Dual-redundancy control system of unmanned aerial vehicle main landing gear

Abstract

The application provides a kind of unmanned aerial vehicle main landing gear dual-redundancy control system, belongs to aircraft technical field, specifically includes being arranged on the dual-redundancy controller of main landing gear actuator, electric mechanism and limiting mechanism, dual-redundancy controller is connected with main landing gear actuator by controller electric connector, electric mechanism includes first drive motor and second drive motor, limiting mechanism is arranged inside main landing gear actuator, and first drive motor and second drive motor correspondingly have corresponding limiting mechanism, limiting mechanism includes limit switch and potentiometer component, and dual-redundancy controller receives the signal of limit switch and potentiometer component and controls electric mechanism. Through the processing scheme of the application, the system task reliability and control accuracy are improved, and the fault isolation capability of system.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft technology, in particular to a dual-redundancy control system of a main landing gear of a UAV. BACKGROUND

[0002] The landing gear is an accessory device that supports the aircraft during take-off and landing or ground taxiing and is used for ground movement. The landing gear is the only component that supports the entire aircraft, so it is an indispensable part of the aircraft. At present, the landing gear retraction and extension cylinders of various types of aircraft in China are all hydraulic cylinders, but hydraulic cylinders have the disadvantages of easy leakage of hydraulic oil, easy contamination, poor maintainability, and heavy weight of the system. Electric cylinders have the characteristics of high reliability, good maintainability, light weight, and low energy consumption. However, due to the single-redundancy electric actuator controller, there are problems such as low reliability level, poor precision, and difficulty in fault positioning. SUMMARY

[0003] Therefore, the embodiments of the present application provide a dual-redundancy control system of a main landing gear of a UAV, which can effectively improve the reliability level, control precision, fault positioning, and other capabilities of the landing gear device.

[0004] The embodiments of the present application provide a dual-redundancy control system of a main landing gear of a UAV for controlling an electric actuator device, characterized in that the dual-redundancy control system comprises a dual-redundancy controller, an electric mechanism, and a limiting mechanism arranged on a main landing gear actuator cylinder, the dual-redundancy controller is connected with the main landing gear actuator cylinder through a controller electrical connector, the electric mechanism comprises a first drive motor and a second drive motor, the limiting mechanism is arranged inside the main landing gear actuator cylinder, and the first drive motor and the second drive motor respectively correspond to corresponding limiting mechanisms, the limiting mechanism comprises a limit switch and a potentiometer assembly, and the dual-redundancy controller receives signals of the limit switch and the potentiometer assembly and controls the electric mechanism.

[0005] According to a specific implementation manner of the embodiment of the application, the dual-redundancy controller comprises a master control circuit module, and a signal receiving / sending module, a feedback signal processing module and a driving channel connected with the master control circuit module; the signal receiving / sending module is configured to receive a motion control instruction of a flight control computer, and to judge and process validity, priority and timeliness of the motion control instruction according to an interface file; the master control circuit module is configured to judge motion state information according to the motion control instruction, and to send the motion state information to the flight control computer through the signal receiving / sending module; the feedback signal processing module is configured to receive signals of the limit switches and the potentiometer assembly and send the signals to the master control circuit module; the master control circuit module is further configured to judge according to the motion control instruction and position information provided by the feedback signal processing module, to take a judgment result as a control law input to perform control law calculation, and to generate a motor control instruction and send the motor control instruction to the driving channel; and the driving channel is configured to drive the electric mechanism to rotate according to the motor control instruction.

[0006] According to a specific implementation manner of the embodiment of the application, the feedback signal processing module comprises a first feedback signal processing module and a second feedback signal processing module; the first feedback signal processing module is connected with a limit mechanism corresponding to the first driving motor; and the second feedback signal processing module is connected with a limit mechanism corresponding to the second driving motor; the driving channel comprises a driving A channel and a driving B channel; the driving A channel is connected with the first driving motor; and the driving B channel is connected with the second driving motor.

[0007] According to a specific implementation manner of the embodiment of the application, the dual-redundancy controller further comprises a BIT detection circuit module; and detection contents of the BIT detection circuit module comprise voltage detection, current detection, position information detection, Hall state detection, limit switch logic detection, communication detection and master control circuit detection.

[0008] According to a specific implementation manner of the embodiment of the application, the BIT circuit detection module comprises power-on BIT detection, flight BIT detection and periodic BIT detection; the dual-redundancy controller automatically performs the power-on BIT detection after being powered on, performs the flight BIT detection according to a control instruction during flight, and periodically performs the periodic BIT detection during operation.

[0009] According to a specific implementation manner of the embodiment of the present application, the driving channel comprises a motor driving module, a current protection module and a filter module; the motor driving module is configured to receive a PWM driving signal generated by the master control circuit module according to a control law to drive the electric mechanism; the current protection module is configured to monitor a current condition of the electric mechanism in real time and feed back the current condition to the master control circuit module for monitoring by the BIT circuit detection module; and the filter module is configured to reduce the influence of external power supply disturbance on the electric mechanism.

[0010] According to a specific implementation manner of the embodiment of the present application, the limit switches comprise a retract limit switch and an extend limit switch, and the retract limit switch and the extend limit switch are respectively located at two ends of the main landing gear actuating cylinder in the length direction.

[0011] According to a specific implementation manner of the embodiment of the present application, the potentiometer assembly comprises a position sensor and a screw rod arranged in the length direction of the main landing gear actuating cylinder, the screw rod is slidably connected with a sliding block, one end of the sliding block is connected with a position sensor sliding block, the position sensor sliding block is in contact connection with the position sensor, the other end of the sliding block is connected with a follow-up light barrier, the position sensor sliding block and the follow-up light barrier move with the sliding block, and the follow-up light barrier triggers the retract limit switch and the extend limit switch when moving to the retract limit switch and the extend limit switch.

[0012] According to a specific implementation manner of the embodiment of the present application, the limiting mechanism further comprises mechanical limiting blocks, and the mechanical limiting blocks are respectively located at two ends of the sliding block.

[0013] According to a specific implementation manner of the embodiment of the present application, a control chip in the master control circuit module adopts a digital signal processor (DSP).

[0014] Advantages

[0015] The dual-redundancy control system of the unmanned aerial vehicle main landing gear in the embodiment of the present application improves system task reliability and control precision through improvement and implementation on a single-redundancy series product, ensures that the main landing gear actuating cylinder mechanism can work stably and reliably in a complex working environment on an airplane, and completely guarantees the stability and precision of the system. Meanwhile, the improvement and implementation on the series product improve the fault isolation capability of the system, facilitate fault troubleshooting and positioning in the field, and improve the maintainability of the product. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings described below only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0017] Figure 1 The schematic diagram of the main landing gear actuator mechanism of the unmanned aerial vehicle according to an embodiment of the present application;

[0018] Figure 2 The schematic diagram of the limiting mechanism according to an embodiment of the present application;

[0019] Figure 3 The partial enlarged view of Figure 2

[0020] Figure 4 The cross-link diagram of the dual-redundancy control system of the main landing gear of the unmanned aerial vehicle according to an embodiment of the present application;

[0021] Figure 5 The working principle diagram of the dual-redundancy control system of the main landing gear of the unmanned aerial vehicle according to an embodiment of the present application;

[0022] Figure 6 The working instruction logic judgment flow chart of the dual-redundancy control system of the main landing gear of the unmanned aerial vehicle according to an embodiment of the present application;

[0023] Figure 7 The motor stop judgment logic flow chart of the dual-redundancy control system of the main landing gear of the unmanned aerial vehicle according to an embodiment of the present application.

[0024] In the figure: 10, first drive motor; 20, second drive motor; 30, controller electrical connector; 40, actuator cylinder; 1, first mechanical limit block; 2, follow-up light barrier; 3, retract limit switch; 4, slider; 5, extension limit switch; 6, second mechanical limit block; 7, position sensor; 8, position sensor slider. DETAILED DESCRIPTION

[0025] The embodiments of the present application will be described in detail below with reference to the drawings.

[0026] ​Following, the embodiments of the present application are described through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the disclosure. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. The present application can also be implemented or applied by other different specific embodiments, and the details in the specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0027] It should be noted that the various aspects of the embodiments described below are within the scope of the appended claims. It should be apparent that the aspects described herein can be embodied in a wide variety of forms and that any specific structure and / or function described herein is merely illustrative. Based on the teachings herein one skilled in the art should appreciate that an aspect described herein can be implemented independently of any other aspects and that an aspect can be implemented both as any number of software running on a device and / or as an apparatus manufactured for a particular purpose. For example, an aspect can be implemented as a software running on a device, such as a computer system having digital video capabilities. In addition, an aspect can be implemented as a software running on a device, such as a computer system having digital video capabilities.

[0028] It should also be noted that the figures provided in the following embodiments are only to illustrate the basic concept of the present application in a schematic manner, and only the components related to the present application are shown in the figures, not the number, shape and size of the components when actually implemented, and the shape, number and proportion of each component when actually implemented can be arbitrarily changed, and the layout pattern of the components can also be more complex.

[0029] In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, one skilled in the art will understand that the described aspects can be practiced without these specific details.

[0030] The landing gear is mounted on the lower part of the aircraft, which is an accessory device for supporting the aircraft and moving on the ground. When the aircraft needs to take off and land or taxi, the pilot can control the rotation of the wheel by controlling the extension and retraction of the landing gear. During the operation, the displacement of the landing gear needs to be limited according to the indicated displacement to prevent the extension angle from exceeding the standard and causing damage to the aircraft structure.

[0031] The embodiment of the present application provides a dual-redundancy control system of a main landing gear of an unmanned aerial vehicle, which is used for controlling an electric actuating device of the main landing gear, receiving a motion control instruction through an RS-422 data bus, controlling the electric mechanism to work according to a given control law, adjusting the extension length, and achieving the purpose of limiting the main landing gear. The following refers to the accompanying Figures 1 to 7 are described in detail.

[0032] In the embodiment, the dual-redundancy control system of the main landing gear of the unmanned aerial vehicle comprises a dual-redundancy controller, an electric mechanism and a limiting mechanism arranged on the actuating cylinder 40 of the main landing gear. The dual-redundancy controller is connected with the actuating cylinder 40 of the main landing gear through a controller electric connector 30. The electric mechanism comprises a first driving motor 10 and a second driving motor 20. The limiting mechanism is arranged inside the actuating cylinder 40 of the main landing gear, and the first driving motor 10 and the second driving motor 20 correspond to the limiting mechanism respectively. The limiting mechanism comprises a limit switch and a potentiometer assembly. The dual-redundancy controller receives signals of the limit switch and the potentiometer assembly and controls the electric mechanism.

[0033] The dual-redundancy controller in the embodiment is used for controlling the linear motion of the extension and recovery of the electric mechanism. The signals of the potentiometer assembly and the limit switch inside the electric mechanism are collected to achieve the purpose of limiting the extension and recovery length of the actuating cylinder 40 of the main landing gear.

[0034] The dual-redundancy controller adopts a similar driving redundancy working design. The state monitoring and fault isolation of the electric mechanism are realized through the dual-redundancy collection of the potentiometer assembly and the dual-redundancy control of the motor, so as to prevent the spread of faults. When the first driving motor 10 or the second driving motor 20 fails, the single-motor driving work is ensured, the reliability and stability of the function realization of the electric actuating device of the main landing gear in the complex working environment of the airplane are ensured, and the normal work under the condition of one-time fault is realized.

[0035] In terms of digital control, the dual-redundancy controller provides fault information of the actuating cylinder 40 of the main landing gear to the flight control system of the airplane, so as to facilitate fault checking and positioning and improve the system stability.

[0036] In one embodiment, the limiting mechanism is further limited with reference to Figure 2 and Figure 3 The limit switch comprises a recovery limit switch 3 and an extension limit switch 5, and the recovery limit switch 3 and the extension limit switch 5 are respectively located at two ends of the length direction of the actuating cylinder 40. Specifically, the recovery limit switch 3 and the extension limit switch 5 are respectively located at the limit positions of the normal recovery and extension of the actuating cylinder 40.

[0037] Further, the potentiometer assembly comprises a position sensor 7 arranged along the length direction of the main landing gear actuating cylinder 40 and a screw rod, the screw rod is slidably connected with a sliding block 4, one end of the sliding block 4 is connected with a position sensor sliding block 8, the position sensor sliding block 8 is in contact with the position sensor 7, the other end of the sliding block 4 is connected with a follow-up light barrier 2, the position sensor sliding block 8 and the follow-up light barrier 2 move with the sliding block 4, when the follow-up light barrier 2 moves to the retract limit switch 3 and the extension limit switch 5, the retract limit switch 3 and the extension limit switch 5 are triggered. When the actuating cylinder 40 needs to be retracted or extended, the rotation of the screw rod is used to realize the retraction or extension of the actuating cylinder 40, at the same time, the sliding block 4 is moved, and the position sensor sliding block 8 is moved on the position sensor 7, so that the position sensor 7 can monitor the length of the extension or retraction of the actuating cylinder 40.

[0038] In one embodiment, the position sensor 7 adopts a dual-redundancy displacement sensor to collect position information, therefore, in the embodiment, the first drive motor 10 and the second drive motor 20 correspond to the retract limit switch 3, the extension limit switch 5, the follow-up light barrier 2, the sliding block 4 and the position sensor sliding block 8 respectively, but the first drive motor 10 and the second drive motor 20 share the dual-redundancy displacement sensor to collect position information. After the position information is processed by a high-precision operational amplifier, the information is converted into digital information by a high-precision and high-resolution A / D converter, and then input into a dual-redundancy controller through a data bus. The dual-redundancy position sensor can ensure the accurate control of the motion position of the system during automatic operation.

[0039] Further, the position limiting mechanism further comprises a mechanical limiting block, the mechanical limiting block is located at both ends of the sliding block, as shown in Figure 2 The mechanical limiting block comprises a first mechanical limiting block 1 and a second mechanical limiting block 6, the first mechanical limiting block 1 is used for mechanical limiting when the actuating cylinder 40 fails to retract, and the second mechanical limiting block 6 is used for mechanical limiting when the actuating cylinder 40 fails to extend. The mechanical limiting block can effectively ensure the safe and reliable performance of the actuating cylinder 40.

[0040] In one embodiment, the dual-redundancy controller is set in detail, refer to Figure 4 and Figure 5The double-redundancy controller is designed in a driving master-slave mode, and comprises a master control circuit module, a signal receiving / sending module connected with the master control circuit module, a feedback signal processing module and a driving channel.

[0041] Further, the feedback signal processing module is provided with a first feedback signal processing module and a second feedback signal processing module, the first feedback signal processing module is connected with the limit mechanism corresponding to the first driving motor 10, that is, the position feedback signal 1 sent by the potentiometer assembly in the figure is transmitted to the first feedback signal processing module; the second feedback signal processing module is connected with the limit mechanism corresponding to the second driving motor, that is, the position feedback signal 2 sent by the potentiometer assembly in the figure is transmitted to the second feedback signal processing module, the first feedback signal processing module and the second feedback signal processing module send the current position information to the master control circuit module; the limit position switch signal sent by the limit position switch in channel I (the limit switch of the first driving motor 10) is transmitted to the master control circuit module, the limit position switch signal sent by the limit position switch in channel II (the limit switch of the second driving motor 20) is transmitted to the master control circuit module; the driving channel is provided with a driving A channel and a driving B channel, the driving A channel is connected with the first driving motor 10 (permanent magnet DC motor I), and the driving B channel is connected with the second driving motor 20 (permanent magnet DC motor II).

[0042] Further, the double-redundancy driving controller in the embodiment is designed to adopt an optical coupler for isolation, so as to prevent interference caused by electrical connection and to realize circuit isolation and enhance anti-interference ability.

[0043] The feedback signal processing module of the above embodiment mainly comprises position information acquisition and processing, motor Hall signal acquisition and processing, and limit switch acquisition and processing. Specifically, the dual-redundancy controller acquires the Hall signals of the double motors of the main landing gear actuating cylinder 40. If the Hall signals meet the control law and meet the threshold value, they are involved in the operation of real-time calculation of the rotation speeds of the first driving motor 10 and the second driving motor 20. If the Hall signals do not meet the control law and do not meet the threshold value, they are discarded. The controller adjusts the speed of the actuating cylinder 40 in a closed loop according to the rotation speeds of the first driving motor 10 and the second driving motor 20 to meet the motion control requirements. The controller acquires the parameters of the dual-redundancy position sensor. If the absolute value of the difference between the digital quantities converted by the dual-redundancy position sensor is not greater than a certain threshold value, it is considered as an effective value involved in the position operation. If the absolute value of the difference between the digital quantities converted by the dual-redundancy position sensor is greater than or equal to a certain threshold value, the digital quantities converted by the two position sensors are judged respectively. If the digital quantity is 0 and the position sensor does not jump, the position sensor is reported as a fault. The normally output position sensor is involved in the position operation. The controller acquires the digital quantities of the extension limit switch 5 and the retraction limit switch 3. If both digital quantities are 1, it is a fault state. The other states are extension limit effective, retraction limit effective, and non-triggered extension and retraction limit. The specific judgment logic is shown in Figure 6 The motor motion judgment stop logic control requirements are:

[0044] (1) Trigger the current motion direction limit mechanism photoelectric switch signal;

[0045] (2) Meet the control instruction position requirement;

[0046] Further, the dual-redundancy controller further comprises a BIT detection circuit module. The detection contents of the BIT detection circuit module include voltage detection, current detection, position information detection, Hall state detection, limit switch logic detection, communication detection, and master control circuit detection.

[0047] Further, the BIT circuit detection module comprises power-on BIT detection, flight BIT detection, and periodic BIT detection. The dual-redundancy controller automatically performs the power-on BIT detection after power-on. The dual-redundancy controller performs the flight BIT detection according to the control instruction during flight. The dual-redundancy controller performs the periodic BIT detection periodically during operation.

[0048] In one embodiment, the driving channel is described in detail, which includes a motor driving module, a current protection module and a filter module; the motor driving module is a motor driving function circuit, used to drive the electric motor to work in positive and reverse rotation by receiving the PWM driving signal generated by the master control circuit module according to the control law; the current protection module is mainly a monitoring circuit, used to monitor the current of the electric motor in real time and feed back the current to the master control circuit module for monitoring by the BIT circuit detection module; the filter module is used to reduce the influence of external power supply disturbance on the electric motor.

[0049] The above-mentioned dual-redundancy controller mainly functions to receive motion control instructions through an RS-422 data bus, control the main landing gear to adjust the extension length according to the given control law, and meet the requirement of normal work under a single fault. The control chip in the master control circuit module adopts a digital signal processor (DSP) to realize functions such as collection of motion control instructions, calculation of control law, redundancy management, BIT detection logic processing, etc. Specifically, the controller receives motion control instructions from the flight control computer through a signal receiving / sending module, and judges and processes the validity, priority and timeliness of the instructions according to the interface file; the DSP judges motion state information according to the motion control instructions and sends them to the flight control computer through the signal receiving / sending module. Then, the DSP judges the position information provided by the feedback signal processing module, takes the judgment result as the control law input to calculate the control law, generates motor control instructions, and issues them to the driving channel to drive the first driving motor 10 and the second driving motor 20 to rotate, and when the stop condition is met, the first driving motor 10 and the second driving motor 20 stop rotating to complete the motion instruction control, as shown in the motor stop logic. Figure 7 The main control chip DSP mainly completes functions such as state feedback, control law calculation and BIT detection in a single control cycle; of course, the main control chip DSP controls the first driving motor 10 and the second driving motor 20 at the same time during normal operation, and at this time, the main landing gear extension and retraction speed is composed of the rotation speed of the first driving motor 10 and the second driving motor 20; when a related fault occurs, the main landing gear will block the fault driving channel and only drive a single motor to actuate the main landing gear, at this time, the main landing gear extension and retraction speed is composed of the rotation speed of a single motor through a reducer, and the main landing gear works at half speed during the logic design. Through dual-motor driving control, the main landing gear can work normally under a single fault.

[0050] The dual-redundancy control system of the unmanned aerial vehicle main landing gear of the present application improves the control reliability, control accuracy, fault detection and isolation capability of the electric actuator of the main landing gear; the dual-redundancy position sensor ensures accurate control of the motion position during automatic operation; the PID controller is used to improve the detection and control of the system speed and current; and the fault self-locking function improves the stability of the system.

[0051] The above description is only specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any changes or replacements within the technical scope disclosed by the present application can be easily thought by those skilled in the art, and should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A dual-redundancy control system of a main landing gear of a UAV for controlling an electric actuator, characterized in that, The dual-redundancy control system comprises a dual-redundancy controller, an electric mechanism and a limiting mechanism arranged on a main landing gear actuating cylinder, the dual-redundancy controller is connected with the main landing gear actuating cylinder through a controller electric connector, the electric mechanism comprises a first driving motor and a second driving motor, the limiting mechanism is arranged inside the main landing gear actuating cylinder, and the first driving motor and the second driving motor correspondingly have corresponding limiting mechanisms, the limiting mechanism comprises limit switches and a potentiometer assembly, the dual-redundancy controller receives signals of the limit switches and the potentiometer assembly and controls the electric mechanism; the limit switches comprise a retracting limit switch and an extending limit switch, the retracting limit switch and the extending limit switch are respectively located at two ends of the main landing gear actuating cylinder in the length direction; the potentiometer assembly comprises a position sensor and a lead screw arranged along the length direction of the main landing gear actuating cylinder, the lead screw is slidably connected with a sliding block, one end of the sliding block is connected with a position sensor sliding block, the position sensor sliding block is in contact connection with the position sensor, the other end of the sliding block is connected with a follow-up light barrier, the position sensor sliding block and the follow-up light barrier move with the sliding block, when the follow-up light barrier moves to the retracting limit switch and the extending limit switch, the retracting limit switch and the extending limit switch are triggered; the first driving motor and the second driving motor correspondingly have respective retracting limit switches, extending limit switches, follow-up light barriers, sliding blocks and position sensor sliding blocks, the first driving motor and the second driving motor share a dual-redundancy displacement sensor for position information acquisition; The dual-redundancy controller comprises a main control circuit module, a signal receiving / sending module, a feedback signal processing module and a driving channel connected with the main control circuit module, the signal receiving / sending module is used for receiving a motion control instruction of a flight control computer, and judging and processing validity, priority and timeliness of the motion control instruction according to an interface file, the main control circuit module is used for judging motion state information according to the motion control instruction, and sending the motion state information to the flight control computer through the signal receiving / sending module, the feedback signal processing module is used for receiving signals of the limit switches and the potentiometer assembly and sending the signals to the main control circuit module, and the main control circuit module is further used for judging according to the motion control instruction and position information provided by the feedback signal processing module, taking a judgment result as a control law input to perform control law calculation, generating a motor control instruction and sending the motor control instruction to the driving channel; The drive channel is used to drive the electric mechanism to rotate according to the motor control instruction; the feedback signal processing module is provided with a first feedback signal processing module and a second feedback signal processing module, the first feedback signal processing module is connected with the limiting mechanism corresponding to the first drive motor, and the second feedback signal processing module is connected with the limiting mechanism corresponding to the second drive motor; the drive channel is provided with a drive A channel and a drive B channel, the drive A channel is connected with the first drive motor, and the drive B channel is connected with the second drive motor; the controller collects double-redundancy position sensor parameters, and preferentially judges that the absolute value of the difference between the digital quantities converted by the double-redundancy position sensors is not greater than a preset threshold value, that is, the effective value participates in position operation; if the absolute value of the difference between the digital quantities converted by the double-redundancy position sensors is greater than or equal to the preset threshold value, the digital quantities converted by the two position sensors are judged respectively, the position sensor with a digital quantity of 0 and without jumping is reported as a fault, and the normally output position sensor participates in position operation; the controller collects the digital quantities of the extension limit switch and the retraction limit switch, wherein if both the digital quantities are 1, it is a fault state, and the other states are extension limit effective, retraction limit effective and no extension / retraction limit triggering.

2. The dual-redundancy control system of claim 1, wherein, The double-redundancy controller further comprises a BIT circuit detection module, and detection contents of the BIT circuit detection module include voltage detection, current detection, position information detection, Hall state detection, limit switch logic detection, communication detection and main control circuit detection.

3. The dual-redundancy control system of claim 2, wherein, The BIT circuit detection module comprises power-on BIT detection, flight BIT detection and periodic BIT detection, the double-redundancy controller automatically performs the power-on BIT detection after power-on, performs the flight BIT detection according to a control instruction during flight, and periodically performs the periodic BIT detection during operation of the double-redundancy controller.

4. The dual-redundancy control system of claim 3, wherein, The drive channel comprises a motor drive module, a current protection module and a filter module; the motor drive module is used to receive a PWM drive signal generated by the main control circuit module according to a control law to drive the electric mechanism; the current protection module is used to monitor the current of the electric mechanism in real time and feed back the current to the main control circuit module for monitoring by the BIT circuit detection module; and the filter module is used to reduce the influence of external power supply disturbance on the electric mechanism.

5. The dual-redundancy control system of claim 1, wherein, The limiting mechanism further comprises a mechanical limiting block, and the mechanical limiting block is located at both ends of the sliding block.

6. The dual-redundancy control system of claim 1-4, wherein, A control chip in the main control circuit module adopts a digital signal processor (DSP).

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