An aircraft abnormal shaking positioning method, device, equipment and storage medium

Abstract

The application discloses a kind of airplane abnormal shaking positioning method, device, equipment and storage medium, method includes: in the automatic driving state, whether the maneuver of airplane belongs to the preset wing surface fixed deflection cooperation is monitored;When the maneuver does not belong to the wing surface fixed deflection cooperation, check whether the position instruction of all preset single wing surface remains unchanged;According to each position instruction remains unchanged, the reverse condition of body acceleration in lateral, axial, vertical three dimensions respectively, to screen and count shaking point;According to the number and distribution of the shaking point, the position where abnormal shaking occurs is judged.Using the embodiment of the present application, timely monitoring and positioning of the abnormal shaking of the airplane can be realized, which helps to quickly repair the fault part, reduces the subjectivity and error of human judgment, and improves the flight safety and operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of aviation equipment technology, and in particular to a method, apparatus, device, and storage medium for locating abnormal aircraft vibrations. Background Technology

[0002] In existing technologies, the determination of aircraft vibration mainly relies on reports from crew members based on their personal feelings. However, because personal feelings in reports are often inaccurate, sometimes there is no actual malfunction, or a full inspection of the aircraft is required because the location of abnormal vibration cannot be identified. This method is not only inefficient, but also subject to the subjectivity and error of human judgment. Summary of the Invention

[0003] This invention provides a method, apparatus, device, and storage medium for locating abnormal aircraft vibrations, which solves the problems of low efficiency and poor accuracy caused by relying on manual discovery and investigation of the location of abnormal vibrations. It enables timely monitoring and location of abnormal aircraft vibrations, helps to quickly repair faulty parts, reduces the subjectivity and error of human judgment, and improves flight safety and operational efficiency.

[0004] To achieve the above objectives, embodiments of the present invention provide a method for locating abnormal aircraft vibrations, comprising:

[0005] In autopilot mode, monitor whether the aircraft's maneuvers are within the preset fixed wing deflection coordination;

[0006] When the maneuver is not part of the fixed deflection coordination of the wing surface, check whether all preset single wing surface position commands remain unchanged;

[0007] Based on the reversal of the body acceleration in the three dimensions of lateral, axial and vertical when each position command remains unchanged, the jitter points are screened and counted.

[0008] Based on the number and distribution of the jitter points, the location of the abnormal jitter can be determined.

[0009] As an improvement to the above scheme, the fixed deflection coordination of the wing surface includes yaw action, pitch action, roll action, and combinations of the above actions;

[0010] Specifically, the yaw action is achieved by turning the aircraft's rudder left and right, the pitch action is achieved by turning the aircraft's elevator up and down, and the roll action is achieved by turning the aircraft's left and right ailerons in opposite directions.

[0011] As an improvement to the above scheme, the single wing surface includes a rudder, a left elevator, a right elevator, a left elevator and a right elevator, a left aileron, a right aileron, a left aileron and a right aileron.

[0012] As an improvement to the above solution, the jitter points include mid-frequency jitter points and single-point jitter of the rudder axis;

[0013] The method of filtering and statistically analyzing the reversal of the body acceleration in the horizontal, axial, and vertical dimensions when each position command remains unchanged, includes:

[0014] For all the preset single wing surfaces, when their position commands remain unchanged, the reversal of the airframe acceleration is obtained from the three dimensions of lateral, axial and vertical.

[0015] If the acceleration of the body reverses three times consecutively in the dimension within a preset time, it is counted as the mid-frequency jitter point.

[0016] When the position command of the rudder remains unchanged, each reversal of the body acceleration is also obtained from the axial dimension and counted as a single point of axial jitter of the rudder.

[0017] As an improvement to the above solution, determining the location of abnormal jitter based on the number and distribution of the jitter points includes:

[0018] When the number of single points of axial jitter of the rudder is greater than the preset abnormal jitter threshold, it is determined whether the mid-frequency jitter points are distributed in the three dimensions of lateral, axial and vertical of the other wing surfaces in the single wing surface except the rudder.

[0019] When the other wing surfaces have the mid-frequency jitter points distributed in the three dimensions, determine whether the mid-frequency jitter points are distributed on both sides of the aircraft's centerline;

[0020] If the mid-frequency jitter points are distributed on both sides of the aircraft's centerline, the abnormal jitter occurs in the rudder; otherwise, the abnormal jitter occurs in the elevator.

[0021] As an improvement to the above scheme, the abnormal jitter threshold is six.

[0022] As an improvement to the above solution, before monitoring whether the aircraft's maneuvers belong to the preset fixed wing deflection coordination in autopilot mode, it also includes checking whether the aircraft's autopilot is engaged.

[0023] To achieve the above objectives, embodiments of the present invention also provide a device for locating abnormal aircraft vibrations, comprising:

[0024] The maneuvering monitoring module is used to monitor whether the aircraft's maneuvers are within the preset fixed wing deflection coordination in autopilot mode.

[0025] The position command checking module is used to check whether all preset single wing surface position commands remain unchanged when the maneuvering action does not belong to the fixed deflection coordination of the wing surface.

[0026] The jitter point statistics module is used to filter and count jitter points based on the reversal of the body acceleration in the horizontal, axial and vertical dimensions when each position command remains unchanged.

[0027] The abnormal jitter localization module is used to determine the location where the abnormal jitter occurs based on the number and distribution of the jitter points.

[0028] To achieve the above objectives, embodiments of the present invention also provide a device for locating abnormal aircraft vibrations, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the above-described method for locating abnormal aircraft vibrations.

[0029] To achieve the above objectives, embodiments of the present invention also provide a computer-readable storage medium, the computer-readable storage medium including a stored computer program; wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the above-described method for locating abnormal aircraft shaking.

[0030] To achieve the above objectives, embodiments of the present invention also provide a computer program product, the computer program product including a computer program; wherein, when the computer program is running, it controls the device where the program product is located to execute the above-mentioned aircraft abnormal shaking positioning method.

[0031] Implementing the embodiments of the present invention has the following beneficial effects:

[0032] The aircraft abnormal vibration localization method, apparatus, device, and storage medium provided in this invention monitor whether the aircraft's maneuvers in autopilot mode belong to a preset fixed wing surface deflection coordination; when the maneuvers do not belong to the fixed wing surface deflection coordination, check whether all preset single wing surface position commands remain unchanged; based on the reversal of the aircraft acceleration in the lateral, axial, and vertical dimensions when each position command remains unchanged, vibration points are screened and counted; based on the number and distribution of vibration points, the location of abnormal vibration is determined. This enables timely monitoring and localization of aircraft abnormal vibration, facilitates rapid repair of faulty parts, reduces the subjectivity and error of human judgment, and improves flight safety and operational efficiency. Attached Figure Description

[0033] Figure 1 This is a flowchart of the aircraft abnormal shaking localization method provided in the embodiments of the present invention;

[0034] Figure 2 This is a structural block diagram of the aircraft abnormal shaking positioning device provided in an embodiment of the present invention;

[0035] Figure 3 This is a structural block diagram of the aircraft abnormal shaking positioning device provided in an embodiment of the present invention. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] In the description of this invention, it should be noted that the step numbers in the text are only for the convenience of explaining the specific embodiments and are not intended to limit the order in which the steps are performed.

[0038] See Figure 1 , Figure 1 This is a flowchart of a method for locating abnormal aircraft vibrations according to an embodiment of the present invention. The method for locating abnormal aircraft vibrations includes steps S1 to S4, as detailed below:

[0039] S1. In autopilot mode, monitor whether the aircraft's maneuvers are within the preset fixed wing deflection coordination.

[0040] S2. When the maneuvering action does not belong to the fixed deflection coordination of the wing surface, check whether all preset single wing surface position commands remain unchanged;

[0041] S3. Based on the reversal of the body acceleration in the horizontal, axial and vertical dimensions when each position command remains unchanged, filter and count the jitter points.

[0042] S4. Determine the location of the abnormal shaking based on the number and distribution of the shaking points.

[0043] It is understandable that by processing QAR (Quick Access Recorder) data, autopilot status data, single-wing surface position command data, acceleration data, and other relevant data (such as flight segment, altitude, and airspeed) are obtained, providing a data foundation for the method of locating abnormal aircraft vibration. Aircraft acceleration is collected by accelerometers in three dimensions: lateral (left-right), axial (forward-backward), and vertical (up-down). Vibration is the result of high-frequency, small-amplitude, non-commanded movements of the wing surfaces, leading to overall aircraft instability. To detect vibration on a single control surface, the data scenario must meet the requirement that, while the position command on a single wing surface remains unchanged, the aircraft acceleration reverses in one or more directions. Each reversal constitutes a vibration unit, specifically manifested as an acceleration changing from positive to negative or vice versa.

[0044] In this embodiment of the invention, by monitoring whether the aircraft's maneuvers in autopilot mode belong to a preset fixed wing surface deflection coordination; when the maneuvers do not belong to the fixed wing surface deflection coordination, checking whether all preset single wing surface position commands remain unchanged; based on the reversal of the aircraft acceleration in the lateral, axial, and vertical dimensions when each position command remains unchanged, vibration points are screened and counted; based on the number and distribution of vibration points, the location of abnormal vibration is determined, enabling timely monitoring and location of abnormal aircraft vibration, facilitating rapid repair of faulty parts, reducing the subjectivity and error of human judgment, and improving flight safety and operational efficiency.

[0045] In one optional embodiment, before monitoring whether the aircraft's maneuvers belong to a preset fixed wing deflection engagement in autopilot mode, the method further includes checking whether the aircraft's autopilot is engaged.

[0046] Under normal circumstances, except during takeoff and landing, the aircraft remains in autopilot mode throughout the flight. When autopilot is engaged, all flight surfaces operate in a highly coordinated state under computer control. If a surface vibrates, causing attitude disturbances and altering the aerodynamic loads on other surfaces, the remaining surfaces will passively deflect at high frequencies under computer control to balance the aerodynamic loads and restore stability. However, if the frequency and amplitude of this vibration exceed the crew's subjective comfort level, it will be reported as aircraft shaking. Therefore, it is necessary to first determine if autopilot is engaged. When an aircraft has two autopilot systems, at least one must be engaged.

[0047] In one optional embodiment, the fixed deflection coordination of the wing surface includes yaw, pitch, roll, and combinations of the above actions;

[0048] Specifically, the yaw action is achieved by turning the aircraft's rudder left and right, the pitch action is achieved by turning the aircraft's elevator up and down, and the roll action is achieved by turning the aircraft's left and right ailerons in opposite directions.

[0049] It's understandable that aircraft have three basic maneuvers: yaw, pitch, and roll. With autopilot engaged, all maneuvers performed to achieve a target heading and altitude are combinations of these three basic maneuvers. For example, when an aircraft turns right, the right aileron deflects upwards, the left aileron deflects downwards, and the rudder deflects to the right to increase turning efficiency. Because of the change in aircraft attitude, lift decreases, so the elevators deflect upwards to pitch the aircraft up and compensate for the lift. This forms a set of fixed deflection maneuvers that enable the aircraft to turn right. Ideally, all maneuvers performed by an aircraft in the air are achieved through one type of fixed deflection maneuver. Therefore, all non-fixed deflection maneuvers outside the scope of basic maneuvers should be considered actions performed by the aircraft to balance airflow and maintain heading and altitude.

[0050] In this embodiment of the invention, by monitoring whether the aircraft's maneuvers conform to the preset fixed deflection of the wing surface, non-fixed deflection of the wing surface can be screened out, which can effectively remove interference caused by non-fault factors such as strong crosswinds.

[0051] In one alternative embodiment, the single wing surface includes a rudder, a left elevator, a right elevator, both left and right elevators, a left aileron, a right aileron, and both left and right ailerons.

[0052] Understandably, clearance (i.e., uncontrollable clearance) exceeding the manual standards on the aircraft wing surface is a major cause of aircraft vibration in the air. Clearance is caused by mechanical wear of components and is uncontrollable; therefore, the slight deflection of the wing surface caused by clearance is also non-commanded, meaning it occurs even when the computer controls the wing surface position to remain constant.

[0053] In this embodiment of the invention, the combination of keeping a single wing surface constant varies depending on the number of wing surfaces installed on different aircraft models (for example, for the A320 series aircraft, the number of wing surfaces installed is one rudder, two elevators, and two ailerons). To comprehensively capture target vibration points, seven wing surface holding combinations are set: rudder remains constant, left elevator remains constant, right elevator remains constant, both left and right elevators remain constant, left aileron remains constant, right aileron remains constant, and both left and right ailerons remain constant. Based on the detection of non-fixed deflection of the wing surfaces, setting and checking whether the position commands of all single wing surfaces have changed can determine whether any wing surface has deviated from its expected position, which helps improve the efficiency of fault diagnosis and timely detection and resolution of aircraft vibration problems.

[0054] In one optional embodiment, the jitter points include mid-frequency jitter points and single points of rudder axial jitter;

[0055] The method of filtering and statistically analyzing the reversal of the body acceleration in the horizontal, axial, and vertical dimensions when each position command remains unchanged, includes:

[0056] For all the preset single wing surfaces, when their position commands remain unchanged, the reversal of the airframe acceleration is obtained from the three dimensions of lateral, axial and vertical.

[0057] If the acceleration of the body reverses three times consecutively in the dimension within a preset time, it is counted as the mid-frequency jitter point.

[0058] When the position command of the rudder remains unchanged, each reversal of the body acceleration is also obtained from the axial dimension and counted as a single point of axial jitter of the rudder.

[0059] Understandably, observations of real-world in-flight jitter videos reveal that jitter is characterized by a regular direction and high frequency. Experiments conducted on jitter flight data samples at four acquisition frequencies (1 Hz, 2 Hz, 4 Hz, and 8 Hz) showed that the number of mid-frequency jitter points (defined as three consecutive reversals of aircraft acceleration per second) captured in the 4 Hz data sample effectively distinguishes normal flights from jittery ones. Furthermore, the process of aircraft attitude instability due to airflow disturbances, followed by computer-controlled wing surface stabilization, also causes reversals in three-axis acceleration. However, airflow fluctuations cause aircraft body swaying, which, compared to jitter caused by component failure, has a lower frequency and larger amplitude. Therefore, filtering and counting the number of consecutive acceleration reversals per unit time from the data packets to determine jitter can effectively eliminate interference from non-fault factors such as airflow disturbances.

[0060] Furthermore, through calculation and statistics of a large amount of data, it was found that when the rudder position remains unchanged, the number of captured single points of rudder axial jitter (defined as each reversal of the airframe acceleration in the axial direction is a single point of rudder axial jitter) can effectively reflect the stability of the aircraft in the air. Therefore, it is necessary to additionally calculate and count the number of times the acceleration of the rudder reverses each time in each of the three axes.

[0061] In this embodiment of the invention, based on the acceleration of each preset wing surface holding combination when its position command remains unchanged, and considering the reversal in the three dimensions of lateral, axial, and vertical, the jitter points distributed on different wing surfaces are statistically analyzed. This avoids interference from non-fault factors such as airflow disturbances and helps in subsequent abnormal jitter localization.

[0062] In one optional embodiment, determining the location of the abnormal jitter based on the number and distribution of the jitter points includes:

[0063] When the number of single points of axial jitter of the rudder is greater than the preset abnormal jitter threshold, it is determined whether the mid-frequency jitter points are distributed in the three dimensions of lateral, axial and vertical of the other wing surfaces in the single wing surface except the rudder.

[0064] When the other wing surfaces have the mid-frequency jitter points distributed in the three dimensions, determine whether the mid-frequency jitter points are distributed on both sides of the aircraft's centerline;

[0065] If the mid-frequency jitter points are distributed on both sides of the aircraft's centerline, the abnormal jitter occurs in the rudder; otherwise, the abnormal jitter occurs in the elevator.

[0066] Understandably, the unique aspect of aircraft vibration, besides its high frequency and low amplitude, lies in the fact that the clearance causing the vibration usually exists on a single wing surface, such as one aileron, one elevator, or the rudder. Therefore, unlike the conventional coordinated deflection of wing surfaces to achieve commanded heading and altitude, the wing surfaces involved in passive high-frequency deflection to achieve aerodynamic balance after vibration occurs are somewhat random. For example, if the rudder vibrates, depending on the amplitude of the vibration, the wing surfaces involved in dynamic balance will be located on either side of the aircraft's centerline (i.e., the centerline of the fuselage along the nose-to-tail direction). These could be the ailerons, the elevators, the left aileron and the right elevator, etc. In other words, vibration on a single wing surface will cause the remaining wing surfaces to bear aerodynamic loads opposite to the direction of the vibration, and the direction of these loads will frequently reverse. Therefore, the control surfaces affected by these passive aerodynamic load changes will also vibrate accordingly. Therefore, the distribution of vibration points captured after vibration occurs on a single wing surface should not only exist on a single wing surface, but should exist in a combination of vibrations on several wing surfaces related to aerodynamic balance. By analyzing the distribution of vibration points and the combination of vibrations, the wing surface from which the vibration source occurs can be inferred.

[0067] It should be noted that, through the analysis of historical real-world shaking cases and the calculation results of a large amount of normal flight data, and by summarizing the distribution characteristics of shaking points after shaking on different wing surfaces, it can be seen that there are currently no actual cases where the shaking source has been confirmed to be other than the elevator or rudder. Therefore, the abnormal shaking location only assesses the elevator or rudder. In the future, by analyzing the data characteristics of more cases, the location of abnormal shaking that can be assessed can be increased.

[0068] In this embodiment of the invention, the number of single points of axial jitter on the rudder is an important indicator for judging the stability of the aircraft in the air. If it does not exceed the preset abnormal jitter threshold, it means that no abnormal jitter has occurred. Otherwise, it is necessary to further judge whether the mid-frequency jitter points are distributed on the other wing surfaces. If not, it means that no abnormal jitter has occurred. Otherwise, it is necessary to further judge whether the mid-frequency jitter points are distributed relatively evenly on the wing surfaces on both sides of the aircraft's centerline. If so, it is determined that the abnormal jitter occurs on the rudder; otherwise, it is determined that the abnormal jitter occurs on the elevator. This enables timely monitoring and location of abnormal aircraft jitter, which helps to quickly repair the faulty parts, reduces the subjectivity and error of human judgment, and improves flight safety and operational efficiency.

[0069] In one alternative embodiment, the abnormal jitter threshold is six.

[0070] It is understood that the abnormal shaking threshold is set by analyzing real shaking cases that have occurred in the history of A320 series aircraft and the calculation results of a large amount of normal flight data, and summarizing the distribution data characteristics of shaking points after shaking of different wing surfaces. The abnormal shaking threshold for other aircraft models can be set after separate analysis.

[0071] The aircraft abnormal vibration localization method provided in this invention monitors whether the aircraft's maneuvers in autopilot mode belong to a preset fixed wing surface deflection coordination; when the maneuvers do not belong to the fixed wing surface deflection coordination, it checks whether all preset single wing surface position commands remain unchanged; based on the reversal of the aircraft acceleration in the lateral, axial, and vertical dimensions when each position command remains unchanged, it filters and counts vibration points; based on the number and distribution of vibration points, it determines the location of the abnormal vibration. This method enables timely monitoring and localization of abnormal aircraft vibration, facilitates rapid repair of faulty parts, reduces the subjectivity and error of human judgment, and improves flight safety and operational efficiency.

[0072] See Figure 2 , Figure 2 This is a structural block diagram of an aircraft abnormal vibration positioning device 10 provided in an embodiment of the present invention. The aircraft abnormal vibration positioning device 10 includes:

[0073] The maneuvering monitoring module 11 is used to monitor whether the aircraft's maneuvering actions belong to the preset fixed wing deflection coordination in autopilot mode.

[0074] The position command checking module 12 is used to check whether all preset single wing surface position commands remain unchanged when the maneuvering action does not belong to the fixed deflection coordination of the wing surface.

[0075] The jitter point statistics module 13 is used to filter and count jitter points based on the reversal of the body acceleration in the horizontal, axial and vertical dimensions when each position command remains unchanged.

[0076] The abnormal jitter location module 14 is used to determine the location where the abnormal jitter occurs based on the number and distribution of the jitter points.

[0077] Optionally, the fixed deflection coordination of the wing surface includes yaw, pitch, roll, and combinations thereof;

[0078] Specifically, the yaw action is achieved by turning the aircraft's rudder left and right, the pitch action is achieved by turning the aircraft's elevator up and down, and the roll action is achieved by turning the aircraft's left and right ailerons in opposite directions.

[0079] Optionally, the single wing surface includes a rudder, a left elevator, a right elevator, a left elevator and a right elevator, a left aileron, a right aileron, and a left aileron and a right aileron.

[0080] Optionally, the jitter points include mid-frequency jitter points and single points of rudder axial jitter;

[0081] The method of filtering and statistically analyzing the reversal of the body acceleration in the horizontal, axial, and vertical dimensions when each position command remains unchanged, includes:

[0082] For all the preset single wing surfaces, when their position commands remain unchanged, the reversal of the airframe acceleration is obtained from the three dimensions of lateral, axial and vertical.

[0083] If the acceleration of the body reverses three times consecutively in the dimension within a preset time, it is counted as the mid-frequency jitter point.

[0084] When the position command of the rudder remains unchanged, each reversal of the body acceleration is also obtained from the axial dimension and counted as a single point of axial jitter of the rudder.

[0085] Optionally, determining the location of the abnormal jitter based on the number and distribution of the jitter points includes:

[0086] When the number of single points of axial jitter of the rudder is greater than the preset abnormal jitter threshold, it is determined whether the mid-frequency jitter points are distributed in the three dimensions of lateral, axial and vertical of the other wing surfaces in the single wing surface except the rudder.

[0087] When the other wing surfaces have the mid-frequency jitter points distributed in the three dimensions, determine whether the mid-frequency jitter points are distributed on both sides of the aircraft's centerline;

[0088] If the mid-frequency jitter points are distributed on both sides of the aircraft's centerline, the abnormal jitter occurs in the rudder; otherwise, the abnormal jitter occurs in the elevator.

[0089] Optionally, the abnormal jitter threshold is six.

[0090] Optionally, before monitoring whether the aircraft's maneuvers fall within a preset fixed wing deflection engagement in autopilot mode, the method further includes checking whether the aircraft's autopilot is engaged.

[0091] It is worth noting that the working process of each module in the aircraft abnormal shaking positioning device 10 described in the embodiments of the present invention can refer to the working process of the aircraft abnormal shaking positioning method described in the above embodiments, and will not be repeated here.

[0092] The aircraft abnormal vibration location device provided in this invention monitors whether the aircraft's maneuvers in autopilot mode belong to a preset fixed wing surface deflection coordination; when the maneuver does not belong to the fixed wing surface deflection coordination, it checks whether all preset single wing surface position commands remain unchanged; based on the reversal of the aircraft acceleration in the lateral, axial, and vertical dimensions when each position command remains unchanged, it filters and counts vibration points; based on the number and distribution of vibration points, it determines the location of abnormal vibration, enabling timely monitoring and location of abnormal aircraft vibration, facilitating rapid repair of faulty parts, reducing the subjectivity and error of human judgment, and improving flight safety and operational efficiency.

[0093] Furthermore, embodiments of the present invention also provide a computer-readable storage medium, the computer-readable storage medium including a stored computer program; wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the above-described method for locating abnormal aircraft shaking.

[0094] This invention also provides a computer program product, which includes a computer program; wherein, when the computer program is running, it controls the device where the computer program product is located to execute the above-mentioned aircraft abnormal shaking positioning method.

[0095] See Figure 3 , Figure 3 This is a structural block diagram of an aircraft abnormal shaking location device 20 provided in an embodiment of the present invention. The aircraft abnormal shaking location device 20 includes: a processor 21, a memory 22, and a computer program stored in the memory 22 and executable on the processor 21. When the processor 21 executes the computer program, it implements the steps in the above-described aircraft abnormal shaking location method embodiments. Alternatively, when the processor 21 executes the computer program, it implements the functions of each module / unit in the above-described device embodiments.

[0096] For example, the computer program may be divided into one or more modules / units, which are stored in the memory 22 and executed by the processor 21 to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the aircraft abnormal shaking positioning device 20.

[0097] The aircraft abnormal shaking location device 20 may include, but is not limited to, a processor 21 and a memory 22. Those skilled in the art will understand that the schematic diagram is merely an example of the aircraft abnormal shaking location device 20 and does not constitute a limitation on the device. It may include more or fewer components than illustrated, or combine certain components, or use different components. For example, the aircraft abnormal shaking location device 20 may also include input / output devices, network access devices, buses, etc.

[0098] The processor 21 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processor 21 is the control center of the aircraft abnormal shaking location device 20, connecting all parts of the device through various interfaces and lines.

[0099] The memory 22 can be used to store the computer programs and / or modules. The processor 21 implements various functions of the aircraft abnormal shaking positioning device 20 by running or executing the computer programs and / or modules stored in the memory 22 and calling the data stored in the memory 22. The memory 22 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, phonebook, etc.). In addition, the memory 22 may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0100] The module / unit integrated into the aircraft abnormal shaking positioning device 20, if implemented as a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by the processor 21, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0101] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for locating abnormal aircraft vibration, characterized in that, include: In autopilot mode, monitor whether the aircraft's maneuvers are within the preset fixed wing deflection coordination; When the maneuver is not part of the fixed deflection coordination of the wing surface, check whether all preset single wing surface position commands remain unchanged; Based on the reversal of the body acceleration in the lateral, axial, and vertical dimensions when each position command remains unchanged, jitter points are screened and counted; wherein, the jitter points include mid-frequency jitter points and single points of rudder axial jitter. Based on the number and distribution of the jitter points, determine the location where the abnormal jitter occurs; The step of determining the location of abnormal jitter based on the number and distribution of the jitter points includes: When the number of single points of axial jitter of the rudder is greater than the preset abnormal jitter threshold, it is determined whether the mid-frequency jitter points are distributed in the three dimensions of lateral, axial and vertical of the other wing surfaces in the preset single wing surface, excluding the rudder. When the other wing surfaces have the mid-frequency jitter points distributed in the three dimensions, determine whether the mid-frequency jitter points are distributed on both sides of the aircraft's centerline; If the mid-frequency jitter points are distributed on both sides of the aircraft's centerline, the abnormal jitter occurs in the rudder; otherwise, the abnormal jitter occurs in the elevator.

2. The method for locating abnormal aircraft vibration as described in claim 1, characterized in that, The fixed deflection coordination of the wing surface includes yaw, pitch, roll and combinations of the above actions; Specifically, the yaw action is achieved by turning the aircraft's rudder left and right, the pitch action is achieved by turning the aircraft's elevator up and down, and the roll action is achieved by turning the aircraft's left and right ailerons in opposite directions.

3. The method for locating abnormal aircraft vibration as described in claim 1, characterized in that, The single wing surface includes a rudder, a left elevator, a right elevator, a left elevator and a right elevator, a left aileron, a right aileron, a left aileron and a right aileron.

4. The method for locating abnormal aircraft vibration as described in claim 3, characterized in that, The method of filtering and statistically analyzing the reversal of the body acceleration in the horizontal, axial, and vertical dimensions when each position command remains unchanged, includes: For all the preset single wing surfaces, when their position commands remain unchanged, the reversal of the airframe acceleration is obtained from the three dimensions of lateral, axial and vertical. If the acceleration of the machine body reverses three times consecutively in any dimension within a preset time, it is counted as the mid-frequency jitter point. When the position command of the rudder remains unchanged, each reversal of the body acceleration is also obtained from the axial dimension and counted as a single point of axial jitter of the rudder.

5. The method for locating abnormal aircraft vibration as described in claim 4, characterized in that, The abnormal jitter threshold is six.

6. The method for locating abnormal aircraft vibration as described in claim 1, characterized in that, Before monitoring whether the aircraft's maneuvers fall within the preset fixed wing deflection coordination in autopilot mode, the process also includes checking whether the aircraft's autopilot is engaged.

7. A positioning device for abnormal aircraft vibration, characterized in that, include: The maneuvering monitoring module is used to monitor whether the aircraft's maneuvers are within the preset fixed wing deflection coordination in autopilot mode. The position command checking module is used to check whether all preset single wing surface position commands remain unchanged when the maneuvering action does not belong to the fixed deflection coordination of the wing surface. The jitter point statistics module is used to filter and count jitter points based on the reversal of the body acceleration in the horizontal, axial, and vertical dimensions when each position command remains unchanged; wherein, the jitter points include mid-frequency jitter points and single points of rudder axial jitter. An abnormal jitter localization module is used to determine the location of abnormal jitter based on the number and distribution of the jitter points; The step of determining the location of abnormal jitter based on the number and distribution of the jitter points includes: When the number of single points of axial jitter of the rudder is greater than the preset abnormal jitter threshold, it is determined whether the mid-frequency jitter points are distributed in the three dimensions of lateral, axial and vertical of the other wing surfaces in the preset single wing surface, excluding the rudder. When the other wing surfaces have the mid-frequency jitter points distributed in the three dimensions, determine whether the mid-frequency jitter points are distributed on both sides of the aircraft's centerline; If the mid-frequency jitter points are distributed on both sides of the aircraft's centerline, the abnormal jitter occurs in the rudder; otherwise, the abnormal jitter occurs in the elevator.

8. A device for locating abnormal aircraft vibration, characterized in that, The system includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the method for locating abnormal aircraft shaking as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program; wherein, when the computer program is executed, it controls the device on which the computer-readable storage medium is located to perform the aircraft abnormal shaking localization method as described in any one of claims 1 to 6.

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