A synchronous control method and device for a double-motor distributed drive flap

Abstract

The application belongs to the field of flight control, and particularly relates to a synchronous control method and device for double-motor distributed driving of a flap. The method comprises the following steps: S1, each motor controller monitors the rotation speed and position of each driving motor; S2, when the rotation speeds of the two driving motors are inconsistent, the position difference of the output shafts of the two driving motors is determined; and S3, the driving motor with the position of the output shaft in advance is decelerated to 0 at a set negative acceleration value, stays for a set time, and then is accelerated to the rotation speed of the driving motor with the position of the output shaft in the rear at a positive acceleration value opposite to the set negative acceleration value. The application effectively solves the problem of synchronous control of double independent motors, and realizes the synchronous movement of left and right flaps.

Description

Technical Field

[0001] This application belongs to the field of flight control, and specifically relates to a method and device for synchronous control of flaps with dual-motor distributed drive. Background Technology

[0002] As a crucial wing surface for improving aircraft aerodynamic characteristics, flaps generally require synchronized left and right movement to avoid unintended roll effects. Therefore, most mainstream aircraft currently employ a centralized coaxial drive system. However, for a special type of aircraft layout, the flap drive lines cannot run through the fuselage to connect the left and right flaps, making a centralized coaxial drive system unusable. In this case, a distributed drive system is necessary. The main challenge with distributed drive systems is that the drive mechanisms for the left and right flaps are independent, making it difficult to ensure complete synchronization of flap movement. Currently, the synchronization control of distributed flap drive architectures remains a major technical challenge in the industry. Meanwhile, with the development of all-electric aircraft, electric flap drive is gradually becoming an emerging research direction. Summary of the Invention

[0003] To address the aforementioned issues, this application provides a flap synchronization control method and apparatus with dual-motor distributed drive, which synchronizes the output shaft positions of the two drive motors by adjusting their speeds, thereby ensuring synchronized flap movement.

[0004] The first aspect of this application provides a method for synchronous control of flaps with dual-motor distributed drive, wherein each flap is controlled to deflect by a drive motor, each drive motor is given its own motor speed by its own motor controller, and the two motor controllers are interconnected by hardwire. The method includes:

[0005] Step S1: Each motor controller monitors the speed and position of each drive motor.

[0006] Step S2: When the speeds of the two drive motors are inconsistent, determine the position difference of the output shafts of the two drive motors;

[0007] Step S3: The drive motor with the output shaft in the leading position decelerates to 0 at a set negative acceleration and remains there for a set time. Then, it accelerates to the speed of the drive motor with the output shaft in the rear position at a positive acceleration opposite to the set negative acceleration. The set time T0 is:

[0008]

[0009] Where Δ1 is the position difference of the output shafts of the two drive motors, v1 is the speed of the drive motor whose output shaft is ahead, v2 is the speed of the drive motor whose output shaft is behind, and a is the set positive acceleration.

[0010] Preferably, step S3 further includes:

[0011] Step S30: Each motor controller sends the speed and position of the drive motor controlled by it to another motor controller via a hardwired connection.

[0012] Step S31: Each motor controller calculates the output shaft position difference between the two motors and determines the drive motor whose output shaft position is ahead.

[0013] Step S32: The motor controller corresponding to the drive motor whose output shaft position is ahead performs speed adjustment control of the corresponding drive motor.

[0014] Preferably, in step S3, when the calculated set time is negative, the positive acceleration is increased until the calculated set time is not less than 0.

[0015] The second aspect of this application provides a dual-motor distributed drive flap synchronization control device, wherein each flap is controlled to deflect by a drive motor, each drive motor is given its own motor speed by its own motor controller, the two motor controllers are interconnected by hardwire, and there are two flap synchronization control devices, each pre-installed in each motor controller, each flap synchronization control device comprising:

[0016] The speed and position signal acquisition module is used to acquire the speed and position of the drive motor corresponding to its motor controller;

[0017] The position difference calculation module is used to determine the position difference of the output shafts of the two drive motors when their speeds are inconsistent.

[0018] The speed regulation signal generation module is used to decelerate the drive motor with the output shaft in a leading position to 0 with a set negative acceleration, hold for a set time, and then accelerate it to the speed of the drive motor with the output shaft in a rearward position with a positive acceleration opposite to the set negative acceleration. The set time T0 is:

[0019]

[0020] Where Δ1 is the position difference of the output shafts of the two drive motors, v1 is the speed of the drive motor whose output shaft is ahead, v2 is the speed of the drive motor whose output shaft is behind, and a is the set positive acceleration.

[0021] Preferably, the flap synchronization control device further includes:

[0022] The speed and position transmission unit is used to control the motor controller to send the speed and position of the drive motor controlled by this motor controller to another motor controller via hardwire.

[0023] The output shaft position leading motor determination unit is used to control the motor controller to calculate the output shaft position difference between the two motors and determine the drive motor whose output shaft position is leading.

[0024] The motor controller selection unit is used to select the motor controller corresponding to the drive motor whose output shaft position is ahead, and to adjust the speed of the corresponding drive motor.

[0025] Preferably, in the speed adjustment signal generation module, when the calculated set time is negative, the positive acceleration is increased until the calculated set time is not less than 0.

[0026] This application effectively solves the synchronization control problem under the distributed drive architecture of flaps, providing support for the design of high lift systems. Attached Figure Description

[0027] Figure 1 This is a flowchart of a preferred embodiment of the flap synchronization control method with dual-motor distributed drive of this application.

[0028] Figure 2 This is a schematic diagram showing the initial position difference between the two drive motors.

[0029] Figure 3 A schematic diagram illustrating the method of controlling one of the drive motors to decelerate in order to reduce the position difference.

[0030] Figure 4 A schematic diagram illustrating how to further eliminate position differences during the acceleration process of the drive motor. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, not all, of the embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0032] The first aspect of this application provides a dual-motor distributed drive flap synchronization control method. First, the dual-motor distributed drive system is described, which includes a flap control handle, a flap digital controller, two motor controllers (one for each flap), two drive motors (one for each flap), and two flap position feedback devices (one for each flap). The flap digital controller generates a target flap deflection angle and sends it to the two motor controllers. The two drive motors receive control commands from their respective motor controllers and begin to move, thereby driving the flaps to deflect. The two motor controllers collect the speed and output shaft position of their respective drive motors in real time and are interconnected via hardwire to achieve cross-transmission of data. The motor controllers decide whether to adjust the motor speed based on the position difference of the output shafts of the two drive motors. If the output shaft positions of the two drive motors are synchronized, no speed adjustment is performed; if they are not synchronized, the speed adjustment is performed using the dual-motor distributed drive flap synchronization control method of this application. Figure 1 As shown, it mainly includes:

[0033] Step S1: Each motor controller monitors the speed and position of each drive motor.

[0034] Step S2: When the speeds of the two drive motors are inconsistent, determine the position difference of the output shafts of the two drive motors;

[0035] Step S3: The drive motor with the output shaft in the leading position decelerates to 0 at a set negative acceleration and remains there for a set time. Then, it accelerates to the speed of the drive motor with the output shaft in the rear position at a positive acceleration opposite to the set negative acceleration. The set time T0 is:

[0036]

[0037] Where Δ1 is the position difference of the output shafts of the two drive motors, v1 is the speed of the drive motor whose output shaft is ahead, v2 is the speed of the drive motor whose output shaft is behind, and a is the set positive acceleration.

[0038] This application achieves drive motor speed adjustment and flap synchronization control by comparing the output shaft positions of two independent drive motors, effectively solving the synchronization control problem under the distributed drive architecture of flaps and providing support for the design of high-lift systems. The following explains the setting time for step S3.

[0039] like Figure 2 As shown, assume that the output shaft position of drive motor 1 is L1 and the motor speed is v1; the output shaft position of drive motor 2 is L2 and the motor speed is v2. The two speeds are different. After time T, drive motor 1 has a stroke Δ1 ahead of drive motor 2.

[0040] Because drive motor 1 is ahead in position, it uses a position difference signal to adjust its speed. After time T1, drive motor 1 stops moving, i.e., v1 decelerates to 0 and remains at 0 speed for time T0. During this time, the position difference Δ1 decreases to Δ2. The positions of the output shafts of the two drive motors are shown in the figure. Figure 3 Where v1 and Δ2 satisfy the corresponding relationship shown in the following formula, a is the negative acceleration of the motor speed change. The negative sign has been moved to the front in the following formula, so a positive value is used.

[0041] 0 = v1 - aT1

[0042]

[0043] Then, when the position difference between the two drive motors is Δ2, drive motor 1 starts to accelerate. After time T2, the position difference Δ3 between the two is 0, and the speed of drive motor 1 is the same as that of drive motor 2. Therefore, within time T2, drive motor 2 travels Δ2 more than drive motor 1, and the speed adjustment ends. The position of the output shafts of the two actuators is shown in [the diagram]. Figure 3 Δ2 and v2 satisfy the correspondence shown in the following formula.

[0044] aT2=v2

[0045]

[0046] Since the speed and acceleration of the motor body are known, i.e., a is known, the times T1 and T2 can be solved by the above formula, as shown below.

[0047]

[0048]

[0049] Substituting the above parameters into the acceleration process, we can obtain Δ2:

[0050]

[0051] We can further obtain time T0, as shown below.

[0052]

[0053] This application can effectively solve the problem of consistent speed regulation between two independent motors, thereby achieving synchronous control of flaps under a dual-motor distributed drive architecture.

[0054] In some alternative implementations, step S3 is further preceded by:

[0055] Step S30: Each motor controller sends the speed and position of the drive motor controlled by it to another motor controller via a hardwired connection.

[0056] Step S31: Each motor controller calculates the output shaft position difference between the two motors and determines the drive motor whose output shaft position is ahead.

[0057] Step S32: The motor controller corresponding to the drive motor whose output shaft position is ahead performs speed adjustment control of the corresponding drive motor.

[0058] This embodiment shows that both motor controllers perform deviation calculations to make control decisions, and the motor controller with the leading output shaft position adjusts the speed of the drive motor it controls.

[0059] In some alternative implementations, in step S3, when the calculated set time is negative, the positive acceleration is increased until the calculated set time is not less than 0.

[0060] Understandably, under a given acceleration, since the deceleration process is executed first and the acceleration process is executed later, it is possible that before the deceleration reaches 0, the motor at the rear of the output shaft has already overtaken the controlled motor, thus making a dwell time impossible. That is, the set time T0 is not negative, meaning that the given acceleration value is too small. This situation can be solved in two ways: one is to increase the acceleration value, and the other is to construct a no-dwell-time model, where the motor at the front of the output shaft decelerates first and then accelerates. Let the target speed of the deceleration process be an unknown quantity, and by combining the above formulas, the target speed can be obtained, and then the drive motor can be controlled.

[0061] The second aspect of this application provides a dual-motor distributed drive flap synchronization control device, wherein each flap is controlled to deflect by a drive motor, each drive motor is given its own motor speed by its own motor controller, the two motor controllers are interconnected by hardwire, and there are two flap synchronization control devices, each pre-installed in each motor controller, each flap synchronization control device comprising:

[0062] The speed and position signal acquisition module is used to acquire the speed and position of the drive motor corresponding to its motor controller;

[0063] The position difference calculation module is used to determine the position difference of the output shafts of the two drive motors when their speeds are inconsistent.

[0064] The speed regulation signal generation module is used to decelerate the drive motor with the output shaft in a leading position to 0 with a set negative acceleration, hold for a set time, and then accelerate it to the speed of the drive motor with the output shaft in a rearward position with a positive acceleration opposite to the set negative acceleration. The set time T0 is:

[0065]

[0066] Where Δ1 is the position difference of the output shafts of the two drive motors, v1 is the speed of the drive motor whose output shaft is ahead, v2 is the speed of the drive motor whose output shaft is behind, and a is the set positive acceleration.

[0067] In some alternative embodiments, the flap synchronization control device further includes:

[0068] The speed and position transmission unit is used to control the motor controller to send the speed and position of the drive motor controlled by this motor controller to another motor controller via hardwire.

[0069] The output shaft position leading motor determination unit is used to control the motor controller to calculate the output shaft position difference between the two motors and determine the drive motor whose output shaft position is leading.

[0070] The motor controller selection unit is used to select the motor controller corresponding to the drive motor whose output shaft position is ahead, and to adjust the speed of the corresponding drive motor.

[0071] In some alternative implementations, in the speed regulation signal generation module, when the calculated set time is negative, the positive acceleration is increased until the calculated set time is not less than 0.

[0072] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for synchronous control of flaps with dual-motor distributed drive, characterized in that, Each flap is deflected by a drive motor, and each drive motor's speed is determined by its own motor controller. The two motor controllers are interconnected via hardwire. The method includes: Step S1: Each motor controller monitors the speed and position of each drive motor. Step S2: When the speeds of the two drive motors are inconsistent, determine the position difference of the output shafts of the two drive motors; Step S3: The drive motor with the output shaft in the leading position decelerates to 0 at a set negative acceleration and remains there for a set time. Then, it accelerates to the speed of the drive motor with the output shaft in the rear position at a positive acceleration opposite to the set negative acceleration. The set time T0 is: Where Δ1 is the position difference of the output shafts of the two drive motors, v1 is the speed of the drive motor whose output shaft is ahead, v2 is the speed of the drive motor whose output shaft is behind, and a is the set positive acceleration.

2. The flap synchronization control method with dual-motor distributed drive as described in claim 1, characterized in that, Step S3 further includes: Step S30: Each motor controller sends the speed and position of the drive motor controlled by it to another motor controller via a hardwired connection. Step S31: Each motor controller calculates the output shaft position difference between the two motors and determines the drive motor whose output shaft position is ahead. Step S32: The motor controller corresponding to the drive motor whose output shaft position is ahead performs speed adjustment control of the corresponding drive motor.

3. The flap synchronization control method with dual-motor distributed drive as described in claim 1, characterized in that, In step S3, when the calculated set time is negative, the positive acceleration is increased until the calculated set time is not less than 0.

4. A flap synchronization control device with dual-motor distributed drive, characterized in that, Each flap is controlled by a drive motor for deflection. Each drive motor's speed is determined by its own motor controller. The two motor controllers are interconnected via hardwire. There are two flap synchronization control devices, each pre-installed within its respective motor controller. Each flap synchronization control device includes: The speed and position signal acquisition module is used to acquire the speed and position of the drive motor corresponding to its motor controller; The position difference calculation module is used to determine the position difference of the output shafts of the two drive motors when their speeds are inconsistent. The speed regulation signal generation module is used to decelerate the drive motor with the output shaft in a leading position to 0 with a set negative acceleration, hold for a set time, and then accelerate it to the speed of the drive motor with the output shaft in a rearward position with a positive acceleration opposite to the set negative acceleration. The set time T0 is: Where Δ1 is the position difference of the output shafts of the two drive motors, v1 is the speed of the drive motor whose output shaft is ahead, v2 is the speed of the drive motor whose output shaft is behind, and a is the set positive acceleration.

5. The flap synchronization control device with dual-motor distributed drive as described in claim 4, characterized in that, The flap synchronization control device also includes: The speed and position transmission unit is used to control the motor controller to send the speed and position of the drive motor controlled by this motor controller to another motor controller via hardwire. The output shaft position leading motor determination unit is used to control the motor controller to calculate the output shaft position difference between the two motors and determine the drive motor whose output shaft position is leading. The motor controller selection unit is used to select the motor controller corresponding to the drive motor whose output shaft position is ahead, and to adjust the speed of the corresponding drive motor.

6. The flap synchronization control device with dual-motor distributed drive as described in claim 4, characterized in that, In the speed regulation signal generation module, when the calculated set time is negative, the positive acceleration is increased until the calculated set time is not less than 0.

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