example, the control surface pairing information allocated by the flight control computer and the backup control surface). If so, the backup control computer can enter a force fighting protection mode, namely, the backup control instruction from the backup control computer is avoided to control the corresponding control surface actuator. Further, in some cases, the corresponding EREU controllable by the backup control computer closes the solenoid valve drive, causing the corresponding PCU to enter a bypass state, or directly de-energize the corresponding EREU.
The invention provides a Backup Control System (BCS) independent of a main control system, which enhances the independence between the main control system and the backup control system, and a plurality of REUs on the same control surface do not need to communicate, and the backup control computer can avoid controlling corresponding actuators of EREU when the main control computer normally controls other actuators on the same control surface by identifying the control surface where the Enhanced REU (EREU) is positioned, so that the safety margin of the flight control system is effectively improved.
The various steps and modules of the methods and apparatus described above may be implemented in hardware, software, or a combination thereof. If implemented in hardware, the various illustrative steps, modules, and circuits described in connection with this disclosure may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other programmable logic component, a hardware component, or any combination thereof. A general purpose processor may be a processor, microprocessor, controller, microcontroller, state machine, or the like. If implemented in software, the various illustrative steps, modules, described in connection with this disclosure may be stored on a computer readable medium or transmitted as one or more instructions or code. Software modules implementing various operations of the present disclosure may reside in storage media such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, removable disk, CD-ROM, cloud storage, etc. A storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium, as well as execute corresponding program modules to implement the various steps of the present disclosure. Moreover, software-based embodiments may be uploaded, downloaded, or accessed remotely via suitable communication means. Such suitable communication means include, for example, the internet, world wide web, intranet, software applications, cable (including fiber optic cable), magnetic communications, electromagnetic communications (including RF, microwave and infrared communications), electronic communications, or other such communication means.
The numerical values given in the embodiments are only examples and are not intended to limit the scope of the present invention. Furthermore, as an overall solution, there are other components or steps not listed by the claims or the specification of the present invention. Moreover, the singular designation of a component does not exclude the plural designation of such a component.
It is also noted that the embodiments may be described as a process which is depicted as a flowchart, a flow diagram, a structure diagram, or a block diagram. Although a flowchart may describe the operations as a sequential process, many of the operations can be performed in parallel or concurrently. Additionally, the order of the operations may be rearranged.
The disclosed methods, apparatus, and systems should not be limited in any way. Rather, the present disclosure encompasses all novel and non-obvious features and aspects of the various disclosed embodiments (both alone and in various combinations and subcombinations with one another). The disclosed methods, apparatus and systems are not limited to any specific aspect or feature or combination thereof, nor do any of the disclosed embodiments require that any one or more specific advantages be present or that certain or all technical problems be solved.
The present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those of ordinary skill in the art without departing from the spirit of the invention and the scope of the appended claims, which are all within the scope of the invention.
Claims (14)
1. A fly-by-wire backup control system, comprising:
The backup control computer receives the fault information of the main control system, the fault information of the main control system comprises working states of a plurality of flight control computers, the flight control computers are used for controlling a main control remote control electronic unit on a control surface, and the backup control computer identifies the flight control computer which works normally based on the fault information of the main control system; and
A backup remote control electronic unit positioned on the control surface, the backup remote control electronic unit being connected to the backup control computer,
Wherein the backup control computer identifies a control surface having a backup remote control electronic unit and having a master remote control electronic unit connected to a normally operating flight control computer as a force fighting control surface, the backup control computer causing the backup remote control electronic unit on the force fighting control surface to inhibit control of a control surface actuator associated with the backup remote control electronic unit using a backup control instruction from the backup control computer,
Wherein the backup control computer stores control surface allocation information indicating pairing information between the plurality of flight control computers and the control surface,
The backup control computer is further configured to receive control surface wrap information from the backup remote control electronic unit, the control surface wrap information indicating a control surface in which the backup remote control electronic unit is located, and identify the force fighting control surface based on the control surface allocation information, the control surface wrap information, and the main control system fault information.
2. The fly-by-wire backup control system of claim 1, wherein:
the control surface distribution information also indicates pairing information between the backup control computer and the control surface.
3. The fly-by-wire backup control system of claim 1, wherein:
the backup remote control electronics unit is also coupled to at least one flight control computer,
When the backup remote control electronic unit on the force fighting control surface receives a control instruction provided by a flight control computer working normally and a backup control instruction provided by the backup control computer, the backup remote control electronic unit is controlled by the flight control computer working normally.
4. The fly-by-wire backup control system of claim 1, wherein the backup control computer is further configured to:
When the backup remote control electronic unit on the force fighting control surface does not receive a control instruction provided by the flight control computer which works normally, the backup control computer sends disabling information to the backup remote control electronic unit on the force fighting control surface so that the control surface actuator associated with the backup remote control electronic unit is in a bypass state or a power-off state.
5. The fly-by-wire backup control system of claim 1, wherein the backup control computer is further configured to:
and identifying the control surface of the flight control computer which is not connected with the main control remote control electronic unit and normally works, and sending a control surface control instruction to the backup remote control electronic unit on the identified control surface.
6. The fly-by-wire backup control system of claim 5, wherein the backup control computer is further configured to:
Determining control surface position information based on control surface wrap-around information received from the backup remote control electronics unit; and
And carrying out desalination processing on the control surface control instruction generated by the backup control computer based on the control surface position information.
7. The fly-by-wire backup control system of claim 1, further comprising:
A reset and activate switch, wherein the backup control computer is reset or activated in response to operation of the reset and activate switch.
8. The fly-by-wire backup control method is characterized by comprising the following steps of:
Receiving master control system fault information at a backup control computer, wherein the master control system fault information comprises working states of a plurality of flight control computers;
identifying a flight control computer which works normally based on the fault information of the main control system;
Receiving control surface wrapping information from a backup remote control electronic unit at the backup control computer, wherein the control surface wrapping information indicates a control surface where the backup remote control electronic unit is located, and the backup control computer stores control surface distribution information which indicates pairing information between the flight control computers and the control surface;
Based on the control surface distribution information, the control surface wrapping information and the main control system fault information, identifying the control surface with a backup remote control electronic unit connected to the backup control computer and with a main control remote control electronic unit connected to a normal working flight control computer as a force fighting control surface; and
The backup control computer enables the backup remote control electronic unit on the force fighting control surface to inhibit the control surface actuator associated with the backup remote control electronic unit from being controlled by using the backup control instruction from the backup control computer.
9. The fly-by-wire backup control method of claim 8, wherein:
the control surface distribution information also indicates pairing information between the backup control computer and the control surface.
10. The fly-by-wire backup control method of claim 8, wherein:
the backup remote control electronics unit is also coupled to at least one flight control computer,
When the backup remote control electronic unit on the force fighting control surface receives a control instruction provided by a flight control computer working normally and a backup control instruction provided by the backup control computer, the backup remote control electronic unit is controlled by the flight control computer working normally.
11. The fly-by-wire backup control method of claim 8, further comprising:
When the backup remote control electronic unit on the force fighting control surface does not receive a control instruction provided by the flight control computer which works normally, the backup control computer sends disabling information to the backup remote control electronic unit on the force fighting control surface so that the control surface actuator associated with the backup remote control electronic unit is in a bypass state or a power-off state.
12. The fly-by-wire backup control method of claim 8, further comprising:
The backup control computer identifies the control surface of the flight control computer which is not connected with the main control remote control electronic unit and normally works, and sends a control surface control instruction to the backup remote control electronic unit on the identified control surface.
13. The fly-by-wire backup control method of claim 12, further comprising:
the backup control computer determines control surface position information based on control surface wrapping information received from the backup remote control electronic unit; and
And carrying out desalination processing on the control surface control instruction generated by the backup control computer based on the control surface position information.
14. A flight control system, comprising:
A cockpit steering device;
a plurality of flight control computers that generate control commands to control the control surface actuators based on input signals from the cockpit controls; and
The fly-by-wire backup control system of any one of claims 1-7.
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| CN114114894A (en) | 2022-03-01 |
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