UAV flight control system servo fault troubleshooting system

Abstract

The present invention proposes a fault troubleshooting system for a servo of a UAV flight control system, which belongs to the technical field of new UAVs. The system connects a controller between a flight control computer and a servo, and the controller includes a main control module and a standby control module arranged in parallel, as well as a main drive module connected to the main control module and a standby drive module connected to the standby control module; the main drive module and the standby drive module are both connected to the servo to provide a driving electrical signal for the servo. The present invention adopts a controller with a main / backup channel, which can detect and automatically switch to a link without a fault in time when a fault occurs to ensure the normal progress of the debugging work; the present invention is provided with a current detection module, a rotor position detection module and an angle detection module, which monitor the working status of each link of the rudder control system in real time and realize comprehensive monitoring of the system status; the present invention sets a fault location method to realize fault location, realize automation, and greatly improve work efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of novel unmanned aerial vehicles, and relates to a fault troubleshooting system for a steering gear of a flight control system of an unmanned aerial vehicle, which performs fault troubleshooting on a steering gear in a flight control system of a shipborne unmanned aerial vehicle, thereby realizing comprehensive fault query and rapid troubleshooting. Background Art

[0002] In view of the particularity of shipborne UAVs, the safety and reliability of UAVs are generally required to be higher than those of land-based military UAVs during the current research, manufacturing and debugging process. The rudder control system of a UAV is an important actuator of the UAV. It controls the flight attitude of the UAV and is an important system related to the safety and reliability of the UAV flight.

[0003] According to the current fault diagnosis method of manned aircraft, during the aircraft debugging stage, ship-borne UAVs can only diagnose a single point fault each time, and can only continue to check after the single point fault is handled. This leads to the lack of comprehensive fault diagnosis of the aircraft, and the advantages of redundant design cannot be fully utilized, and the debugging and troubleshooting efficiency is low. At the same time, the three-redundancy design of ship-borne UAVs is less than the four-redundancy design of traditional manned aircraft. On this basis, if the various links of the rudder control system cannot be monitored in real time during the debugging stage to see if there are any faults, it will greatly affect the debugging efficiency of the aircraft. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a UAV flight control system steering gear fault troubleshooting system to solve the problem of low debugging efficiency of shipborne UAVs.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions to achieve the above problems:

[0006] A UAV flight control system steering gear fault troubleshooting system mainly connects a controller between a flight control computer and the steering gear, the controller comprises a main control module and a standby control module arranged in parallel, and a main drive module connected to the main control module and a standby drive module connected to the standby control module; the main drive module and the standby drive module are both connected to the steering gear to provide driving electrical signals for the steering gear.

[0007] The main control module is composed of a main digital signal processor and a main complex programmable logic device. The main digital signal processor receives the bus signal (redundancy signal voltage value) of the flight control computer, and sends the motor PWM control signal and direction signal obtained by PID operation of the redundancy signal voltage value to the main complex programmable logic device for logic operation through the redundancy management module; the main complex programmable logic device realizes processing functions such as three-phase bridge control signal output, Hall acquisition, and fault signal feedback to the main digital signal processor.

[0008] The main drive module includes a main isolation circuit, a main drive circuit and a main inverter circuit which are connected in sequence; wherein the main isolation circuit receives the three-phase bridge control signal processed by the main control module, performs isolation protection, enhances circuit safety, transmits the three-phase bridge control signal that meets the preset parameter requirements to the main drive circuit, drives the entire circuit to work, and outputs a high voltage to the main inverter circuit; the main inverter circuit reverses the high voltage signal and changes it into a current signal that can drive the stator of the servo main motor to work and can be detected by the main current sensor; the main current sensor then feeds back the current signal to the main digital signal processor.

[0009] The standby control module is composed of a standby digital signal processor and a standby complex programmable logic device, and the standby drive module includes a standby isolation circuit, a standby drive circuit and a standby inverter circuit connected in sequence; the composition and working principle of the standby control module and the standby drive module are completely consistent with the main channel (main control module and main drive module), and can be fully interchangeable.

[0010] The steering gear is internally provided with a main motor stator, a motor rotor, a spare motor stator, a reducer and a steering gear output shaft; wherein the main and spare motor stators cooperate with the motor rotor to form motor movement, and then the movement speed of the motor rotor is controlled within the controllable range of the steering gear output shaft through the reducer, and finally transmitted to the steering gear output shaft movement, thereby driving the actual aircraft rudder surface deflection.

[0011] The servo is connected with a main rotor position detection module, a standby rotor position detection module, a main angle detection module and a standby angle detection module. The main rotor position detection module and the standby rotor position detection module both use Hall sensors; the main rotor position detection module and the standby rotor position detection module are respectively connected to the main motor stator and the standby motor stator of the servo, and are used to monitor the rotor position, and according to the actual position of the rotor, the rotor position signal is generated in real time and the signal is fed back to the main and standby complex programmable logic devices. The main angle detection module and the standby angle detection module are both connected to the output shaft of the servo, and are used to monitor the actual output position of the servo, and feed the position information back to the main and standby digital signal processors in real time.

[0012] During the self-test of the flight control system or the debugging and inspection of the servo, the controller can provide the servo with backup drive instructions, allowing the servo to continue working in the event of a fault, complete the inspection work, and then conduct unified troubleshooting work, greatly improving work efficiency.

[0013] During the debugging and inspection process, the following fault location method is used to determine a single point fault:

[0014]

[0015] Among them, α is the decision parameter; U L is the measured voltage amplitude of the servo; UK is the rated voltage amplitude of the servo; r L is the measured resistance value of the servo; R K is the rated resistance value of the servo; X C is the total capacitive reactance of the servo; k is set according to the servo model and ranges from 1 to 3.

[0016] The principle of this fault location method is to systematically measure the measured voltage amplitude and the measured resistance value of this single point of the servo, and calculate α with the help of the theoretical parameters of this single point of the servo (rated voltage amplitude, rated resistance value, total capacitive reactance of the servo). The digital signal processor compares the calculation result with the pre-calculated value range to determine whether there is a fault in the single point.

[0017] Beneficial effects of the present invention:

[0018] (1) The present invention uses a controller with a main / backup channel. If a fault occurs in a certain link of the debugging and inspection, it can be detected in time and automatically switched to a link without a fault to ensure the normal progress of the debugging work; after completing a comprehensive inspection, the fault is comprehensively analyzed by checking the fault list, so there is no need to troubleshoot single-point faults according to the original method, which greatly improves work efficiency;

[0019] (2) The present invention is provided with a current detection module, i.e., a current sensor, to monitor the current in the driving module in real time, and to perform fault diagnosis on the rotor position detection module and the angle detection module, which have a higher probability of failure in the system, through the controller, so as to monitor the working status of each link of the control surface control system in real time and realize comprehensive monitoring of the system status;

[0020] (3) The present invention sets a fault location method. Based on the experience of daily manual fault troubleshooting, a fault location model is established for the servo voltage amplitude, servo resistance value and total capacitive reactance, so that the system can independently determine the fault point, thereby realizing fault location quickly and efficiently, realizing automation, and greatly improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 It is a detailed structural diagram of the troubleshooting system of the present invention. DETAILED DESCRIPTION

[0023] The specific implementation of the present invention is further explained below in conjunction with the examples and drawings, but is not intended to limit the present invention.

[0024] like Figure 1-2 The UAV flight control system servo fault troubleshooting system shown is implemented as follows:

[0025] 1. Connect the troubleshooting system with the flight control system servo and flight control computer, and power the troubleshooting system, servo and flight control computer. The servo controller receives the main / standby bus signal of the flight control computer through the electrical interface, and sends the control signal to the main digital signal processor and the standby digital signal processor through the communication interface chip and the communication management chip; the main digital signal processor sends the motor PWM control signal and direction signal obtained by the PID operation of the redundancy signal voltage value through the redundancy management module to the main complex programmable logic device for logic operation; the main complex programmable logic device realizes the processing functions such as three-phase bridge control signal output, Hall acquisition, and fault signal feedback to the main digital signal processor.

[0026] 2. Start the standby digital signal processor, which, in addition to the functions of the main digital signal processor, also has the function of monitoring the operating status of the main digital signal processor. When the main digital signal processor fails, it takes over the work of the main digital signal processor. In addition to the functions of the main complex programmable logic device, the standby complex programmable logic device also has the function of monitoring the operating status of the main complex programmable logic device. When the main complex programmable logic device fails, the standby complex programmable logic device takes over the work of the main complex programmable logic device.

[0027] 3. When the system needs to be monitored and tested, the standby digital signal processor + standby complex programmable logic device monitors the operating status of the main digital signal processor + main complex programmable logic device in real time and communicates with the circuit of the main control module in real time, including monitoring the system clock, control signal reception, main control cycle execution, complex programmable logic device operating status, etc. When the circuit of the main control module determines that any of the above functions fails, the circuit of the standby control module immediately takes over the circuit function of the main control module and reports the fault to the flight control computer for use in troubleshooting.

Claims

1. A UAV flight control system steering gear fault troubleshooting system, characterized in that: The system connects a controller between a flight control computer and a steering gear, wherein the controller includes a main control module and a standby control module arranged in parallel, and a main drive module connected to the main control module and a standby drive module connected to the standby control module; the main drive module and the standby drive module are both connected to the steering gear to provide a driving electrical signal for the steering gear; The main control module is composed of a main digital signal processor and a main complex programmable logic device. The main digital signal processor receives the redundancy signal voltage value of the flight control computer, and sends the motor PWM control signal and direction signal obtained by the redundancy signal voltage value through PID operation to the main complex programmable logic device for logic operation through the redundancy management module; the main complex programmable logic device realizes the three-phase bridge control signal output, Hall acquisition, and fault signal feedback to the main digital signal processor; The main drive module includes a main isolation circuit, a main drive circuit and a main inverter circuit which are connected in sequence; wherein the main isolation circuit receives the three-phase bridge control signal processed by the main control module, performs isolation protection, enhances circuit safety, transmits the three-phase bridge control signal that meets the preset parameter requirements to the main drive circuit, drives the entire circuit to work, and outputs a high voltage to the main inverter circuit; the main inverter circuit reversely changes the high voltage signal to a current signal that can drive the stator of the main motor of the steering gear to work and can be detected by the main current sensor; the main current sensor then feeds back the current signal to the main digital signal processor; The composition and working principle of the standby control module and the standby drive module are completely consistent with those of the main channel, and can be completely interchangeable; The steering gear is connected with a main rotor position detection module, a standby rotor position detection module, a main angle detection module and a standby angle detection module; wherein the main rotor position detection module and the standby rotor position detection module are respectively connected with the main motor stator and the standby motor stator of the steering gear, and are used to monitor the rotor position, and according to the actual position of the rotor, generate a rotor position signal in real time and feed the signal back to the main and standby complex programmable logic devices; the main angle detection module and the standby angle detection module are both connected with the output shaft of the steering gear, and are used to monitor the actual output position of the steering gear, and feed the position information back to the main and standby digital signal processors in real time; During the debugging and inspection process, the single point fault is determined according to the following fault location method: Among them, α is the decision parameter; U L is the measured voltage amplitude of the servo; U K is the rated voltage amplitude of the servo; r L is the measured resistance value of the servo; R K is the rated resistance value of the servo; X C is the total capacitive reactance of the servo; k is set according to the servo model and ranges from 1 to 3; The principle of the fault location method is that the system measures the measured voltage amplitude and the measured resistance value of a single point of the servo, and calculates α with the help of the theoretical parameters of this single point of the servo, namely the rated voltage amplitude, the rated resistance value, and the total capacitive reactance of the servo. The digital signal processor compares the calculation result with the pre-calculated value range to determine whether there is a fault at the single point.

2. The UAV flight control system steering gear fault troubleshooting system according to claim 1 is characterized in that: The standby control module is composed of a standby digital signal processor and a standby complex programmable logic unit, and the standby drive module includes a standby isolation circuit, a standby drive circuit and a standby inverter circuit which are connected in sequence.

3. A UAV flight control system steering gear fault troubleshooting system according to claim 1 or 2, characterized in that: The steering gear is internally provided with a main motor stator, a motor rotor, a spare motor stator, a reducer and a steering gear output shaft; wherein the main and spare motor stators cooperate with the motor rotor to form motor movement, and then the movement speed of the motor rotor is controlled within the controllable range of the steering gear output shaft through the reducer, and finally transmitted to the steering gear output shaft movement, thereby driving the actual aircraft rudder surface deflection.

4. A UAV flight control system steering gear fault troubleshooting system according to claim 1 or 2, characterized in that: The main rotor position detection module and the standby rotor position detection module both use Hall sensors.

5. The UAV flight control system steering gear fault troubleshooting system according to claim 3 is characterized in that: The main rotor position detection module and the standby rotor position detection module both use Hall sensors.

Images