阅读说明：本技术 一种三余度伺服作动系统通道故障确定方法及其处置方法 (Method for determining channel fault of triple-redundancy servo actuation system and handling method thereof ) 是由 刘振宇 葛泽华 张冬 于静 杨玉梁 黄龙龙 于 2019-10-25 设计创作，主要内容包括：本申请涉及一种三余度伺服作动系统通道故障确定方法,包括以下步骤：若一个通道的通道自监控状态信号有效、其余通道对该通道的检测结果至少一个有效,则置该通道的通道有效信号有效；若一个通道的通道自监控状态信号无效或者其余通道对该通道的检测结果失效,则置该通道的通道有效信号故障。此外,本申请还涉及一种三余度伺服作动系统通道故障处置方法,包括以下步骤：基于上述三余度伺服作动系统通道故障确定方法确定三余度伺服作动系统各个通道的通道有效信号是否故障；若三余度伺服作动系统中仅有一个通道的通道有效信号故障,则通道有效信号故障的通道输出的开关信号无效,通道有效信号有效的通道输出的开关信号有效。(The application relates to a method for determining a channel fault of a three-redundancy servo actuation system, which comprises the following steps: if the channel self-monitoring state signal of one channel is effective and at least one of the detection results of the other channels to the channel is effective, setting the channel effective signal of the channel to be effective; and if the channel self-monitoring state signal of one channel is invalid or the detection result of the other channels to the channel is invalid, setting the channel valid signal of the channel to be in fault. In addition, the application also relates to a three-redundancy servo actuating system channel fault handling method, which comprises the following steps: determining whether effective channel signals of all channels of the three-redundancy servo actuation system fail or not based on the three-redundancy servo actuation system channel failure determination method; if the three-redundancy servo actuating system only has the channel effective signal fault of one channel, the switching signal output by the channel with the channel effective signal fault is invalid, and the switching signal output by the channel with the channel effective signal fault is valid.)

1. A method for determining the channel fault of a three-redundancy servo actuating system is characterized by comprising the following steps:

judging whether a channel self-monitoring state signal of one channel is effective or not and whether the detection result of the other channels to the channel is at least one effective or not, and setting a channel effective signal of the channel to be effective or not;

and judging whether the channel self-monitoring state signal of one channel is invalid or the detection result of the other channels to the channel is invalid, and setting the channel valid signal of the channel to be in fault.

2. A method for determining the channel failure of a triple-redundancy servo actuating system is characterized in that,

judging whether the channel self-monitoring state signal of the channel is effective if the CPU detection result of the channel is effective, the watchdog detection result is effective and the power supply effective signal is effective;

and judging that the channel self-monitoring state signal of the channel is invalid if the CPU detection result of one channel is invalid, the watchdog detection result is invalid or the power supply effective signal is invalid.

3. A method for processing the channel fault of a three-redundancy servo actuating system is characterized by comprising the following steps:

determining whether a channel valid signal of each channel of the tri-redundancy servo actuation system is faulty based on the method for determining a channel fault of the tri-redundancy servo actuation system according to any one of claims 1-2;

if the three-redundancy servo actuating system only has the channel effective signal fault of one channel, the switching signal output by the channel with the channel effective signal fault is invalid, and the switching signal output by the channel with the channel effective signal fault is valid.

4. The method of claim 3, wherein the three-redundancy servo actuation system channel fault handling method,

the channel effective signal fault of the channel in the three-redundancy servo actuating system can be reset through the reset signal.

5. The method of claim 3, wherein the three-redundancy servo actuation system channel fault handling method,

further comprising the steps of:

if the effective channel signals of more than two channels in the triple-redundancy servo actuating system fail, the switch signals output by the channels from the channels with invalid monitoring state signals are invalid, and the switch signals output by the channels from the channels with valid monitoring state signals are valid.

Technical Field

The application belongs to the technical field of determining and disposing design of three-redundancy servo actuating system channel faults, and particularly relates to a method for determining and disposing the three-redundancy servo actuating system channel faults.

Background

The airplane controls the deflection of the control surface through the servo actuating system, thereby realizing the control of the flight direction and finishing the pitching, rolling and yawing flight actions.

In order to improve the reliability of controlling the servo actuation system, a system architecture of a three-channel processor is adopted in the servo actuation system, and the control signal is output after the signal voting is finished among the channels.

Currently, a method for quickly and accurately determining the failure of the servo actuation system channel is lacked, so that after the failure of a single channel or multiple channels of the servo actuation system, an error signal is easy to vote and output, and the control on the servo actuation system fails.

The present application is made in view of the above-mentioned drawbacks of the prior art.

Disclosure of Invention

The present application is directed to a method for determining a channel fault of a triple redundancy servo actuation system and a handling method thereof, so as to overcome or alleviate at least one of the drawbacks of the prior art.

The technical scheme of the application is as follows:

on one hand, the method for determining the channel fault of the triple-redundancy servo actuating system comprises the following steps:

judging whether a channel self-monitoring state signal of one channel is effective or not and whether the detection result of the other channels to the channel is at least one effective or not, and setting a channel effective signal of the channel to be effective or not;

and judging whether the channel self-monitoring state signal of one channel is invalid or the detection result of the other channels to the channel is invalid, and setting the channel valid signal of the channel to be in fault.

According to at least one embodiment of the application, judging that a channel self-monitoring state signal of a channel is effective if a CPU detection result of the channel is effective, a watchdog detection result is effective and a power supply effective signal is effective;

and judging that the channel self-monitoring state signal of the channel is invalid if the CPU detection result of one channel is invalid, the watchdog detection result is invalid or the power supply effective signal is invalid.

In another aspect, a method for handling a channel fault of a triple redundancy servo actuator system is provided, which includes the following steps:

determining whether effective channel signals of all channels of the three-redundancy servo actuation system fail or not based on any of the three-redundancy servo actuation system channel failure determination methods;

if the three-redundancy servo actuating system only has the channel effective signal fault of one channel, the switching signal output by the channel with the channel effective signal fault is invalid, and the switching signal output by the channel with the channel effective signal fault is valid.

According to at least one embodiment of the present application, a channel valid signal fault of a channel in a tri-redundancy servo actuation system can be reset by its reset signal.

According to at least one embodiment of the present application, further comprising the steps of:

if the effective channel signals of more than two channels in the triple-redundancy servo actuating system fail, the switch signals output by the channels from the channels with invalid monitoring state signals are invalid, and the switch signals output by the channels from the channels with valid monitoring state signals are valid.

Drawings

FIG. 1 is a logic diagram of a method for handling a channel fault in a triple redundancy servo actuation system according to an embodiment of the present disclosure;

wherein:

detecting results of the CPUV-CPU; WDV-watchdog detection result; PSV-power valid signal; LCV-channel self-monitoring status signals; DP _ FX, DP _ FY-detection results of the remaining channels; CHV-channel valid signal; CSE-switching signal; RST-reset signal; CHV _ FX, CHV _ FX-remaining channel valid signals; CHV _ TX, CHV _ TY-valid signals for the remaining channels.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the present application are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

It should be noted that in the description of the present application, the terms of direction or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, it should be noted that, in the description of the present application, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those skilled in the art as the case may be.

The present application is described in further detail below with reference to fig. 1.

On one hand, the method for determining the channel fault of the triple-redundancy servo actuating system comprises the following steps:

judging whether a channel self-monitoring state signal of one channel is effective or not and whether the detection result of the other channels to the channel is at least one effective or not, and setting a channel effective signal of the channel to be effective or not;

and judging whether the channel self-monitoring state signal of one channel is invalid or the detection result of the other channels to the channel is invalid, and setting the channel valid signal of the channel to be in fault.

For the method for determining the channel fault of the triple-redundancy servo actuation system disclosed in the above embodiment, those skilled in the art can understand that any channel in the triple-redundancy servo actuation system takes its own channel self-monitoring result and the detection results of the other channels to the channel as inputs to monitor the channel fault of the channel, so that the monitoring on the channel fault in the triple-redundancy servo actuation system is accurate and effective, and can be used as a basis for voting an output control signal of the triple-redundancy servo actuation system.

For the method for determining the channel fault of the triple-redundancy servo actuation system disclosed in the above embodiment, it can be further understood by those skilled in the art that the channel fault logic may be implemented by hardware, and the channel effective signals between the channels in the triple-redundancy servo actuation system have a signal mutual transmission function, which can give the view of the channel to the other channels.

In addition, on the cross signal transmission bus between the channels, if the data of a certain remote channel is not received in a specified period section or the received data format is checked to be wrong, the remote channel is considered to be in a fault.

In some optional embodiments, it is determined that the channel self-monitoring state signal of the channel is valid if the CPU detection result of the channel is valid, the watchdog detection result is valid, and the power supply valid signal is valid;

and judging that the channel self-monitoring state signal of the channel is invalid if the CPU detection result of one channel is invalid, the watchdog detection result is invalid or the power supply effective signal is invalid.

In another aspect, a method for handling a channel fault of a triple redundancy servo actuator system is provided, which includes the following steps:

determining whether effective channel signals of all channels of the three-redundancy servo actuation system fail or not based on any of the three-redundancy servo actuation system channel failure determination methods;

if the three-redundancy servo actuating system only has the channel effective signal fault of one channel, the switching signal output by the channel with the channel effective signal fault is invalid, and the switching signal output by the channel with the channel effective signal fault is valid.

For the method for handling the channel fault of the triple redundancy servo actuation system disclosed in the above embodiment, those skilled in the art can understand that, based on the method for determining the channel fault of the triple redundancy servo actuation system disclosed in the above embodiment, it is determined whether the channel effective signal of each channel of the triple redundancy servo actuation system fails, and on this basis, the method for handling the channel fault of the triple redundancy servo actuation system is provided, so that the control failure of the triple redundancy servo actuation system caused by voting output error information after the channel fault of the triple redundancy servo actuation system can be avoided to a certain extent.

In some alternative embodiments, a channel valid signal fault for a channel in a tri-redundancy servo actuation system can be reset by its reset signal.

In some optional embodiments, the method further comprises the following steps:

if the effective signal of the channels of more than two channels in the triple-redundancy servo actuating system fails and the fault source cannot be positioned, the switching signal output by the channel from the channel with the invalid monitoring state signal is invalid, and the switching signal output by the channel from the channel with the valid monitoring state signal is valid.

For the method for handling the channel fault of the triple-redundancy servo actuation system disclosed in the above embodiment, those skilled in the art can understand that the method can quickly and effectively find the fault of the triple-redundancy servo actuation system, and accurately isolate the fault channel, so that the system can normally operate in a fault state.

So far, the technical solutions of the present application have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present application is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the present application, and the technical scheme after the changes or substitutions will fall into the protection scope of the present application.