阅读说明：本技术 一种双余度襟翼操纵手柄档位表决监控方法 (Voting monitoring method for gears of double-redundancy flap control handle ) 是由 安书董 郑久寿 李明 康晓东 索晓杰 马子飞 于 2020-11-05 设计创作，主要内容包括：本发明公开一种双余度襟翼操纵手柄档位表决监控方法,分别从襟翼操纵手柄档位的判定方案和双余度的表决方案两方面进行说明,在档位的判定中,增加了档位浮空期的处理方式,解决浮空期电压档位随机态导致的舵面抖动现象；在得到单通道结果后,通过交叉通道数据链路获取双余度手柄档位并按照双余度策略进行表决,得出最终手柄档位,提升系统可靠性。本发明通过增加手柄档位浮空期的处理策略,有效避免了手柄档位浮空期舵面轻微抖动的现象；针对性的设计了基于双余度系统的手柄档位表决策略,确保襟翼控制系统能获取稳定可靠的操纵手柄档位,提供给控制率用于控制舵面；本发明在设计上具有较高的可移植性,在策略上能够提高系统的稳定性和可靠性。(The invention discloses a voting monitoring method for gears of a dual-redundancy flap control handle, which is explained from two aspects of a judgment scheme for the gears of the flap control handle and a voting scheme for the dual-redundancy flap control handle respectively, wherein in the judgment of the gears, a processing mode of a gear floating period is added, and the problem of control surface shake caused by a random state of voltage gears in the floating period is solved; and after a single-channel result is obtained, obtaining a double-redundancy handle gear through a cross channel data link, voting according to a double-redundancy strategy, obtaining a final handle gear, and improving the reliability of the system. According to the invention, by adding a processing strategy of the handle gear floating period, the phenomenon that the control surface slightly shakes during the handle gear floating period is effectively avoided; a handle gear voting strategy based on a dual-redundancy system is designed in a targeted manner, so that a flap control system can obtain stable and reliable control handle gears, and the control ratio is provided for controlling a control surface; the invention has higher portability in design and can improve the stability and reliability of the system in strategy.)

1. A voting monitoring method for gears of a dual-redundancy flap control handle is characterized by comprising the following steps: a decision scheme of the gear position of a flap control handle and a voting scheme of double redundancy;

the scheme for determining the gear position of the flap control handle comprises the following steps: setting an effective gear threshold, and determining the current gear as an effective gear when the count value of the current gear reaches the threshold; in the gear change process, if the intermediate random gear voltage value cannot reach the effective gear range, the gear is not considered to be changed;

the dual-redundancy voting scheme comprises: mutually transmitting handle gears of double channels of a flap control computer through a cross channel data link, and taking an average value as a final gear when the gears of the double channels are effective; and when one channel gear is invalid, adopting an effective gear of the other channel.

2. The dual redundancy flap control handle gear voting monitoring method of claim 1, wherein the flap control handle gear decision scheme comprises:

step 1, determining an initial gear of a handle according to the position of the handle;

step 2, detecting the current effective handle gear in real time, performing counting when the handle voltage value falls within the current effective gear range, and determining the current effective handle gear when the effective counting value is greater than or equal to a threshold;

and 3, when the initial gear of the handle changes and the new gear is effective, setting the executable state of the handle to be an effective state, and feeding back and outputting a command difference according to the effective gear of the handle and the real-time flap position sensor.

3. The dual redundancy flap control handle gear voting monitoring method of claim 2,

in the step 2, when the handle voltage value falls within other effective gear ranges, the count value is cleared to zero so as to avoid multiple times of counting when the handle voltage value falls within the effective gear ranges when the gears are changed.

4. The dual redundancy flap control handle gear voting monitoring method of claim 3,

in step 2, when the voltage value of the handle is monitored to fall within the range of the non-effective gear or the effective count value is smaller than the threshold, the last effective gear is determined as the current effective gear.

5. The dual redundancy flap control handle gear voting monitoring method according to claim 4, wherein the flap control handle gear determination scheme further comprises, before step 1:

after the system is powered on, initializing the executable state of the defined handle to be an invalid state, and executing the step 2 after determining the initial gear of the handle.

6. The dual-redundancy flap control handle gear voting monitoring method of claim 1, wherein the dual-redundancy voting scheme comprises:

step 1, the channel acquires a handle gear position signal of another channel through a cross data link;

and 2, determining the final output effective gear by the channel according to the effective voltage values of the handle gears of the two channels.

7. The dual redundancy flap control handle gear voting monitoring method of claim 6, wherein the step 2 comprises:

when the handle gears of the two channels are effective and consistent in comparison, the average value of the effective voltages of the two channels is used as the final handle gear voltage;

and when the gear voltage of one channel is an invalid value or exceeds the range, performing fault counting, and outputting the handle gear voltage according to the fault counting.

8. The dual-redundancy flap control handle gear voting monitoring method according to claim 7, wherein the outputting of the handle gear voltage according to the fault count comprises:

when the fault count is within the fault threshold, taking the last effective voltage value of the fault channel as the gear voltage of the fault channel for average calculation;

and when the fault count exceeds the fault threshold, determining the handle voltage gear of the fault channel as a fault, and taking the gear voltage value of the non-fault channel as the finally output handle gear voltage.

Technical Field

The invention relates to the field of design of a wing flap control computer of a flight control system, and discloses a voting monitoring method for gears of a dual-redundancy wing flap control handle.

Background

In the flight control system, a flap control computer performs closed-loop control on a flap through information of a flap control handle sensor and a flap position sensor, and reports flap handle and flap position information to a pilot. Based on the above discussion, whether the flap control system can correctly acquire the gear information of the control handle sensor has an important influence on the safety of the flight control system.

In the current general handle sensor gear information acquisition mode, attention is often lacked to the intermediate state of gear change, however, each gear information of the sensor usually corresponds to the discontinuous voltage signal of the ladder type form, so that the voltage when the gear changes is unpredictable, and slight shake of a control surface can be caused. In addition, the existing handle gear judgment lacks an effective dual-redundancy voting strategy, and the judgment brings a certain degree of potential safety hazard to a flight control system.

Disclosure of Invention

The purpose of the invention is:

the embodiment of the invention provides a double-redundancy flap control handle gear voting monitoring method, which aims to solve the problems of control surface jitter in a gear floating period, lack of a double-redundancy monitoring voting strategy and the like in the application of a flap control computer of an existing flight control system.

The technical scheme of the invention is as follows:

the embodiment of the invention provides a voting monitoring method for gears of a dual-redundancy flap control handle, which comprises the following steps: a decision scheme of the gear position of a flap control handle and a voting scheme of double redundancy;

the scheme for determining the gear position of the flap control handle comprises the following steps: setting an effective gear threshold, and determining the current gear as an effective gear when the count value of the current gear reaches the threshold; in the gear change process, if the intermediate random gear voltage value cannot reach the effective gear range, the gear is not considered to be changed;

the dual-redundancy voting scheme comprises: mutually transmitting handle gears of double channels of a flap control computer through a cross channel data link, and taking an average value as a final gear when the gears of the double channels are effective; and when one channel gear is invalid, adopting an effective gear of the other channel.

Optionally, in the dual redundancy flap control handle gear voting monitoring method, the decision scheme of the flap control handle gear includes:

step 1, determining an initial gear of a handle according to the position of the handle;

step 2, detecting the current effective handle gear in real time, performing counting when the handle voltage value falls within the current effective gear range, and determining the current effective handle gear when the effective counting value is greater than or equal to a threshold;

and 3, when the initial gear of the handle changes and the new gear is effective, setting the executable state of the handle to be an effective state, and feeding back and outputting a command difference according to the effective gear of the handle and the real-time flap position sensor.

Alternatively, in the dual redundancy flap control handle gear voting monitoring method described above,

in the step 2, when the handle voltage value falls within other effective gear ranges, the count value is cleared to zero so as to avoid multiple times of counting when the handle voltage value falls within the effective gear ranges when the gears are changed.

Alternatively, in the dual redundancy flap control handle gear voting monitoring method described above,

in step 2, when the voltage value of the handle is monitored to fall within the range of the non-effective gear or the effective count value is smaller than the threshold, the last effective gear is determined as the current effective gear.

Optionally, in the dual redundancy flap control handle gear voting monitoring method, the decision scheme for the flap control handle gear further includes, before step 1:

after the system is powered on, initializing the executable state of the defined handle to be an invalid state, and executing the step 2 after determining the initial gear of the handle.

Optionally, in the dual-redundancy flap control handle gear voting monitoring method described above, the dual-redundancy voting scheme includes:

step 1, the channel acquires a handle gear position signal of another channel through a cross data link;

and 2, determining the final output effective gear by the channel according to the effective voltage values of the handle gears of the two channels.

Optionally, in the dual redundancy flap control handle gear voting monitoring method described above, the step 2 includes:

when the handle gears of the two channels are effective and consistent in comparison, the average value of the effective voltages of the two channels is used as the final handle gear voltage;

and when the gear voltage of one channel is an invalid value or exceeds the range, performing fault counting, and outputting the handle gear voltage according to the fault counting.

Optionally, in the dual redundancy flap control handle gear voting monitoring method, the outputting the handle gear voltage according to the fault count includes:

when the fault count is within the fault threshold, taking the last effective voltage value of the fault channel as the gear voltage of the fault channel for average calculation;

and when the fault count exceeds the fault threshold, determining the handle voltage gear of the fault channel as a fault, and taking the gear voltage value of the non-fault channel as the finally output handle gear voltage.

The invention has the advantages that:

the gear voting monitoring method for the dual-redundancy flap control handle provided by the embodiment of the invention is based on the perfection design performed on a flap control subsystem of a flight control system. The processing strategy for slight needle shaking of the control surface of the control handle in the gear floating period is as follows: by setting an effective gear threshold, only the gear reaching the threshold belongs to an effective gear; when the gears are changed, the intermediate random state cannot reach the effective gear judgment threshold, the gears are not considered to be changed, and the influence caused by the random state in the floating period is avoided. The processing strategy of the dual-redundancy voting monitoring in the embodiment of the invention is as follows: the handle gears of the double channels of the flap control computer are mutually transmitted through the data link of the cross channel, and when the gears of the double channels are effective, the average value is taken as the final gear. If one path of gears is invalid, the other redundancy effective gear is adopted, so that the fault tolerance rate and the reliability are improved. The double-redundancy flap control handle gear voting monitoring method provided by the embodiment of the invention has the following advantages:

1. the invention functionally adds the treatment of the floating period of the handle gear, and avoids the slight shake phenomenon of the flap control surface caused by the gear change.

2. In the design, a dual-redundancy voting algorithm is introduced to obtain the final handle gear, and the result is high in accuracy.

3. In the implementation mode, the invention realizes the cross-over mutual ratio of dual-redundancy through the cross channel data link and has higher output rate.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.

Fig. 1 is a process flow chart of a gear shift floating period in a method for monitoring gear shift voting according to an embodiment of the present invention;

FIG. 2 is a flow chart of logic processing of dual redundancy monitoring voting in the method for monitoring lever shift voting according to the embodiment of the present invention;

fig. 3 is a schematic structural diagram of a cross-channel data link between two redundancies in the method for monitoring a lever gear vote according to the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.

The steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.

The following specific embodiments of the present invention may be combined, and the same or similar concepts or processes may not be described in detail in some embodiments.

The embodiment of the invention provides a voting monitoring method for gears of a dual-redundancy flap control handle, which specifically comprises the following steps: a decision scheme of the gear position of the flap control handle and a voting scheme of double redundancy.

The scheme for determining the gear position of the flap control handle in the embodiment of the invention can comprise the following steps: setting an effective gear threshold, and determining the current gear as an effective gear when the count value of the current gear reaches the threshold; in the gear change process, if the intermediate random gear voltage value cannot reach the effective gear range, the gear is not considered to be changed.

The voting scheme of dual redundancy in the embodiment of the present invention may include: mutually transmitting handle gears of double channels of a flap control computer through a cross channel data link, and taking an average value as a final gear when the gears of the double channels are effective; and when one channel gear is invalid, adopting an effective gear of the other channel.

In the implementation process of the method for voting and monitoring the gear positions of the redundant flap control handle provided by the embodiment of the invention, the implementation manner of the decision scheme of the gear positions of the flap control handle can comprise the following implementation steps:

step 1, determining an initial gear of a handle according to the position of the handle;

step 2, detecting the current effective handle gear in real time, performing counting when the handle voltage value falls within the current effective gear range, and determining the current effective handle gear when the effective counting value is greater than or equal to a threshold;

and 3, when the initial gear of the handle changes and the new gear is effective, setting the executable state of the handle to be an effective state, and feeding back and outputting a command difference according to the effective gear of the handle and the real-time flap position sensor.

In practical application, in step 2, the count value is cleared when the handle voltage value falls within other effective gear ranges, so as to avoid multiple times of counting when the handle voltage value falls within the effective gear range during gear change.

In practical application, in step 2, when the voltage value of the handle is monitored to fall within the range of the non-effective gear or the effective count value is smaller than the threshold, the last effective gear is determined as the current effective gear.

In practical application, the scheme for determining the gear position of the flap control handle in the embodiment of the invention further comprises the following steps before the step 1:

after the system is powered on, initializing the executable state of the defined handle to be an invalid state, and executing the step 2 after determining the initial gear of the handle.

In the specific implementation process of the method for voting and monitoring the gear positions of the redundant flap control handle provided by the embodiment of the invention, the specific implementation mode of the dual-redundancy voting scheme can comprise the following implementation steps: :

step 1, the channel acquires a handle gear position signal of another channel through a cross data link;

and 2, determining the final output effective gear by the channel according to the effective voltage values of the handle gears of the two channels.

In practical applications of the embodiment of the present invention, step 2 may include:

when the handle gears of the two channels are effective and consistent in comparison, the average value of the effective voltages of the two channels is used as the final handle gear voltage;

and when the gear voltage of one channel is an invalid value or exceeds the range, performing fault counting, and outputting the handle gear voltage according to the fault counting.

In addition, in the embodiment of the present invention, the implementation of outputting the handle shift voltage according to the failure count may include:

when the fault count is within the fault threshold, the effective voltage value of the last beat of the fault channel is used as the gear voltage of the fault channel for mean value calculation;

and when the fault count exceeds the fault threshold, determining the handle voltage gear of the fault channel as a fault, and taking the gear voltage value of the non-fault channel as the finally output handle gear voltage.

The gear voting monitoring method for the dual-redundancy flap control handle provided by the embodiment of the invention is based on the perfection design performed on a flap control subsystem of a flight control system. The processing strategy for slight needle shaking of the control surface of the control handle in the gear floating period is as follows:

by setting the effective gear threshold, only the gear reaching the threshold belongs to the effective gear. When the gears are changed, the intermediate random state cannot reach the effective gear judgment threshold, the gears are not considered to be changed, and the influence caused by the random state in the floating period is avoided.

The processing strategy of the dual-redundancy voting monitoring in the embodiment of the invention is as follows:

the handle gears of the double channels of the flap control computer are mutually transmitted through the data link of the cross channel, and when the gears of the double channels are effective, the average value is taken as the final gear. If one path of gears is invalid, the other redundancy effective gear is adopted, so that the fault tolerance rate and the reliability are improved.

The double-redundancy flap control handle gear voting monitoring method provided by the embodiment of the invention has the following advantages: functionally, the handle is added with the floating period of the gear, so that the slight shaking phenomenon of the flap control surface caused by the gear change is avoided; in the scheme design, a double-redundancy voting algorithm is introduced to obtain a final handle gear, and the result is high in accuracy; in the implementation mode, the cross-channel data link realizes the cross-over-cross ratio of dual redundancy, and has higher output rate.

The following discusses in detail the implementation of the dual-redundancy flap control handle gear voting monitoring method provided by the embodiment of the present invention in terms of a decision scheme of the flap control handle gear and a dual-redundancy voting scheme, respectively.

In the handle gear position determination, because the voltages corresponding to different gear positions of the handle are stepped, when the handle is changed from one gear position to another gear position, the voltage in the process is unpredictable, so that the gear position converted by the collected voltage is unpredictable. If not processed, the control surface can shake slightly during the process of changing the handle gear.

The handle gear judging mode in the embodiment of the invention is as follows: after the system is powered on, software initializes and defines the executable state of the handle as an invalid state, determines the initial gear of the handle according to the position of the handle, detects the current effective handle gear in real time, counts when the voltage of the handle falls within the range of the effective gear, and determines the handle as the effective gear when the count value is larger than the threshold. In this way, in the floating period, the system does not consider that the random voltage value in the floating period is an effective gear, and the software design flow is shown in fig. 1, which is a processing flow chart of the gear floating period in the handle gear voting monitoring method provided by the embodiment of the invention. When the initial gear of the handle changes and the new gear is effective, the executable state of the handle is set to be an effective state, and a rear-end Power Driving Unit (PDU) executing mechanism is driven according to the effective gear of the handle and the difference of feedback output instructions of the real-time flap position sensor.

In the double-redundancy voting strategy, one channel acquires the handle gear information of the other channel through a cross data link, when the handle gears of the two channels are effective and consistent with each other, the average value of effective voltages of the two channels is used as the final handle gear voltage, when the gear voltage of one channel is an invalid value or exceeds a range, fault counting is carried out, in order to eliminate transient faults, within a fault threshold, a fault tolerance system still uses the effective voltage value of the last beat of the fault channel as the channel gear voltage to carry out average value calculation, when the fault exceeds the threshold, the fault tolerance system considers that the redundancy handle voltage gear is actually faulty, and the voltage value of single redundancy is used to ensure data accuracy. And when the failure times of the dual-redundancy voltage exceed the threshold, outputting an unavailable handle. The specific software operation flow is shown in fig. 2, which is a logic processing flow chart of dual-redundancy monitoring voting in the handle gear voting monitoring method provided by the embodiment of the invention.

As shown in fig. 3, for a schematic structural diagram of a cross channel data link between two redundancies in the method for monitoring a lever gear vote according to an embodiment of the present invention, parallel data is converted into serial data, then encoded into a manchester code, and finally transmitted to other channels in a differential manner, where a data transmission rate is 2Mbit/s, so as to meet a requirement of high-speed cross transmission.

The embodiment of the invention provides a double-redundancy flap control handle gear voting monitoring method which is mainly applied to a flight control system and is explained from two aspects of a flap control handle gear judgment scheme and a double-redundancy voting scheme. In the judgment of the gear, a processing mode of a gear floating period is designed, and the problem of control surface jitter caused by a random state of a voltage gear in the floating period is solved; and after a single-channel result is obtained, obtaining a double-redundancy handle gear through a cross channel data link, voting according to a double-redundancy strategy, obtaining a final handle gear, and improving the reliability of the system.

The innovation points of the invention are as follows: the processing strategy of the handle gear floating period is added, and the phenomenon that the control surface slightly shakes during the handle gear floating period is effectively avoided. And a handle gear voting strategy based on a dual-redundancy system is pertinently introduced, so that a flap control system can obtain stable and reliable control handle gear signals, and the control handle gear signals are provided for a control rate to control a control surface. In addition, the cross-channel data link realizes the cross-over ratio of dual redundancy, and has higher output rate. The invention has higher portability in design and can improve the stability and reliability of the system in strategy.

Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.