flight control system

Abstract

The application discloses a flight control system, which comprises multiple redundant flight control computers, each of which is connected with an actuator processing module through a signal switch, and an arbitration unit is additionally arranged and connected with all the flight control computers and the corresponding signal switches, and is used for judging whether the flight control computers are faulty or not. When a certain flight control computer is faulty, a disconnection signal is sent to the signal switch corresponding to the faulty flight control computer, and then the normal flight control computer is used to control the equipment, so that the stability and safety of the aircraft are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft technology, in particular to a flight control system. BACKGROUND

[0002] With the development of small aircraft design technology, production and manufacturing technology and related supporting industries, the functions, performance and yield of small aircrafts are gradually stable and mature, and the operation of small aircrafts gradually develops towards the civil aviation field such as logistics transportation and manned transportation. However, due to the particularity of the flight platform itself, new challenges are put forward for the safety of the aircraft. In the related art, the control link of each flight control computer is fixed, and when a flight control computer on a control path fails, the control system on the normal control path cannot control the device that fails on the other control path, resulting in reduced reliability of the aircraft. SUMMARY

[0003] Embodiments of the present application provide a flight control system, which aims to improve the stability and safety of the aircraft.

[0004] Embodiments of the present application provide a flight control system, which comprises:

[0005] at least two flight control computers;

[0006] at least two signal switches, which are arranged correspondingly with the flight control computers, and are used to connect the flight control computers and the actuator processing module;

[0007] an arbitration unit, which is connected with each flight control computer and signal switch, and is used to send a disconnection signal to the signal switch corresponding to the flight control computer that fails when the flight control computer fails, and the default state of the signal switch is a closed state.

[0008] Optionally, the flight control computer comprises a first flight control computer and a second flight control computer, the signal switch comprises a first signal switch and a second signal switch, and the first signal switch and the second signal switch are connected with the actuator processing module.

[0009] Optionally, the actuator processing module comprises at least two actuator processing units, each actuator processing unit comprises an actuator processor, an actuator, a power switch and an execution mechanism, and the power switch is connected between the actuator and the execution mechanism.

[0010] a locking mechanism, which is located between each execution mechanism;

[0011] Each of the actuator processors is connected with a corresponding power switch and the locking mechanism, and is configured to send an opening signal to the power switch of the failed actuator processor and send a locking signal to the locking mechanism when detecting that the actuator processor fails.

[0012] Optionally, the actuator processor comprises a first actuator processor and a second actuator processor, the first signal switch and the second signal switch are connected with the first actuator processor; and / or the first signal switch and the second signal switch are connected with the second actuator processor.

[0013] Optionally, the flight control system further comprises a limiter connected with the actuator processor and the power switch, and configured to control the power switch connected with at least one actuator processor to be closed when receiving all the opening signals sent by the actuator processors, or configured to control at least one actuator processor to send a locking signal to the locking mechanism when receiving all the opening signals sent by the actuator processors.

[0014] Optionally, the actuator is connected with the actuator processor, and the actuator processor is further configured to send an opening signal to the corresponding actuator and send a locking signal to the locking mechanism when detecting that the actuator fails.

[0015] Optionally, the flight control system further comprises a detection sensor connected with the actuator and the actuator processor, and configured to collect an actual control amount of the actuator and feed back the actual control amount to the actuator processor, so that the actuator processor detects whether the actuator fails according to the actual control amount.

[0016] Optionally, the actuator comprises a control surface, a landing gear retraction unit, a tilting unit or a hatch.

[0017] Optionally, the flight control system further comprises a third signal switch connected with the control stick and the actuator processing module; the arbitration unit is further configured to send a closing signal to the third signal switch when all the flight control computers fail; and the default state of the third signal switch is an opening state.

[0018] Optionally, the flight control system further comprises a display module connected with the arbitration unit and configured to display the determination result of the flight control computer that fails.

[0019] The technical scheme of the flight control system provided in the embodiment of the application comprises the following steps: a plurality of redundant flight control computers are arranged, each of the flight control computers is correspondingly provided with a signal switch, and the flight control computer and the actuator processing module are connected through the signal switch. In addition, an arbitration unit is further arranged, which is connected with all the flight control computers and the corresponding signal switches, and is used for judging whether the flight control computer is faulty. When a certain flight control computer is faulty, a disconnection signal is sent to the signal switch corresponding to the faulty flight control computer, and then the normal flight control computer is used to control the actuator, so that the stability and safety of the aircraft are improved. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 FIG. 1 is a structural schematic diagram of the first embodiment of the flight control system of the application;

[0021] Figure 2 FIG. 2 is a connection schematic diagram when the first flight control computer is faulty;

[0022] Figure 3 FIG. 3 is a structural schematic diagram of the control lever of the application;

[0023] Figure 4 FIG. 4 is a connection schematic diagram of the arbitration unit and the display module of the application;

[0024] Figure 5 FIG. 5 is a structural schematic diagram when all the actuator processors of the flight control system of the application are normally working;

[0025] Figure 6 FIG. 6 is a connection schematic diagram when the first actuator processor is faulty.

[0026] The implementation, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings, and the above-mentioned drawings are only one embodiment diagram, but not the whole application.

[0027] Explanation of reference numerals:

[0028] Reference Name Reference Name 10 Flight control system 110 First flight control computer 120 Second flight control computer 130 First signal switch 140 Second signal switch 150 Arbitration unit 160 Actuator processing module 161 First actuator processor 162 First actuator 163 First power switch 164 First actuator 165 Second actuator processor 166 Second actuator 167 Second power switch 168 Second actuator 170 Locking mechanism 200 Third signal switch 210 Display module 220 Joystick DETAILED DESCRIPTION

[0029] The technical scheme in the embodiments of the application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the application. Obviously, the described embodiments are only a part of the embodiments of the application, but not all the embodiments. Based on the embodiments in the application, all the other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0030] It should be noted that all the direction indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the direction indications will also change accordingly.

[0031] In addition, the descriptions involving "first", "second", etc. in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0032] At present, the traditional flight control system architecture adopts a federal architecture. Among them, the federal architecture refers to different control systems obtaining data collected by a specified few sensor units and managing a specified few actuator units after processing. However, the federal architecture has the following defects: first, it does not have scalability, and for a specific configuration or configuration modification, the flight control system faces a great deal of redesign and verification work. Second, it cannot achieve functional redundancy and fault isolation. Once a fault occurs in a device or module on a control path in the federal architecture, the control system on the normal control path cannot control the device or module that fails on the other control path. This seriously affects the stability and reliability of the aircraft, and is not conducive to flight safety.

[0033] Therefore, the present application proposes a flight control system 10, which can control the devices on the path of the faulty flight control computer using the normal flight control computer when a fault occurs in a flight control computer, thereby improving the stability and safety of the aircraft.

[0034] Please refer to Figures 1-4 In the present embodiment, the flight control system 10 includes at least two flight control computers; at least two signal switches corresponding to the flight control computers, used to connect the flight control computers and the actuator processing module 160; an arbitration unit 150, which is connected with each flight control computer and signal switch, respectively, and used to send a disconnection signal to the signal switch corresponding to the faulty flight control computer when a fault occurs in the flight control computer, and the default state of the signal switch is a closed state.

[0035] Optionally, each signal switch comprises two states, i.e. a closed state and an open state. The default state of each signal switch is the closed state. When each signal switch is closed, each flight control computer can control the actuator processing module 160 through the corresponding signal switch. Optionally, the flight control computer can be provided in redundancy. That is, in the flight control system 10, the flight control computer can be two or even more, and the number of the flight control computer can be set according to actual use and specific application scenarios.

[0036] Optionally, each flight control computer sends control instructions to the actuator processing module 160 in real time during flight, so that the actuator processing module 160 can control the actuator based on the control instructions sent by the flight control computer. However, due to various unexpected situations that may occur during flight, the flight control computer may not work normally. In order to improve flight safety performance, the present application further provides an arbitration unit 150. The arbitration unit 150 is connected with each flight control computer and signal switch. The control information of each flight control computer is sent to the arbitration unit 150, which judges in real time whether the flight control computer has a fault, and determines the corresponding control strategy to control the actuator processing module 160 according to the judgment result, thereby improving flight safety.

[0037] Optionally, each flight control computer sends its control information to the arbitration unit 150, and the control information comprises control instructions and a check code. The arbitration unit 150 receives the control information of at least two flight control computers, determines whether the flight control computer has a fault according to the control information, cuts off the signal output of the flight control computer with a fault, and controls the normally working flight control computer to send the received control instructions to the actuator processing module 160.

[0038] Optionally, each flight control computer outputs a set of check codes to prove that it is still working normally when outputting the control instructions. The arbitration unit 150 judges whether the flight control computer has a fault by comparing the control instructions output by each flight control computer and checking the check codes.

[0039] Optionally, the arbitration unit 150 can be pre-configured with a preset check code, which should be of the same format and type as the check code sent by the flight control computer. That is, the arbitration unit 150 can match the format and type of the check code received from each flight control computer with the preset check code. If the check code of the flight control computer does not match the preset check code, the flight control computer is determined to be faulty, i.e., the failed flight control computer. Optionally, the flight control computer that outputs no signal or random code can also be determined to be faulty. Optionally, when the flight control computer outputs control instructions at a constant frequency, if the arbitration unit 150 detects that the output frequency is disconnected, the flight control computer is determined to be faulty.

[0040] Optionally, when the check code of the flight control computer matches at least two, the error between the control instructions received by the matched flight control computers is determined. The flight control computer whose error is greater than the preset error is determined to be faulty.

[0041] Optionally, the flight control computer includes the first flight control computer 110 and the first flight control computer 120. The signal switch includes the first signal switch 130 and the second signal switch 140. The first signal switch 130 is used to connect the first flight control computer 110 and the actuator processing module 160, and the second signal switch 140 is used to connect the first flight control computer 120 and the actuator processing module 160.

[0042] For example, if the check code of the first flight control computer 110 does not match the preset check code, the first flight control computer 110 is determined to be faulty; if the check code of the first flight control computer 120 does not match the preset check code, the first flight control computer 120 is determined to be faulty; if the check code of the first flight control computer 110 and the first flight control computer 120 does not match the preset check code, the first flight control computer 110 and the first flight control computer 120 are determined to be faulty.

[0043] If it is determined that the first flight control computer 110 is faulty, a disconnection signal is sent to the first signal switch 130 connected to the first flight control computer 110, and the actuator processing module 160 is controlled by the first flight control computer 120. Similarly, if it is determined that the first flight control computer 120 is faulty, a disconnection signal is sent to the second signal switch 140 connected to the first flight control computer 120, and the actuator processing module 160 is controlled by the first flight control computer 110.

[0044] Reference Figure 1When the first signal switch 130 and the second signal switch 140 are closed, the first flight control computer 110 can control the actuator processing module 160. The first flight control computer 120 can also control the actuator processing module 160. At this time, the control priority of the first flight control computer 110 and the first flight control computer 120 on the actuator processing module 160 or which flight control computer is in the main control can be determined according to actual conditions.

[0045] With reference to Figure 2 When a certain signal switch is opened, the transmission channel between the corresponding flight control computer and the actuator processing module 160 is disconnected. Assuming that the first signal switch 130 is opened, the transmission channel between the first flight control computer 110 and the actuator processing module 160 is disconnected; assuming that the second signal switch 140 is opened, the transmission channel between the first flight control computer 120 and the actuator processing module 160 is disconnected.

[0046] In an embodiment, the control of the aircraft of the present application can not only be controlled by the flight control computer, but also can be switched to a manual control mode. When all the arbitration units 150 determine that all the flight control computers are faulty, the manual control mode can be switched. Alternatively, the flight control system 10 of the present application further comprises a third signal switch 200 connected to the control stick 220 and the actuator processing module 160. The third signal switch 200 comprises two states, namely a closed state and an open state. The default state of the third signal switch 200 is the open state. When the third signal switch 200 is closed, the transmission channel between the control stick 220 and the actuator processing module 160 is connected.

[0047] Alternatively, when the arbitration unit 150 determines that all the flight control computers are faulty, the third signal switch 200 is sent a closing signal, so that the transmission channel between the control stick 220 and the actuator processing module 160 is connected.

[0048] With reference to Figure 3When the arbitration unit 150 determines that both the first flight control computer 110 and the second flight control computer 120 are faulty, the arbitration unit 150 sends an open signal to the first signal switch 130 and the second signal switch 140 and sends a close signal to the third signal switch 200, thereby connecting the transmission channel between the control stick 220 and the actuator processing module 160, so that the control stick 220 can control the actuator processing module 160, thereby avoiding the impact on the stability and safety of the aircraft when all the flight control computers are faulty. The control by the manual control stick 220 when all the flight control computers are faulty improves the safety and stability of the aircraft. Alternatively, the operator can also select at any time how to control the aircraft. It can be that when all the flight control computers are working normally, an open signal is sent to the first signal switch 130 and the second signal switch 140 and a close signal is sent to the third signal switch 200, thereby cutting off the control output of all the flight control computers and connecting the signal channel between the control stick 220 and the actuator processing module 160 to send the control signal output by the control stick 220 to the actuator processing module 160.

[0049] In an embodiment, referring to Figure 4 The flight control system 10 of the present application further comprises a display module 210 connected to the arbitration unit 150 for displaying the determination result of the faulty flight control computer. The arbitration unit 150 can send the determination result of the faulty flight control computer to the display module 210 for display. The determination result can be which flight control computer is faulty and can be the serial number of the faulty flight control computer. Alternatively, the arbitration unit 150 can also send the reason for the fault determination to the display module 210, which can be that the check codes are inconsistent, the error between the control instructions is greater than the preset error, etc. Therefore, the operator can intuitively see the operation of all the flight control computers to timely adjust the control mode of the aircraft and improve the flight safety.

[0050] The embodiment according to the above technical scheme, a plurality of redundant flight control computers are arranged, and each flight control computer is correspondingly provided with a signal switch, and the flight control computer and the actuator processing module 160 are connected through the signal switch. In addition, the application also adds an arbitration unit 150, which is connected with all flight control computers and corresponding signal switches, and is used for judging whether the flight control computer is faulty. When a certain flight control computer fails, a disconnection signal is sent to the signal switch corresponding to the faulty flight control computer, and then the normal flight control computer is used to control the equipment, thereby improving the stability and safety of the aircraft. In addition, by arranging the joystick 220 and the third signal switch 200, when all flight control computers fail, the joystick 220 can be used to control the actuator processing module 160, thereby improving the safety and stability of the aircraft. In addition, a display module 210 is also arranged, which is used to display the determination result of the faulty flight control computer and the reason for the fault judgment, so that the operator can intuitively see the running condition of all flight control computers, so as to timely adjust the control mode of the aircraft and improve the flight safety.

[0051] Please refer to Figures 5-6 , based on the first embodiment. In the second embodiment of the application, the actuator processing module 160 of the application includes at least two actuator processing units, each of which includes an actuator processor, an actuator, a power switch and an execution mechanism, the power switch is connected between the actuator and the execution mechanism; a locking mechanism 170 is arranged between each execution mechanism; each actuator processor is connected with the corresponding power switch and the locking mechanism 170, and is used to send a disconnection signal to the power switch of the faulty actuator processor and send a locking signal to the locking mechanism 170 when detecting that the actuator processor fails; the default state of the locking mechanism 170 is the disconnected state.

[0052] The actuator processing unit of the application is arranged to be two or more. The application takes two actuator processor units as an example. Each actuator processor is used to verify whether the opposite actuator processor fails, and cut off the signal output of the opposite actuator processor when the opposite actuator processor fails. Each actuator processor is also used to send a disconnection signal to the actuator connected to itself and send a locking signal to the locking mechanism 170 when the actual steering amount of the execution mechanism and the theoretical steering amount of the main flight control instruction do not match, so that the normal actuator can synchronously control all the execution mechanisms, and the aircraft can fly safely.

[0053] Optionally, the actuator processor comprises a first actuator processor 161 and a second actuator processor 165. The actuator comprises a first actuator 162 and a second actuator 166. The actuating mechanism comprises a first actuating mechanism 164 and a second actuating mechanism 168. The power switch comprises a first power switch 163 and a second power switch 167. The locking mechanism 170 comprises two states, namely a locked state and an unlocked state. When the locking mechanism 170 is locked, the first actuating mechanism 164 and the second actuating mechanism 168 can be locked together, and the first actuating mechanism 164 and the second actuating mechanism 168 locked together can be controlled synchronously. When the locking mechanism 170 is unlocked, the first actuating mechanism 164 and the second actuating mechanism 168 are separated, and the first actuating mechanism 164 and the second actuating mechanism 168 separated can be controlled independently through different control paths.

[0054] With reference to Figure 5 When all the flight control computers and all the actuator processors are working normally, the first flight control computer 110 is connected with the first actuator processor 161 through the first signal switch 130; the first power switch 163 connects the first actuator 162 and the first actuating mechanism 164, and the first actuator processor 161 converts the control instruction sent by the first flight control computer 110 into a current signal and then transmits the current signal to the first actuator 162. Similarly, the first flight control computer 120 is connected with the second actuator processor 165 through the second signal switch 140; the second power switch 167 connects the second actuator 166 and the second actuating mechanism 168, and the second actuator processor 165 converts the control instruction sent by the first flight control computer 120 into a current signal and then transmits the current signal to the second actuator 166.

[0055] The control flow is as follows: the first flight control computer 110 sends a main flight control instruction to the first actuator processor 161; the first actuator processor 161 converts the main control instruction into a current signal and sends the current signal to the first actuator 162, and the first actuator 162 sends the current signal to the first actuating mechanism 164, thereby realizing the driving of the first actuating mechanism 164 by the first flight control computer 110. At the same time, the first flight control computer 120 sends a main flight control instruction to the second actuator processor 165; the second actuator processor 165 converts the main control instruction into a current signal and sends the current signal to the second actuator 166, and the second actuator 166 sends the current signal to the second actuating mechanism 168, thereby realizing the driving of the second actuating mechanism 168 by the first flight control computer 120. Thus, when all the devices are working normally, each device can perform its own function, so that the aircraft can work normally. In this process, the locking mechanism 170 is in the unlocked state, and the first power switch 163 and the second power switch 167 are in the closed state.

[0056] Referring to Figure 6 , the first actuator processor 161 or the second actuator processor 165 fails. For the control flow of the first actuator processor 161 failure, the first flight control computer 120 sends the main control instruction to the second actuator processor 165, and the second actuator processor 165 converts the main control instruction into a current signal and sends it to the second actuator 166. At the same time, the second actuator processor 165 sends a locking signal to the locking mechanism 170 to lock the first actuator 164 and the second actuator 168, and sends a disconnect signal to the corresponding first power switch 163 of the first actuator processor 161 to close the output of the first power switch 163. So that the flight control computer can control all actuators through the second actuator processor 165. Similarly, for the control flow of the second actuator processor 165 failure, the first flight control computer 110 sends the main control instruction to the first actuator processor 161, and the first actuator processor 161 converts the main control instruction into a current signal and sends it to the first actuator 162. At the same time, the first actuator processor 161 sends a locking signal to the locking mechanism 170 to lock the actuator, and sends a disconnect signal to the corresponding second power switch 167 of the second actuator processor 165, so that the flight control computer can control all actuators through the first actuator processor 161. Thus, when one actuator processor fails, the normal working flight control computer can control the normal working actuator processor to control all actuators, improving flight safety.

[0057] Optionally, referring to Figure 5 , when the first actuator processor 161 and the second actuator processor 165 are both normal, the first signal switch 130 and the second signal switch 140 are connected to the first actuator processor 161, and the first signal switch 130 and the second signal switch 140 are connected to the second actuator processor 165, so that the control instruction from the two flight control computers can be received at the same time. Thus, each actuator processor can simultaneously receive control instructions from two flight control computers. Since each signal switch can be connected to all actuator processors, when one control path fails, the other normal control path can be used for control, ensuring the flight safety of the aircraft.

[0058] Optionally, referring to Figure 6When the first actuator processor 161 fails, the first signal switch 130 and the second signal switch 140 are connected to the second actuator processor 165, and the second actuator processor 165 can simultaneously receive the control instructions of the first flight control computer 110 and the second flight control computer 120. The second actuator processor 165 converts the main control instructions into current signals and sends them to the second actuator 166. Meanwhile, the second actuator processor 165 sends a locking signal to the locking mechanism 170 to lock the first actuator 164 and the second actuator 168, and sends a disconnect signal to the first power switch 163 corresponding to the first actuator processor 161 to close the output of the first power switch 163. Thus, the flight control computer can control all the actuators through the second actuator processor 165. Therefore, when one actuator processor fails, the normally working flight control computer can control the normally working actuator processor to control all the actuators, thereby improving flight safety.

[0059] Similarly, when the second actuator processor 165 fails, the first signal switch 130 and the second signal switch 140 are connected to the first actuator processor 161, and the control mode is similar to the control flow when the first actuator processor 161 fails, which will not be described here.

[0060] Optionally, the actuator is connected to the actuator processor, and the actuator processor is further configured to send a disconnect signal to the corresponding actuator and send a locking signal to the locking mechanism when detecting that the actuator fails.

[0061] In an embodiment, the flight control system 10 further comprises a detection sensor, which can be used to detect the deflection angle of the actuator. A corresponding detection sensor can be arranged for each actuator, and the detection sensor is connected to the actuator and the actuator processor, and is used to collect the actual manipulation amount of the actuator and feed back the actual manipulation amount to the actuator processor, so that the actuator processor detects whether the actuator fails according to the actual manipulation amount.

[0062] Optionally, a first detection sensor can be arranged at the first actuating mechanism 164, and the actual manipulation amount of the first actuating mechanism 164 collected by the first detection sensor is sent to the first actuator processor 161, so that the first actuator processor 161 can determine whether the first actuating mechanism 164 fails according to the matching result of the actual manipulation amount and the theoretical manipulation amount of the first flight control computer 110. Optionally, a second detection sensor can also be arranged at the second actuating mechanism 168, and the actual manipulation amount of the second actuating mechanism 168 collected by the second detection sensor is sent to the second actuator processor 165, so that the second actuator processor 165 can determine whether the second actuating mechanism 168 fails according to the matching result of the actual manipulation amount and the theoretical manipulation amount of the second flight control computer 120.

[0063] In an embodiment, the first actuating mechanism 164 and the second actuating mechanism 168 are all movable components on the aircraft, and the actuating mechanisms can include a control surface, a landing gear retraction unit, a tilting unit or a hatch. The tilting unit is a rotor tilting unit, and the control surface includes a control surface on a wing, a control surface on a vertical tail and a control surface on a horizontal tail.

[0064] In an embodiment, before the actuator is controlled, the actuator processor needs to convert the main control instruction sent by the flight control computer into an output current to the actuator. In order to be able to control normally, it is necessary to ensure that the actuator processor can work normally. Therefore, the actuator processor supervision mechanism is adopted in the present application, and each actuator processor will accept all the control instructions of the flight control computer. One of the control instructions is the main control instruction of itself, which is used to output to the actuator to drive the actuating mechanism; the control instruction of another flight control computer has the function of verifying whether the other actuator processor is normal. When a single actuator processor fails, the other normally working actuator processor is allowed to intervene to cut off the output of the failed actuator processor, and at the same time, the two separate actuating mechanisms are locked to allow the normally working actuator to control all the actuating mechanisms.

[0065] Optionally, if the first actuator processor 161 and the second actuator processor 165 both verify that the other one fails. In order to avoid the problem that all actuator processors are closed and the actuator or actuating mechanism cannot be controlled, thereby causing the aircraft to be unable to fly normally, the flight control system 10 of the present application further includes a limiter. The limiter of the present application is connected to the actuator processor and the power switch, and is used to control the power switch connected to at least one actuator processor to be closed when receiving the disconnect signal sent by all actuator processors.

[0066] Optionally, if the first actuator processor 161 and the second actuator processor 165 both check that the other side has an input fault, the output of the actuator of the other side actuator processor of the actuator processor that first checks that the other side has a fault can be disconnected. For example, if the first actuator processor 161 first calculates that the second actuator processor 165 has a fault, a disconnection signal can be sent to the power switch corresponding to the second actuator processor 165. Optionally, a disconnection signal is sent to the limiter, so as to avoid disconnecting the power switch corresponding to the first actuator processor 161 when the second actuator processor 165 also calculates that the first actuator processor 161 has an input fault.

[0067] Optionally, if the first actuator processor 161 and the second actuator processor 165 both check that the actuator or the actuating mechanism of the self has a fault. In order to avoid the problem that all the actuators or the actuating mechanisms are closed, causing the aircraft to be unable to fly normally, the application also provides a limiter connected to the actuator processor and the power switch. The actuator level and the actuator processor level share a limiter for limiting only one side signal to be disconnected at the same time, that is, for controlling at least one actuator processor to send a locking signal to the locking mechanism 170 when receiving the disconnection signal sent by all the actuator processors.

[0068] According to the above technical solution, the actuating mechanism is divided into two parts and is synchronously executed by each actuator at the actuator output level in the embodiment. Each actuator controls the left and right parts respectively, and when the control amount fed back by one of the actuating mechanisms does not match the control output of the corresponding actuator processor, the actuator is disconnected, and the locking mechanism 170 is connected to make the other actuator control all the actuating mechanisms at the same time, so as to protect the maneuverability of the whole actuating mechanism and improve flight safety. In addition, by providing a limiter, only one side signal can be disconnected at the same time, so as to avoid all the actuator processors being disconnected or at least one actuator processor sending a locking signal to the locking mechanism 170, thereby improving the stability of the aircraft.

[0069] The above only describes the preferred embodiments of the application, and does not limit the patent scope of the application. Any equivalent structural transformation made according to the content of the specification and the drawings, or direct / indirect application in other related technical fields within the concept of the application is included in the patent protection scope of the application.

Claims

1. A flight control system, characterized in that: The flight control system includes: At least two flight control computers; at least two signal switches, provided corresponding to the flight control computer, for connecting the flight control computer and the actuator processing module; an arbitration unit, the arbitration unit being connected to each of the flight control computers and the signal switch, and being configured to send a disconnect signal to the signal switch corresponding to the failed flight control computer when a failure occurs in the flight control computer, the signal switch being in a closed state by default; The actuator processing module includes at least two actuation processing units, each of which includes an actuator processor, an actuator, a power switch, and an actuator, wherein the power switch is connected between the actuator and the actuator; A locking mechanism, wherein the locking mechanism is located between the actuators; Each of the actuator processors is respectively connected to the corresponding power switch and the locking mechanism, and is used to send a disconnect signal to the power switch of the faulty actuator processor and a locking signal to the locking mechanism when a fault is detected in the actuator processor; the default state of the locking mechanism is the disconnect state, so that the normal actuator can synchronously control all the actuators locked together.

2. The flight control system according to claim 1, wherein: The flight control computer includes: a first flight control computer and a second flight control computer; the signal switch includes: a first signal switch and a second signal switch; the first signal switch and the second signal switch are both connected to the actuator processing module.

3. The flight control system according to claim 2, wherein: The actuator processor includes: a first actuator processor and a second actuator processor, the first signal switch and the second signal switch are both connected to the first actuator processor; and / or the first signal switch and the second signal switch are both connected to the second actuator processor.

4. The flight control system according to claim 1, wherein: The flight control system also includes: a limiter, which is connected to the actuator processor and the power switch, and is used to control the power switch connected to at least one actuator processor to close when receiving a disconnect signal sent by all actuator processors, or to control at least one actuator processor to send a locking signal to the locking mechanism when receiving a disconnect signal sent by all actuator processors.

5. The flight control system according to claim 1, wherein: The actuator is connected to the actuator processor, and the actuator processor is further configured to send a disconnection signal to the corresponding actuator and a locking signal to the locking mechanism when a failure of the actuator is detected.

6. The flight control system according to claim 1, wherein: The flight control system also includes: a detection sensor, which is connected to the actuator and the actuator processor, and is used to collect the actual control value of the actuator and feed the actual control value back to the actuator processor, so that the actuator processor can detect whether the actuator has a fault based on the actual control value.

7. The flight control system according to claim 1, wherein: The actuator includes a control surface, a landing gear retraction unit, a tilting unit or a cabin door.

8. The flight control system according to claim 1, wherein: The flight control system further includes: a third signal switch, the third signal switch connecting the joystick and the actuator processing module; The arbitration unit is further configured to: send a closing signal to the third signal switch when all flight control computers fail; the default state of the third signal switch is an open state.

9. The flight control system according to claim 1, wherein: The flight control system further includes a display module, which is connected to the arbitration unit and is used to display the determination result of the faulty flight control computer.

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