A real-time perception method and system for aircraft control surface status

Abstract

The present invention discloses a method and system for real-time perception of the state of an aircraft's rudder surfaces. The system includes an embedded pressure sensor, an embedded processor, a signal transmission module, and an angle comparison module. The embedded pressure sensor uses a silicon chip and is arranged at specific positions on the front edge and upper and lower surfaces of the aircraft's rudder surface to monitor the pressure signal on the rudder surface in real time. The actual airflow angle and surface flow conditions of the rudder surface are solved based on these surface dynamic pressure information, and compared with the rudder control instructions input by the flight control system to determine whether the rudder angle has reached the specified position and whether flow separation has occurred on the rudder surface. The system and method for real-time perception of the state of an aircraft's rudder surfaces with embedded pressure measurement proposed by the present invention provide a beneficial monitoring means and feedback method for rudder manipulation and flow control during the flight of the aircraft, thereby avoiding aircraft safety accidents caused by rudder jamming or failure.

Description

Technical Field

[0001] The present invention belongs to the field of airborne sensing and intelligent technology, and specifically provides a real-time sensing method and sensing system for aircraft control surface status based on embedded pressure measurement. Background Art

[0002] Accurately measuring atmospheric parameters during flight is essential for effective control and safe flight. Therefore, precise measurements of atmospheric parameters such as static and dynamic air pressure, angle of attack, altitude, and Mach number are essential. Aircraft are currently equipped with a variety of advanced atmospheric parameter measurement devices, including traditional atmospheric parameter measurement systems and embedded atmospheric data sensing systems. However, despite their crucial role in flight, control surfaces such as ailerons, rudders, and elevators, which control the aircraft's attitude, lack comprehensive angle sensing and feedback technology. Consequently, when control surfaces become stuck or separated, the pilot or flight control system cannot detect them in a timely manner, potentially leading to flight safety accidents.

[0003] Current aircraft control systems consist of a joystick, a transmission mechanism, and a control surface actuator. The joystick, operated by the pilot or controlled by the flight control system, transmits control commands to the control surface actuator via the transmission mechanism. The control surface actuator uses electric motors or hydraulics to drive the control surface, adjusting the aircraft's attitude and flight direction. During this process, the true airflow angle of the control surface is unknown. The pilot or flight control system can only use the actuator position to indicate the current control surface angle. In the event of a mechanical failure or control surface failure, the actuator position indication may incorrectly report the true control surface angle, thereby increasing additional risks.

[0004] Therefore, in order to improve the monitoring capability of aircraft rudder failures, people have also made many new attempts. It can be seen from the disclosed invention that the existing technology includes arranging a displacement sensor (CN202211390687.5) on the rudder actuator to feedback the rudder position, or creating a flight model of the aircraft rudder failure state, and obtaining different aircraft rudder failure data (CN202211058249.9) through the flight model under the aircraft rudder failure state, thereby realizing the monitoring of rudder component failures. The above methods mainly judge the rudder failure from a mechanical perspective or from the aspect of fault signal analysis. At present, there is still a lack of methods for directly identifying and judging faults from the flow state. There is still a lot of room for engineering improvement and unresolved problems. Therefore, optimizing the perception method and early warning mechanism of the rudder state during the flight of the aircraft is conducive to ensuring the flight safety of the aircraft. Summary of the Invention

[0005] In response to the technical problem that existing aircraft lack the perception and early warning of control surface angles and flow conditions, the present invention provides an onboard aircraft control surface real-time perception device and perception method, which can directly identify faults from the flow conditions.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A method for real-time sensing of aircraft control surface status includes the following steps:

[0008] Step 1: Obtain the dynamic pressure on the control surface based on the embedded pressure sensor for calculating the airflow angle;

[0009] Step 2: The dynamic pressure signal is processed by the embedded processor and converted into an airflow angle signal;

[0010] Step 3: Compare the airflow angle signal of the control surface with the control angle input by the pilot or the flight control system to determine whether the control surface is stuck or malfunctioning.

[0011] Preferably, in step 1, the positions of the surface pressure measuring points corresponding to the pressure sensors are relatively fixed, and their positions are determined by numerical calculations or wind tunnel calibration experiments in the early stages of design, and their distribution is spaced to ensure that there is no interference between them. The pressure information measured by the pressure measuring points is P i , and the nominal rudder angle is calculated by the classic "three-point method" algorithm to be δ e Nominal rudder angle δ e It is an intermediate quantity in the solution process, which represents the initial rudder angle calculated by the "three-point method" before error correction is performed, and provides input for subsequent rudder angle correction.

[0012] As a preference, the pressure sensor is provided at the pressure measuring holes on the upper and lower surfaces of the aircraft rudder, and the dynamic pressure signal P is obtained by measuring the flow state on the rudder surface. i .

[0013] As a preference, in step 2, affected by the surface flow of the model, the true angle of the rudder surface is different from the nominal rudder surface angle δ e There is a correction value Δδ for the rudder angle, which is calibrated by the following formula:

[0014]

[0015] Where Δδ=δ e -δ Real , is the correction value of the rudder angle; δ e is the nominal rudder angle calculated locally by the “three-point method”, δ Real is the actual airflow angle of the control surface, A iare the coefficients of the polynomial formula, and are related to the incoming Mach number M ∞ The actual airflow angle of the local control surface is obtained through wind tunnel calibration experiments:

[0016] δ Real =δ e -Δδ.

[0017] As a preferred method, the actual control surface airflow angle δ is obtained Real And the preset control surface angle δ output by the flight control system set Compare and judge whether the actual airflow angle of the control surface reaches the preset angle.

[0018] As a preference, the relationship between the control rudder rod position and the corresponding rudder angle is obtained through ground test calibration. The preset value of the rudder is δ set , if |δ set -δ Real |≤ε, where ε is the error value preset by the system, it is considered that the real-time angle of the rudder is within the preset range and the rudder is working normally; if |δ set -δ Real |>ε, it is considered that the real-time angle of the rudder has not reached the preset range, the rudder is not working properly, and an early warning is issued.

[0019] The present invention also discloses a real-time perception system for the state of an aircraft rudder surface based on embedded pressure measurement, comprising an embedded pressure sensor, an embedded processor, a signal transmission module and an angle comparison module; the embedded pressure sensor is used to collect dynamic pressure signals on the upper and lower surfaces of the rudder surface and send them to the embedded processor for processing; the embedded processor collects the pressure signal and converts it into a digital signal in real time, solves the airflow angle of the current rudder surface through an angle solving algorithm, and transmits the solution result to the state comparison module based on the signal transmission module; the state comparison module compares the solved airflow angle with the rudder surface control instruction input by the pilot or the flight control system, determines whether the rudder surface has reached the specified position, and provides the pilot or the flight control system with a rudder surface angle feedback signal through the output end.

[0020] Preferably, the embedded pressure sensor is a micro surface hole pressure sensor, which is arranged in the pressure measuring holes of the upper and lower surface sections of the aircraft control surface, and the real-time surface dynamic pressure signal of the target position is measured based on the sensor.

[0021] Preferably, the embedded processor calculates the real-time airflow deflection angle and surface flow state of the control surface based on the surface dynamic pressure signal, and provides feedback signals of the real angle and flow state of the control surface according to the airflow deflection angle and surface flow state.

[0022] Preferably, if it is determined that the rudder has not reached the specified position, the system will issue a warning signal and project the warning signal onto the cockpit screen to produce a red flashing light, while issuing a warning sound prompt to remind the pilot or flight control system to perform troubleshooting and emergency operations to avoid flight safety accidents caused by rudder failure.

[0023] Beneficial effects

[0024] The present invention proposes a method and device for real-time perception of aircraft control surface status based on embedded pressure measurement, which has the capabilities of autonomous measurement, autonomous calculation, and autonomous early warning. When the aircraft control surface angle is abnormal or a fault occurs, it can promptly send a reminder signal (bright light and warning sound) to the pilot or provide a fault signal to the flight control system, thereby reducing the impact of the control surface failure and improving flight safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the rudder structure in one embodiment of the present invention;

[0026] Figure 2 is a schematic diagram of the distribution of pressure sensor openings in an embodiment of the present invention;

[0027] Figure 3 is a side view schematic diagram of the distribution of pressure sensor openings in an embodiment of the present invention;

[0028] Figure 4 It is a system workflow diagram of the present invention;

[0029] Figure 5 In one embodiment of the present invention, the nominal rudder angle is δ obtained by solving the local rudder airflow angle correction value and the classic "three-point method" algorithm. e The relationship diagram between .

[0030] Reference numerals: 1-wing, 2-rudder surface, 31-39-pressure measuring holes on the front of the rudder surface. Specific implementation methods

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without expending creative work are within the scope of protection of the present invention.

[0032] The embodiment of the present invention provides a real-time perception system of aircraft control surface status based on embedded pressure measurement, such as Figures 1 to 4As shown, the control surface structure in the embodiment includes a wing 1 and a control surface 2. The real-time perception system of the aircraft control surface status based on embedded pressure measurement is installed in the control surface 2 and consists of an embedded pressure sensor, an embedded processor, a signal transmission module and an angle comparison module.

[0033] The embedded pressure sensor uses a silicon chip pressure sensor, which measures the target position to obtain a real-time surface dynamic pressure signal. This embodiment preferably uses a micro surface hole pressure sensor to obtain a dynamic pressure signal by measuring the flow state on the rudder surface.

[0034] like Figures 2 to 3 As shown, embedded pressure sensors are installed at specific locations on the leading edge and upper and lower surfaces of the aircraft control surface 2, including the leading edge and the curved surface near the leading edge, such as cross-sectional pressure taps 31-34 installed on the lower surface of the aircraft control surface and cross-sectional pressure taps 36-39 located on the upper surface of the aircraft control surface. In this embodiment, a total of nine cross-sectional pressure taps are provided, with adjacent pressure taps spaced evenly in the horizontal and vertical directions. The sensor mounting holes are connected to the cross-sectional pressure taps, and the pressure sensors are installed in the sensor mounting holes to measure the dynamic pressure of the airflow. During flight, the embedded pressure sensors are used to collect dynamic pressure signals from the upper and lower surfaces of the control surface and send them to the embedded processor for processing. The embedded processor collects the pressure signals and converts them into digital signals in real time. It uses an angle calculation algorithm to calculate the current airflow angle of the control surface and transmits the calculation results to the state comparison module based on the signal transmission module. The state comparison module compares the calculated airflow angle with the control surface control command input by the pilot or the flight control system to determine whether the control surface has reached the specified position and provides the control surface angle feedback signal to the pilot or the flight control system through the output terminal.

[0035] Specifically, according to Figure 2 As shown, the present invention provides a method for real-time perception of aircraft control surface status based on embedded pressure measurement, comprising the following steps:

[0036] Step 1: Based on the embedded pressure sensor, the dynamic pressure of the rudder surface is obtained for the calculation of the airflow angle. The position of the surface pressure measuring point corresponding to the pressure sensor is relatively fixed, and the pressure information obtained by the measurement is P i , and the nominal rudder angle is calculated by the classic "three-point method" algorithm to be δ e Due to the influence of the surface flow of the model, there is a correction value Δδ between the actual angle of the rudder and the nominal angle of the rudder. The specific solution method is obtained by calibration through the following formula:

[0037]

[0038] Where Δδ=δ e -δ Real, is the correction value of the rudder angle; δ e is the rudder angle calculated by the local “three-point method”, δ Real is the actual airflow angle of the control surface, A i are the coefficients of the polynomial formula, and are related to the incoming Mach number M ∞ The actual airflow angle of the local control surface is obtained through wind tunnel calibration experiments:

[0039] δ Real =δ e -Δδ (2)

[0040] Step 2: The dynamic pressure signal is processed by the embedded processor and converted into an airflow angle signal;

[0041] Step 3: Send the control surface angle signal to the onboard control surface angle status comparison module through the signal transmission module, and compare it with the control angle input by the pilot or the flight control system to determine whether the control surface is stuck or failed.

[0042] The relationship between the control surface rod position and the corresponding rudder surface deflection angle is obtained through ground test calibration. The preset value of the rudder surface is δ set , the actual rudder airflow angle δ Real And the preset control surface angle δ output by the flight control system set Comparison is used to determine whether the real-time control surface airflow angle reaches the preset angle. set -δ Real |≤ε, where ε is the error value preset by the system, it is considered that the real-time angle of the rudder is within the preset range and the rudder is working normally; if |δ set -δ Real |>ε, the real-time rudder angle is considered to be out of the preset range and the rudder is not working properly. The system will issue a warning signal and project it onto the cockpit screen to produce a red flashing light. At the same time, it will sound a warning to remind the pilot or the flight control system to troubleshoot and perform emergency operations to avoid flight safety accidents caused by rudder failure.

[0043] like Figure 5 As shown in the figure, the local rudder airflow angle correction is calculated by the classic "three-point method" algorithm to obtain the nominal rudder angle δ e The calibration relationship diagram between the two, obtained through wind tunnel calibration experiments, is used to verify the feasibility of the system's control surface state perception method. The "three-point method" algorithm calculates atmospheric parameters based on potential flow theory and modified Newtonian flow theory. Only three non-coplanar points on the model head surface are needed to determine the atmospheric parameters under the corresponding state.

[0044] From the positive slopes of the curves in the figure, it can be concluded that the wind speed vector of the flow field will be affected by the model, and the nominal rudder angle δe Airflow angle δ relative to the actual control surface Real Amplification, meaning the nominal rudder angle calculated from pressure tap measurements is larger than the true value, is a problem. Therefore, after determining the nominal rudder angle analytically, it must be corrected using a fitted polynomial formula to obtain the true value. Observing the curves reveals that the overall trend for different wind speeds and pressure taps is consistent, and all exhibit good linearity at small angles. This suggests that a real-time aircraft rudder status perception system based on embedded pressure measurement can be used to determine the true rudder airflow angle for safety warning purposes.

[0045] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for real-time perception of aircraft control surface status, characterized in that: The following steps are involved: Step 1: Obtain the dynamic pressure signal of the control surface based on the embedded pressure sensor for solving the airflow angle calculation; wherein, the pressure sensor is set at the pressure measuring holes on the upper and lower surface sections of the aircraft control surface, and the positions of the corresponding surface pressure measuring points are relatively fixed. The pressure measuring holes are staggered and tilted, and the dynamic pressure signal P is obtained by measuring the flow state on the control surface. i ; Step 2: The dynamic pressure signal is processed by the embedded processor and converted into an airflow angle signal; specifically, Based on the dynamic pressure signal P i , the nominal rudder angle is calculated by the "three-point method" algorithm to be δ e ; Affected by the surface flow of the model, the true angle of the rudder surface is different from the nominal rudder surface angle δ e There is a correction value Δδ for the rudder angle, which is calibrated by the following formula: Where Δδ=δ e -δ Real , is the correction value of the rudder angle; δ e is the nominal rudder angle calculated locally by the "three-point method", δ Real is the actual airflow angle of the control surface, A i are the coefficients of the polynomial formula, and are related to the incoming Mach number M ∞ The actual airflow angle of the local control surface is obtained through wind tunnel calibration experiments: Real =δ e -Δδ; Step 3: Compare the airflow angle signal of the control surface with the control angle input by the pilot or the flight control system to determine whether the control surface is stuck or malfunctioning.

2. The method for real-time perception of aircraft control surface status according to claim 1, characterized in that: The relationship between the control surface rod position and the corresponding rudder surface deflection angle is obtained through ground test calibration. The preset value of the rudder surface is δ set， If |δ set -δ Real |≤ε, where ε is the error value preset by the system, it is considered that the real-time angle of the rudder is within the preset range and the rudder is working normally; if |δ set -δ Real |>ε, it is considered that the real-time angle of the rudder has not reached the preset range, the rudder is not working properly, and an early warning is issued.

3. A real-time perception system for aircraft control surface status, characterized in that: Based on the real-time perception method of aircraft control surface status as claimed in claim 1, the system includes an embedded pressure sensor, an embedded processor and a status comparison module; The embedded pressure sensor is used to collect dynamic pressure signals from the upper and lower surfaces of the control surface and send them to the embedded processor for processing. The embedded processor collects the pressure signals and converts them into digital signals in real time. It uses an angle calculation algorithm to calculate the current airflow angle of the control surface and transmits the solution results to the state comparison module. The state comparison module compares the solved airflow angle with the control command of the rudder surface input by the pilot or the flight control system to determine whether the rudder surface has reached the specified position and outputs the rudder surface angle feedback signal to the pilot or the flight control system.

4. The real-time sensing system for aircraft control surface status according to claim 3, characterized in that: The embedded pressure sensor is a micro surface hole pressure sensor, which is arranged in the pressure measuring holes of the upper and lower surface sections of the aircraft control surface. The sensor measures the real-time surface dynamic pressure signal of the target position.

5. The real-time sensing system for aircraft control surface status according to claim 3, characterized in that: The embedded processor calculates the real-time airflow deflection angle and surface flow state of the control surface based on the surface dynamic pressure signal, and provides feedback signals of the real angle and flow state of the control surface according to the airflow deflection angle and surface flow state.

6. The real-time sensing system for aircraft control surface status according to claim 3, characterized in that: If it is determined that the control surface has not reached the specified position, the system will issue a warning signal and project the warning signal onto the cockpit screen to produce a red flashing light. At the same time, a warning sound prompt will be issued to remind the pilot or flight control system to perform troubleshooting and emergency operations to avoid flight safety accidents caused by control surface failure.

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