A flight control system control surface force dispute oscillation fault detection method and system

Abstract

The present application is about a method and system for detecting a force dispute oscillation fault of a control surface of a flight control system. The method for detecting a force dispute oscillation fault of a control surface of a flight control system includes the following steps: obtaining an actuator pressure difference signal; performing high-pass filtering on the actuator pressure difference signal to obtain an output force oscillation component; setting a force dispute oscillation monitoring threshold, comparing the output force oscillation component with the force dispute oscillation monitoring threshold, and obtaining a comparison result; selecting an oscillation count value corresponding to each beat of the output force oscillation component based on the comparison result, and accumulating the obtained oscillation count values ​​in chronological order to obtain a fault integral value; when the fault integral value reaches a preset fault monitoring threshold, a force dispute oscillation fault is triggered, and the force dispute oscillation fault is latched. The embodiments of the present application can more accurately identify force dispute oscillation faults and improve the safety of flight control systems and aircraft.

Description

Technical Field

[0001] The present application relates to the field of aircraft technology, and in particular to a method and system for detecting control surface force dispute oscillation faults in a flight control system. Background Art

[0002] The deflection control of the main flight control surfaces by the flight control system of the aircraft is generally achieved through the cooperation of multiple actuators, among which multiple actuators can adopt the main-main working mode or the main-backup working mode. For the flight control system adopting the main-main working mode, if a single actuator fails or its control command is wrong, it may cause force dispute oscillation between the actuators, which will cause fatigue and damage to the aircraft structure in severe cases, affecting flight safety. Therefore, it is necessary to effectively identify the force dispute oscillation fault caused by the failure of a single actuator control loop to improve the safety of the flight control system and the aircraft.

[0003] In the prior art, the real-time pressure signal in the inner cavity of the actuator is generally monitored, and then the actuator fault is judged based on the conventional pressure judgment criteria of the hydraulic system. However, this method has the disadvantages of insufficient accuracy of fault detection or small fault monitoring coverage.

[0004] Therefore, it is necessary to provide a new technical solution to improve one or more problems existing in the above solutions.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0006] The purpose of the embodiments of the present application is to provide a method and system for detecting force dispute oscillation faults of the control surfaces of a flight control system, which can more accurately identify force dispute oscillation faults and improve the safety of the flight control system and the aircraft.

[0007] According to a first aspect of an embodiment of the present application, a method for detecting a control surface force dispute oscillation fault of a flight control system is provided, comprising:

[0008] Obtaining actuator pressure difference signal;

[0009] Performing high-pass filtering on the pressure difference signal of the actuator to obtain an output force oscillation component;

[0010] Setting a force contention oscillation monitoring threshold, and comparing the output force oscillation component with the force contention oscillation monitoring threshold to obtain a comparison result;

[0011] Selecting an oscillation count value corresponding to each beat of the output force oscillation component based on the comparison result, and accumulating the obtained oscillation count values ​​in chronological order to obtain a fault integral value;

[0012] When the fault integral value reaches a preset fault monitoring threshold, a force dispute oscillation fault is triggered and the force dispute oscillation fault is latched.

[0013] In an exemplary embodiment of the present application, the setting of the force dispute oscillation monitoring threshold, comparing the output force oscillation component with the force dispute oscillation monitoring threshold to obtain a comparison result, includes:

[0014] The force dispute oscillation monitoring threshold is determined according to the maximum allowable force dispute oscillation amplitude and the adjustment coefficient; wherein,

[0015] The adjustment coefficient is determined according to formula (1):

[0016] (1)

[0017] in, represents the adjustment coefficient; Indicates the preset monitoring maximum oscillation frequency; Indicates the sampling frequency.

[0018] In an exemplary embodiment of the present application, the setting of the force dispute oscillation monitoring threshold, comparing the output force oscillation component with the force dispute oscillation monitoring threshold to obtain a comparison result, includes:

[0019] Taking the absolute value of the output force oscillation component to obtain the absolute value of the output force oscillation component;

[0020] If the absolute value of the output force oscillation component is greater than the force conflict oscillation monitoring threshold, the comparison result is set to 1; otherwise, the comparison result is set to 0.

[0021] In an exemplary embodiment of the present application, the selecting, based on the comparison result, the oscillation count value corresponding to each beat of the output force oscillation component comprises:

[0022] When the comparison result is set to 1, the oscillation count value of the current beat is set to the absolute value of the output force oscillation component of the current beat;

[0023] When the comparison result is set to 0, the oscillation count value of the current beat is set to a negative value.

[0024] In an exemplary embodiment of the present application, when the oscillation count value of the set beat is negative, the negative value is determined according to the force dispute oscillation monitoring threshold and the deceleration rate; wherein,

[0025] The deceleration rate is determined according to formula (2):

[0026] (2)

[0027] in, Indicates the target oscillation monitoring amplitude; Represents the period of the oscillation signal; The value is , is the adjustment coefficient; Indicates the frequency of the oscillation signal; Indicates the deceleration rate; Indicates time.

[0028] In an exemplary embodiment of the present application, the step of obtaining the actuator pressure difference signal includes:

[0029] Collecting a first pressure signal in the extension chamber and a second pressure signal in the retraction chamber of the actuator;

[0030] The first pressure signal and the second pressure signal are subjected to difference processing to obtain the actuator pressure difference signal.

[0031] In an exemplary embodiment of the present application, before performing the difference processing on the first pressure signal and the second pressure signal, the method further includes:

[0032] The first pressure signal and the second pressure signal are subjected to low-pass filtering.

[0033] According to a second aspect of an embodiment of the present application, a flight control system control surface force dispute oscillation fault detection system is provided, comprising:

[0034] An acquisition module, used for acquiring a pressure difference signal of an actuator;

[0035] A first filtering processing module, used for performing high-pass filtering on the pressure difference signal of the actuator to obtain an output force oscillation component;

[0036] A comparison processing module, used for setting a force dispute oscillation monitoring threshold, comparing the output force oscillation component with the force dispute oscillation monitoring threshold, and obtaining a comparison result;

[0037] A selection processing module is used to select an oscillation count value corresponding to each beat of the output force oscillation component based on the comparison result, and accumulate the obtained oscillation count values ​​in time sequence to obtain a fault integral value;

[0038] The fault latching module is used to trigger a force dispute oscillation fault and latch the force dispute oscillation fault when the fault integral value reaches a preset fault monitoring threshold.

[0039] In an exemplary embodiment of the present application, the comparison processing module includes:

[0040] A determination module is used to determine the force dispute oscillation monitoring threshold according to the maximum allowable force dispute oscillation amplitude and the adjustment coefficient; wherein,

[0041] The adjustment coefficient is determined according to formula (1):

[0042] (1)

[0043] in, represents the adjustment coefficient; Indicates the preset monitoring maximum oscillation frequency; Indicates the sampling frequency.

[0044] In an exemplary embodiment of the present application, the comparison processing module further includes:

[0045] An absolute value module is used to perform absolute value processing on the output force oscillation component to obtain the absolute value of the output force oscillation component;

[0046] The comparison submodule is used to set the comparison result to 1 if the absolute value of the output force oscillation component is greater than the force dispute oscillation monitoring threshold, and to set the comparison result to 0 otherwise.

[0047] The technical solution provided by this application may have the following beneficial effects:

[0048] In the embodiments of the present application, on the one hand, during signal preprocessing, the acquired actuator pressure difference signal is subjected to high-pass filtering to filter out the steady-state output force and obtain the output force oscillation component that needs to be monitored and suppressed; on the other hand, during fault detection, the method compares the force dispute oscillation monitoring threshold with the output force oscillation component to determine the possibility of a control surface force dispute oscillation fault, and then selects the oscillation count value corresponding to each beat of the output force oscillation component based on the comparison result, and accumulates the control surface force dispute oscillation fault through the oscillation count value accumulation processing method, compares the fault integral value with the preset fault monitoring threshold to determine when the force dispute oscillation fault is triggered, thereby accurately identifying the force dispute oscillation fault and improving the safety of the flight control system and the aircraft.

[0049] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0051] Figure 1 A flowchart showing the steps of a method for detecting a control surface force dispute oscillation fault in a flight control system in an exemplary embodiment of the present application;

[0052] Figure 2 Schematic diagram showing the effect of force conflict oscillation fault detection in an exemplary embodiment of the present application Figure 1 ;

[0053] Figure 3 Schematic diagram showing the effect of force conflict oscillation fault detection in an exemplary embodiment of the present application Figure 2 ;

[0054] Figure 4 A simplified schematic diagram of a flight control system control surface force dispute oscillation fault detection system in an exemplary embodiment of the present application is shown. DETAILED DESCRIPTION

[0055] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0056] In addition, the drawings are only schematic illustrations of the present application and are not necessarily drawn to scale. The same reference numerals in the drawings represent the same or similar parts, and their repeated descriptions will be omitted. Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities.

[0057] In this example implementation, a method for detecting control surface force conflict oscillation faults in a flight control system is first provided. Figure 1 As shown in , the method may include the following steps:

[0058] Step S101: obtaining an actuator pressure difference signal;

[0059] Step S102: high-pass filtering the actuator pressure difference signal to obtain an output force oscillation component;

[0060] Step S103: setting a force contention oscillation monitoring threshold, and performing a comparison process on the output force oscillation component and the force contention oscillation monitoring threshold to obtain a comparison result;

[0061] Step S104: selecting the oscillation count value corresponding to each beat of the output force oscillation component based on the comparison result, and accumulating the obtained oscillation count values ​​in chronological order to obtain a fault integral value;

[0062] Step S105: When the fault integral value reaches the preset fault monitoring threshold, a force dispute oscillation fault is triggered and the force dispute oscillation fault is latched.

[0063] In the embodiments of the present application, on the one hand, during signal preprocessing, the acquired actuator pressure difference signal is subjected to high-pass filtering to filter out the steady-state output force and obtain the output force oscillation component that needs to be monitored and suppressed; on the other hand, during fault detection, the method compares the force dispute oscillation monitoring threshold with the output force oscillation component to determine the possibility of a control surface force dispute oscillation fault, and then selects the oscillation count value corresponding to each beat of the output force oscillation component based on the comparison result, and accumulates the control surface force dispute oscillation fault through the oscillation count value accumulation processing method, compares the fault integral value with the preset fault monitoring threshold to determine when the force dispute oscillation fault is triggered, thereby accurately identifying the force dispute oscillation fault and improving the safety of the flight control system and the aircraft.

[0064] Below, each step of the above method in this example implementation will be described in more detail.

[0065] In one embodiment, the step of obtaining the actuator pressure difference signal in step S101 includes the following steps:

[0066] Step S1011: collecting a first pressure signal in the extension chamber and a second pressure signal in the retraction chamber of the actuator;

[0067] Step S1012: performing difference processing on the first pressure signal and the second pressure signal to obtain an actuator pressure difference signal.

[0068] In the above step S1011, pressure sensors can be installed respectively in the extension chamber and the retraction chamber of the actuator to collect the pressure signals in the extension chamber and the retraction chamber; the collected pressure signals can be transmitted to the flight control computer, and the flight control computer can perform difference processing on the first pressure signal and the second pressure signal to obtain the actuator pressure difference signal.

[0069] Optionally, before performing the difference processing on the first pressure signal and the second pressure signal in step S1012, the following steps are also included:

[0070] The first pressure signal and the second pressure signal are subjected to low-pass filtering.

[0071] The first pressure signal and the second pressure signal collected are subjected to low-pass filtering to eliminate signal noise interference. It should be noted that when the first pressure signal and the second pressure signal are subjected to low-pass filtering, a first-order low-pass filter can be used; wherein the filter cutoff frequency during low-pass filtering can be determined according to the pressure in the actuator cavity and the signal dynamic performance of the pressure sensor.

[0072] For the high-pass filtering process in step S102 , the filter cutoff frequency during the high-pass filtering process may be determined according to the force oscillation frequency to be monitored.

[0073] In addition, it should be noted that in the specific implementation, multiple parallel force dispute monitors can be selected as needed to perform high-pass filtering on the actuator pressure difference signal. Multiple parallel force dispute monitors are configured with corresponding filter cutoff frequencies to cope with more complex force dispute oscillation monitoring conditions.

[0074] In one embodiment, the step of setting a force contention oscillation monitoring threshold in step S103, comparing the output force oscillation component with the force contention oscillation monitoring threshold, and obtaining a comparison result further includes the following steps:

[0075] The force conflict oscillation monitoring threshold is determined according to the maximum allowable force conflict oscillation amplitude and the adjustment coefficient; wherein,

[0076] The adjustment coefficient is determined according to formula (1):

[0077] (1)

[0078] in, represents the adjustment coefficient; Indicates the preset monitoring maximum oscillation frequency; Indicates the sampling frequency.

[0079] The above force contention oscillation monitoring threshold is determined based on the maximum allowable force contention oscillation amplitude and the adjustment coefficient, and the adjustment coefficient is calculated by formula (1). It can be seen that the selection of the force contention oscillation monitoring threshold takes into account the preset monitoring maximum oscillation frequency. , sampling frequency As well as the maximum allowable force contention oscillation amplitude, it can be seen that the force contention oscillation monitoring threshold selected in this application is more suitable for different fault detection conditions.

[0080] Specifically, the product of the maximum allowable force oscillation amplitude and the adjustment coefficient is the force oscillation monitoring threshold. The maximum oscillation frequency of the actuator can be determined based on the sampling frequency of the flight control computer on the pressure signal of the actuator, and the pressure signal of the actuator is the first pressure signal and the second pressure signal mentioned above. It can be understood as: the oscillation frequency that needs to be monitored and is preset for fault detection. The above-mentioned maximum allowable force-dispute oscillation amplitude can be set according to the specific force-dispute oscillation working condition.

[0081] Specifically, when the maximum oscillation frequency is preset The sampling frequency is 20Hz When the frequency is 80Hz, the adjustment coefficient can be obtained by formula (1): The value range of is approximately [0.8524, 0.9237], then the adjustment coefficient can be selected within this value range. It is 0.87.

[0082] In one embodiment, the step of setting a force contention oscillation monitoring threshold in step S103, comparing the output force oscillation component with the force contention oscillation monitoring threshold, and obtaining a comparison result further includes the following steps:

[0083] Taking the absolute value of the output force oscillation component to obtain the absolute value of the output force oscillation component;

[0084] If the absolute value of the output force oscillation component is greater than the force contention oscillation monitoring threshold, the comparison result is set to 1, otherwise the comparison result is set to 0.

[0085] The force dispute oscillation monitoring threshold is determined by allowing the maximum force dispute oscillation amplitude and the adjustment coefficient, and the value of the comparison result is further set by comparing the absolute value of the output force oscillation component with the force dispute oscillation monitoring threshold. In the entire force dispute oscillation fault detection, this processing method can effectively solve the problem that the fault cannot be monitored due to the inconsistency between the flight control computer operating speed and the bus speed, and improve the monitoring coverage.

[0086] It should be noted that the absolute value of the output force oscillation component can be understood as the product of the absolute value of the actuator pressure difference signal and the effective area of ​​the actuator piston.

[0087] In one embodiment, the step of selecting the oscillation count value corresponding to each beat of the output force oscillation component based on the comparison result in step S104 further includes the following steps:

[0088] When the comparison result is set to 1, the oscillation count value of the current beat is set to the absolute value of the output force oscillation component of the current beat;

[0089] When the comparison result is set to 0, the oscillation count value of the current beat is set to a negative value.

[0090] The above setting of the oscillation count value of the current beat according to the comparison result can be understood as follows: when the absolute value of the output force oscillation component exceeds the force dispute oscillation monitoring threshold, there is a possibility of a control surface force dispute oscillation fault, and when the absolute value of the output force oscillation component does not exceed the force dispute oscillation monitoring threshold, there is no possibility of a control surface force dispute oscillation fault. Then, the control surface force dispute oscillation fault is accumulated by the oscillation count value accumulation processing method, so as to determine when the force dispute oscillation fault is triggered in step S105.

[0091] It should be noted that the above-mentioned absolute value of the output force oscillation component can be obtained by taking the absolute value of the output force oscillation component.

[0092] Specifically, when the oscillation count value of the set beat is a negative value, the negative value is determined according to the force dispute oscillation monitoring threshold and the deceleration rate; wherein,

[0093] The deceleration rate is determined according to formula (2):

[0094] (2)

[0095] in, Indicates the target oscillation monitoring amplitude; Represents the period of the oscillation signal; The value is , is the adjustment coefficient; Indicates the frequency of the oscillation signal; Indicates the deceleration rate; Indicates time.

[0096] It should be noted that, in this embodiment, the oscillation signal frequency It can be understood as the oscillation frequency of the output force oscillation component.

[0097] The value of the negative value may be specifically the product of the force oscillation monitoring threshold and the deceleration rate. The setting of the deceleration rate is beneficial to eliminating the influence of transient faults on the monitor and improving the monitoring robustness.

[0098] It should be noted that in step S103, it is also necessary to compare the output force oscillation component and the force dispute oscillation monitoring threshold for each beat of the output force oscillation component; and then in step S104, the oscillation count value of the current beat can be selected based on the comparison result obtained for each beat of the above-mentioned output force oscillation component.

[0099] It should also be noted that in step S104, after selecting the oscillation count value corresponding to each beat of the output force oscillation component based on the comparison result, the oscillation count values ​​obtained during the oscillation monitoring period need to be accumulated in time sequence and in real time, and the fault integral value will be updated after the oscillation count value of each beat is accumulated. Therefore, in step S105, the fault integral value updated in real time is compared with the preset fault monitoring threshold. When the fault integral value reaches the preset fault monitoring threshold, the force dispute oscillation fault is triggered and the force dispute oscillation fault is latched.

[0100] In one embodiment, the preset fault monitoring threshold in step S105 is based on the accumulated count value of the unit period. and maximum allowable time of failure Determine, among which, the maximum allowable time of failure Set according to the required monitoring time. Accumulated count value per period It can be determined by formula (3):

[0101] (3)

[0102] in, Indicates the accumulated count value per unit period. Indicates the target oscillation monitoring amplitude; Represents the period of the oscillation signal; The value is , is the adjustment coefficient; Indicates the frequency of the oscillation signal; Indicates the deceleration rate; Indicates time.

[0103] Specifically, the preset fault monitoring threshold in step S105 can be determined according to formula (4):

[0104] (4)

[0105] in, Indicates the preset fault monitoring threshold, Indicates the accumulated count value per unit period. Indicates the maximum allowable fault time. Represents the period of the oscillation signal.

[0106] When the unit cycle accumulated count value calculated according to the above formula (3) is 5, the maximum allowable fault time Set to 100 seconds, the oscillation signal period When it is 0.1 seconds, the preset fault monitoring threshold can be calculated according to formula (4): is 5000.

[0107] It should be noted that an upper and lower accumulation limit can be set for the accumulation of oscillation count values ​​to avoid the accumulation exceeding the limit and affecting the monitoring efficiency. When set to 5000, the upper limit of accumulation can be set to 5001, and the lower limit of accumulation can be set to 0.

[0108] It should also be noted that the flight control system control surface force dispute oscillation fault detection method of this embodiment also includes a fault reset process. The fault reset process can be understood as: after step S105, when an external reset signal is received, the fault latch result is set to "normal" and the previous fault integral value is cleared.

[0109] This embodiment uses simulation experiments to illustrate the effect of the flight control system control surface force dispute oscillation fault detection method on force dispute oscillation fault detection. Figure 2 and Figure 3 As shown in Figure 2 and Figure 3 Schematic diagrams of force dispute oscillation fault detection effects are shown respectively.

[0110] exist Figure 2 and Figure 3 In the chart, psi is a unit of measurement. p refers to pounds-force, s refers to square, and i refers to inches. Psi means pounds-force per square inch. The unit of measurement psi can be converted to the unit of pressure bar, specifically 1 bar≈14.5 psi.

[0111] exist Figure 2 In the figure, the output force oscillation component with an oscillation signal frequency of 1 Hz and a target oscillation monitoring amplitude of 1200 psi is monitored; it can be seen from Figure 2 that at about 8.6 seconds, the force dispute oscillation fault monitoring output signal of the monitor becomes 1, which means that the force dispute oscillation fault is triggered at about 8.6 seconds.

[0112] exist Figure 3 In the embodiment, the output force oscillation component with an oscillation signal frequency of 10 Hz and a target oscillation monitoring amplitude of 800 psi is monitored; Figure 3 It can be seen from the figure that the force conflict oscillation fault monitoring output signal of the monitor changes to 1 at around 10.4 seconds, which means that the force conflict oscillation fault is triggered at around 10.4 seconds.

[0113] It can be seen that when the method of the present application is used to perform fault detection for output force oscillation components of different oscillation signal frequencies, force dispute oscillation faults can be accurately identified.

[0114] Furthermore, this exemplary embodiment also provides a flight control system control surface force dispute oscillation fault detection system, referring to Figure 4As shown in, the system may include an acquisition module, a first filtering processing module, a comparison processing module, a selection processing module and a fault latching module, wherein the acquisition module is used to acquire the pressure difference signal of the actuator; the first filtering processing module is connected to the acquisition module, and is used to perform high-pass filtering on the pressure difference signal of the actuator to obtain an output force oscillation component; the comparison processing module is connected to the first filtering processing module, and is used to set a force dispute oscillation monitoring threshold, and compare the output force oscillation component with the force dispute oscillation monitoring threshold to obtain a comparison result; the selection processing module is connected to the comparison processing module, and is used to select the oscillation count value corresponding to each beat of the output force oscillation component based on the comparison result, and accumulate the obtained oscillation count values ​​in chronological order to obtain a fault integral value; the fault latching module is connected to the selection processing module, and is used to trigger a force dispute oscillation fault when the fault integral value reaches a preset fault monitoring threshold, and latch the force dispute oscillation fault.

[0115] In an embodiment of the present application, the control surface force dispute oscillation fault detection system of the flight control system can use the acquisition module to obtain the actuator pressure difference signal; use the first filtering processing module to perform high-pass filtering on the obtained actuator pressure difference signal to filter out the steady-state output force and obtain the output force oscillation component that needs to be monitored and suppressed; use the comparison processing module to compare the output force oscillation component and the force dispute oscillation monitoring threshold, use the selection processing module to select the oscillation count value corresponding to each beat of the output force oscillation component, and solve the fault integral value; use the fault latch module to latch the force dispute oscillation fault when the force dispute oscillation fault is triggered, thereby realizing the detection of the force dispute oscillation fault.

[0116] Next, the above-mentioned system in this example embodiment will be described in more detail.

[0117] In one embodiment, the comparison processing module of the flight control system control surface force dispute oscillation fault detection system further includes:

[0118] A determination module is used to determine the force dispute oscillation monitoring threshold according to the maximum allowable force dispute oscillation amplitude and the adjustment coefficient; wherein,

[0119] The adjustment coefficient is determined according to formula (1):

[0120] (1)

[0121] in, represents the adjustment coefficient; Indicates the preset monitoring maximum oscillation frequency; Indicates the sampling frequency.

[0122] The force contention oscillation monitoring threshold determined by the above determination module takes into account the preset monitoring maximum oscillation frequency , sampling frequency And the maximum allowable force contention oscillation amplitude, so that the force contention oscillation monitoring threshold selected in this application is more suitable for different fault detection conditions.

[0123] It should be explained that the above sampling frequency The maximum oscillation frequency of the actuator can be determined based on the sampling frequency of the flight control computer on the pressure signal of the actuator, and the pressure signal of the actuator is the first pressure signal and the second pressure signal mentioned above. It can be understood as: the oscillation frequency that needs to be monitored and is preset for fault detection. The above-mentioned maximum allowable force-dispute oscillation amplitude can be set according to the specific force-dispute oscillation working condition.

[0124] In one embodiment, the comparison processing module of the flight control system control surface force dispute oscillation fault detection system further includes:

[0125] An absolute value module is used to perform absolute value processing on the output force oscillation component to obtain the absolute value of the output force oscillation component;

[0126] The comparison submodule is used to set the comparison result to 1 if the absolute value of the output force oscillation component is greater than the force contention oscillation monitoring threshold, otherwise the comparison result is set to 0.

[0127] It should be noted that the above-mentioned determination module and absolute value module are respectively connected to the comparison sub-module to transmit the value of the force dispute oscillation monitoring threshold and the absolute value of the output force oscillation component to the comparison sub-module, and then the comparison sub-module can compare the absolute value of the output force oscillation component with the force dispute oscillation monitoring threshold to obtain a comparison result.

[0128] It should also be noted that the absolute value module is also connected to the first filtering processing module to obtain the output force oscillation component in the first filtering processing module, so that the absolute value module can perform absolute value processing on the output force oscillation component.

[0129] Specifically, the selection and processing module of the flight control system control surface force dispute oscillation fault detection system also includes:

[0130] The first selection processing submodule is used for setting the oscillation count value of the current beat to the absolute value of the output force oscillation component of the current beat when the comparison result is set to 1;

[0131] The second selection processing submodule is used for setting the oscillation count value of the current beat to a negative value when the comparison result is set to 0.

[0132] Specifically, the selection and processing module of the flight control system control surface force dispute oscillation fault detection system also includes:

[0133] A negative value determination module is used to determine the negative value according to the force oscillation monitoring threshold and the deceleration rate when the oscillation count value of the set beat is negative; wherein,

[0134] The deceleration rate is determined according to formula (2):

[0135] (2)

[0136] in, Indicates the target oscillation monitoring amplitude; Represents the period of the oscillation signal; The value is , is the adjustment coefficient; Indicates the frequency of the oscillation signal; Indicates the deceleration rate; Indicates time.

[0137] It should be explained that, in this embodiment, the oscillation signal frequency It can be understood as the oscillation frequency of the output force oscillation component.

[0138] Specifically, the selection and processing module of the flight control system control surface force dispute oscillation fault detection system also includes:

[0139] The integral accumulation calculation module is used to accumulate the obtained oscillation count values ​​in time sequence to obtain the fault integral value.

[0140] It should be noted that the first selection processing submodule and the second selection processing submodule are respectively connected to the integral accumulation calculation module to transmit the oscillation count value determined by the first selection processing submodule and the oscillation count value determined by the second selection processing submodule to the accumulation calculation module, and then the integral accumulation calculation module can accumulate the oscillation count values ​​obtained in time sequence to obtain the fault integral value. It should also be noted that the negative value determination module is connected to the second selection processing submodule so that the negative value determined by the negative value determination module is transmitted to the second selection processing submodule.

[0141] It should also be noted that the first selection processing submodule and the second selection processing submodule are also respectively connected to the comparison submodule of the comparison processing module to obtain the comparison results in the comparison submodule.

[0142] In one embodiment, the fault latch module of the flight control system control surface force dispute oscillation fault detection system further includes:

[0143] A comparison and judgment module is connected to the integral accumulation calculation module of the selection processing module, and is used to compare the fault integral value with the preset fault monitoring threshold, and when the fault integral value reaches the preset fault monitoring threshold, trigger the force dispute oscillation fault;

[0144] The latch module is connected to the comparison and judgment module, and is used to latch the force dispute oscillation fault when the force dispute oscillation fault is triggered.

[0145] In one embodiment, the flight control system control surface force dispute oscillation fault detection system further includes:

[0146] Preset fault monitoring threshold determination module, used to accumulate count values ​​according to unit cycle and maximum allowable time of failure Determine the preset fault monitoring threshold.

[0147] Maximum permissible time for the above faults Set according to the required monitoring time, and accumulate the count value per period It can be determined by formula (3):

[0148] (3)

[0149] in, Indicates the accumulated count value per unit period. Indicates the target oscillation monitoring amplitude; Represents the period of the oscillation signal; The value is , is the adjustment coefficient; Indicates the frequency of the oscillation signal; Indicates the deceleration rate; Indicates time.

[0150] The above preset fault monitoring threshold can be determined according to formula (4):

[0151] (4)

[0152] in, Indicates the preset fault monitoring threshold, Indicates the accumulated count value per unit period. Indicates the maximum allowable fault time. Represents the period of the oscillation signal.

[0153] It should be noted that the above-mentioned preset fault monitoring threshold determination module is connected to the comparison and judgment module of the fault latch module to transmit the preset fault monitoring threshold determined by the preset fault monitoring threshold determination module to the comparison and judgment module, and then the comparison and judgment module can trigger the force dispute oscillation fault based on the preset fault monitoring threshold and the fault integral value.

[0154] In one embodiment, the flight control system control surface force dispute oscillation fault detection system further includes:

[0155] A signal acquisition module, used for acquiring a first pressure signal in the extension chamber and a second pressure signal in the retraction chamber of the actuator;

[0156] A second filtering processing module, connected to the signal acquisition module, for performing low-pass filtering on the first pressure signal and the second pressure signal;

[0157] The difference processing module is connected to the second filtering processing module and is used to perform difference processing on the first pressure signal and the second pressure signal after low-pass filtering to calculate the actuator pressure difference signal.

[0158] It should be noted that the difference processing module is connected to the acquisition module so that the difference processing module transmits the actuator pressure difference signal calculated by the difference processing module to the acquisition module.

[0159] The second filtering processing module performs low-pass filtering on the first pressure signal and the second pressure signal respectively to eliminate signal noise interference.

[0160] In one embodiment, the signal acquisition module has a plurality of sensors for acquiring pressure signals, and the sensors may be pressure sensors. Specifically, the first pressure signal and the second pressure signal may be acquired by installing pressure sensors in the extension cavity and the retraction cavity of the actuator, respectively.

[0161] Regarding the system in the above embodiment, the specific manner in which each unit performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0162] It should be noted that although several units of the system for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the implementation mode of the present application, the features and functions of two or more units described above can be concretized in one unit. Conversely, the features and functions of a unit described above can be further divided into multiple units for concretization. Some or all of the units can be selected according to actual needs to achieve the purpose of the present application scheme. Those of ordinary skill in the art can understand and implement it without paying creative work.

[0163] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary technical means in the art that are not disclosed in the present application.

Claims

1. A method for detecting control surface force conflict oscillation faults in a flight control system, characterized in that: include: Obtaining actuator pressure difference signal; Performing high-pass filtering on the pressure difference signal of the actuator to obtain an output force oscillation component; Setting a force contention oscillation monitoring threshold, and comparing the output force oscillation component with the force contention oscillation monitoring threshold to obtain a comparison result; Selecting an oscillation count value corresponding to each beat of the output force oscillation component based on the comparison result, and accumulating the obtained oscillation count values ​​in chronological order to obtain a fault integral value; When the fault integral value reaches a preset fault monitoring threshold, a force dispute oscillation fault is triggered, and the force dispute oscillation fault is latched; The setting of the force contention oscillation monitoring threshold, comparing the output force oscillation component with the force contention oscillation monitoring threshold to obtain a comparison result, includes: The force dispute oscillation monitoring threshold is determined according to the maximum allowable force dispute oscillation amplitude and the adjustment coefficient; wherein, The adjustment coefficient is determined according to formula (1): （1） in, represents the adjustment coefficient; Indicates the preset monitoring maximum oscillation frequency; Indicates the sampling frequency; Taking the absolute value of the output force oscillation component to obtain the absolute value of the output force oscillation component; If the absolute value of the output force oscillation component is greater than the force dispute oscillation monitoring threshold, the comparison result is set to 1, otherwise the comparison result is set to 0; The selecting, based on the comparison result, the oscillation count value corresponding to each beat of the output force oscillation component comprises: When the comparison result is set to 1, the oscillation count value of the current beat is set to the absolute value of the output force oscillation component of the current beat; When the comparison result is set to 0, the oscillation count value of the current beat is set to a negative value; In the case where the oscillation count value of the set beat is negative, the negative value is determined according to the force dispute oscillation monitoring threshold and the deceleration rate; wherein, The deceleration rate is determined according to formula (2): （2） in, Indicates the target oscillation monitoring amplitude; Represents the period of the oscillation signal; The value is , is the adjustment coefficient; Indicates the frequency of the oscillation signal; Indicates the deceleration rate; Indicates time.

2. The flight control system control surface force dispute oscillation fault detection method according to claim 1, characterized in that: The step of obtaining the actuator pressure difference signal comprises: Collecting a first pressure signal in the extension chamber and a second pressure signal in the retraction chamber of the actuator; The first pressure signal and the second pressure signal are subjected to difference processing to obtain the actuator pressure difference signal.

3. The flight control system control surface force dispute oscillation fault detection method according to claim 2, characterized in that: Before performing the difference processing on the first pressure signal and the second pressure signal, the method further includes: The first pressure signal and the second pressure signal are subjected to low-pass filtering.

4. A flight control system control surface force dispute oscillation fault detection system applied to the flight control system control surface force dispute oscillation fault detection method as claimed in claim 1, characterized in that: include: An acquisition module, used for acquiring a pressure difference signal of an actuator; A first filtering processing module, used for performing high-pass filtering on the pressure difference signal of the actuator to obtain an output force oscillation component; A comparison processing module, used for setting a force dispute oscillation monitoring threshold, comparing the output force oscillation component with the force dispute oscillation monitoring threshold, and obtaining a comparison result; A selection processing module is used to select an oscillation count value corresponding to each beat of the output force oscillation component based on the comparison result, and accumulate the obtained oscillation count values ​​in time sequence to obtain a fault integral value; The fault latching module is used to trigger a force dispute oscillation fault and latch the force dispute oscillation fault when the fault integral value reaches a preset fault monitoring threshold.

5. The flight control system control surface force dispute oscillation fault detection system according to claim 4, characterized in that: The comparison processing module comprises: A determination module is used to determine the force dispute oscillation monitoring threshold according to the maximum allowable force dispute oscillation amplitude and the adjustment coefficient; wherein, The adjustment coefficient is determined according to formula (1): （1） in, represents the adjustment coefficient; Indicates the preset monitoring maximum oscillation frequency; Indicates the sampling frequency.

6. The flight control system control surface force dispute oscillation fault detection system according to claim 5, characterized in that: The comparison processing module also includes: An absolute value module is used to perform absolute value processing on the output force oscillation component to obtain the absolute value of the output force oscillation component; The comparison submodule is used to set the comparison result to 1 if the absolute value of the output force oscillation component is greater than the force dispute oscillation monitoring threshold, and to set the comparison result to 0 otherwise.

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