Aircraft windshield wiper angle control device and control method

Abstract

The present invention relates to the technical field of aircraft wiper control, and in particular to an aircraft windshield wiper angle control device and control method, the method comprising: obtaining an initial wiper vibration signal of a controlled aircraft in a current wiper cleaning process, decomposing the initial wiper vibration signal, and screening out a target current vibration signal; determining a rotation error factor corresponding to each complete wiper cleaning process; determining a vibration abnormality factor corresponding to each current sampling moment and each historical sampling moment; determining a current error accumulation factor; adjusting a PID control amount at the current moment according to the vibration abnormality factors corresponding to all current sampling moments and the current error accumulation factor, obtaining a target PID control amount, and performing angle control on the wiper on the controlled aircraft. The present invention realizes angle control of the windshield wiper, improves the rationality of PID control amount adjustment and angle control of the wiper.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft wiper control, and in particular to an aircraft windshield wiper angle control device and a control method. Background Art

[0002] In order to effectively remove rain or snow from the surface of the windshield when the aircraft is flying in rainy and snowy weather conditions, thereby ensuring that the pilot has a good field of vision and ensuring flight safety, some aircraft are often installed with wipers for cleaning. Among them, wipers, also known as windshield wipers, are mainly used to clean the windshield. Windshield, also known as windshield. Since the wipers are cleaned by rotation, it is very important to control the angle of the wipers. At present, when controlling the equipment, the method usually adopted is: input the signal collected in the current time period into the PID (Proportional-Integral-Derivative) controller, and control the equipment through the PID controller. Among them, when controlling the equipment through the PID controller, the control of the equipment is mainly achieved through the PID control quantity.

[0003] However, when the wiper installed on the aircraft is controlled by a PID controller based on the wiper vibration signal collected in the current time period, the following technical problems often occur:

[0004] In the process of controlling the wiper angle through a PID controller, if only the wiper vibration signal collected in the current time period is considered, the rationality of the final output PID control quantity may be poor due to the single consideration factor, resulting in poor rationality of the wiper angle control. Summary of the invention

[0005] In order to solve the technical problem of poor rationality in controlling the angle of a windshield wiper due to poor rationality in determining a PID control amount, the present invention proposes an aircraft windshield wiper angle control device and a control method.

[0006] In a first aspect, the present invention provides a method for controlling an aircraft windshield wiper angle, the method comprising:

[0007] Obtaining an initial wiper vibration signal of the aircraft to be controlled in the current wiper cleaning process, decomposing the initial wiper vibration signal, and screening out a target current vibration signal from all decomposition results obtained;

[0008] Determine a rotation error factor corresponding to each complete wiper cleaning process based on the rotation information corresponding to each complete wiper cleaning process in a pre-acquired historical time period;

[0009] Determine the vibration abnormality factor corresponding to each current sampling moment according to the probability of occurrence of vibration data corresponding to each current sampling moment in the target current vibration signal and the duration between adjacent peaks in a preset window corresponding to each current sampling moment in the target current vibration signal;

[0010] Obtain a target historical vibration signal within each complete cleaning process of the wiper, and determine a vibration anomaly factor corresponding to each historical sampling moment in the target historical vibration signal;

[0011] Determine the current error accumulation factor according to the vibration anomaly factors corresponding to all historical sampling moments, all rotation error factors, and the initial angles of the wipers during all complete wiper cleaning processes;

[0012] According to the vibration abnormality factors corresponding to all current sampling moments and the current error accumulation factor, the PID control amount at the current moment is adjusted to obtain the target PID control amount;

[0013] According to the target PID control quantity, the angle of the wiper on the controlled aircraft is controlled.

[0014] In combination with the first aspect above, in a possible implementation manner, the step of filtering out the target current vibration signal from all the decomposition results obtained includes:

[0015] Determine the decomposition effect factor corresponding to each decomposition result according to the periodic coefficient and kurtosis of the vibration candidate signal included in each decomposition result, and the amplitude information entropy and amplitude mean of the noise candidate signal included in each decomposition result, wherein the decomposition result is obtained by decomposition through the NMF algorithm, and the signal component proportion of the vibration candidate signal is greater than the signal component proportion of the noise candidate signal;

[0016] A vibration candidate signal with the largest decomposition effect factor corresponding to the decomposition result is selected from all vibration candidate signals as the target current vibration signal.

[0017] In combination with the first aspect, in a possible implementation, determining the decomposition effect factor corresponding to each decomposition result according to the periodic coefficient and kurtosis of the vibration candidate signal included in each decomposition result, and the amplitude information entropy and amplitude mean of the noise candidate signal included in each decomposition result, includes:

[0018] Determine the absolute value of the difference between the kurtosis of the vibration candidate signal included in each decomposition result and a preset value as a non-steady-state factor corresponding to each decomposition result;

[0019] According to the periodic coefficient of the vibration candidate signal included in each decomposition result, its corresponding non-steady-state factor, and the amplitude information entropy and amplitude mean of the noise candidate signal included in each decomposition result, the decomposition effect factor corresponding to each decomposition result is determined, wherein the periodic coefficient and the amplitude information entropy are positively correlated with the decomposition effect factor, and the non-steady-state factor and the amplitude mean are negatively correlated with the decomposition effect factor.

[0020] In combination with the first aspect, in a possible implementation, determining the rotation error factor corresponding to each complete wiper cleaning process based on the rotation information corresponding to each complete wiper cleaning process in a pre-acquired historical time period includes:

[0021] The absolute value of the difference between the actual maximum rotation angle amount and the theoretical maximum rotation angle amount included in the rotation information corresponding to each complete cleaning process of the wiper is normalized to obtain the rotation error factor corresponding to each complete cleaning process of the wiper.

[0022] In combination with the first aspect above, in a possible implementation, determining the vibration abnormality factor corresponding to each current sampling moment according to the probability of occurrence of vibration data corresponding to each current sampling moment in the target current vibration signal and the duration between adjacent peaks in a preset window corresponding to each current sampling moment in the target current vibration signal includes:

[0023] Determine any current sampling moment as a marked sampling moment, determine the peak value in the target current vibration signal as the target peak value, and determine the vibration data in the target current vibration signal at the marked sampling moment as the target vibration corresponding to the marked sampling moment;

[0024] Determine the initial abnormal factor corresponding to the marked sampling moment according to the probability of the target vibration corresponding to the marked sampling moment appearing in the target current vibration signal, the duration between adjacent target peaks in the preset window corresponding to the marked sampling moment, and the preset standard peak interval, wherein the preset standard peak interval represents the average of the duration between all adjacent peaks in the target standard vibration signal in the wiper simulated standard rotation process;

[0025] The vibration abnormality factor corresponding to the marked sampling moment is determined according to the initial abnormality factor corresponding to the marked sampling moment and the probability that the target vibrations corresponding to all current sampling moments within the preset window corresponding to the marked sampling moment appear in the target current vibration signal.

[0026] In combination with the first aspect above, in a possible implementation, the formula corresponding to the vibration abnormality factor corresponding to the marking sampling moment is:

[0027] ;

[0028] ; Where f is the vibration anomaly factor corresponding to the marked sampling moment; is the normalization function; W is the initial anomaly factor corresponding to the marked sampling moment; is a natural exponential function; N is the number of current sampling moments in the preset window corresponding to the marked sampling moment; n is the sequence number of the current sampling moment in the preset window corresponding to the marked sampling moment; is the probability that the target vibration corresponding to the nth current sampling moment appears in the target current vibration signal within the preset window corresponding to the marked sampling moment; p is the probability that the target vibration corresponding to the marked sampling moment appears in the target current vibration signal; is the absolute value function; d is the value corresponding to the average of the durations between all adjacent target peaks in the preset window corresponding to the marked sampling moment; and D is the value corresponding to the preset standard peak interval.

[0029] In combination with the first aspect, in a possible implementation, determining the current error accumulation factor according to the vibration abnormality factors corresponding to all historical sampling moments, all rotation error factors, and the wiper initial angles of all complete wiper cleaning processes includes:

[0030] The current error accumulation factor is determined according to the mean value of the vibration anomaly factor corresponding to all historical sampling moments in each complete cleaning process of the wiper, as well as the rotation error factor and the wiper initial angle corresponding to each complete cleaning process of the wiper.

[0031] In combination with the first aspect above, in a possible implementation manner, the formula corresponding to the current error accumulation factor is:

[0032] ;

[0033] ; Where E is the current error accumulation factor; M is the number of complete wiper cleaning processes in the historical time period; j is the sequence number of complete wiper cleaning processes in the historical time period; Characterizes the error increment of the jth wiper complete cleaning process; is the normalization function; is the rotation error factor corresponding to the jth wiper complete cleaning process; is the rotation error factor corresponding to the j-1th wiper complete cleaning process; is the mean value of the vibration anomaly factor corresponding to all historical sampling moments in the jth complete cleaning process of the wiper; is the mean value of the vibration anomaly factor corresponding to all historical sampling moments in the j-1th complete cleaning process of the wiper; is the initial wiper angle of the jth complete cleaning process; is the initial wiper angle of the j-1th wiper complete cleaning process.

[0034] In combination with the first aspect above, in a possible implementation, the formula corresponding to the target PID control amount is:

[0035] ;in, is the value corresponding to the target PID control quantity; F is the mean value of the vibration abnormality factors corresponding to all current sampling moments; It is the value corresponding to the PID control quantity when no control quantity adjustment is performed at the current moment; E is the current error accumulation factor.

[0036] In a second aspect, the present invention provides an aircraft windshield wiper angle control device, the device comprising:

[0037] A signal acquisition and decomposition module is used to obtain an initial wiper vibration signal of the aircraft to be controlled in the current wiper cleaning process, decompose the initial wiper vibration signal, and filter out a target current vibration signal from all decomposition results;

[0038] A rotation error factor determination module, used to determine the rotation error factor corresponding to each complete wiper cleaning process based on the rotation information corresponding to each complete wiper cleaning process in a pre-acquired historical time period;

[0039] A vibration abnormality factor determination module is used to determine the vibration abnormality factor corresponding to each current sampling moment according to the probability of occurrence of vibration data corresponding to each current sampling moment in the target current vibration signal and the duration between adjacent peaks in a preset window corresponding to each current sampling moment in the target current vibration signal;

[0040] A signal acquisition and determination module is used to acquire a target historical vibration signal in each complete cleaning process of the wiper, and determine a vibration anomaly factor corresponding to each historical sampling moment in the target historical vibration signal;

[0041] An error accumulation factor determination module is used to determine the current error accumulation factor according to the vibration abnormality factors corresponding to all historical sampling moments, all rotation error factors and the initial angles of the wipers during all complete cleaning processes of the wipers;

[0042] The PID control quantity adjustment module is used to adjust the PID control quantity at the current moment according to the vibration abnormality factors corresponding to all current sampling moments and the current error accumulation factor to obtain the target PID control quantity;

[0043] The angle control module is used to control the angle of the wiper on the controlled aircraft according to the target PID control amount.

[0044] In a third aspect, a server is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the device executes the method in the first aspect or any possible implementation of the first aspect.

[0045] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0046] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect.

[0047] The present invention has the following beneficial effects:

[0048] The invention discloses an aircraft windshield wiper angle control method, which realizes the angle control of the windshield wiper, solves the technical problem that the rationality of the wiper angle control is poor due to the poor rationality of the PID control amount determination, improves the rationality of the PID control amount adjustment, and thus improves the rationality of the wiper angle control. Compared with the wiper vibration signal collected in the current time period, the invention decomposes the initial wiper vibration signal obtained, and the target current vibration signal screened out from all the decomposition results can more accurately characterize the real wiper vibration situation to a certain extent, so that it is convenient to input the target current vibration signal into the PID controller in the future, and obtain the PID control amount at the current moment through the PID controller, thereby improving the rationality of the PID control amount determination to a certain extent. Secondly, in the process of controlling the wiper angle through the PID controller, compared with only considering the wiper vibration signal collected in the current time period, the invention comprehensively considers multiple indicators related to the control amount, such as the target current vibration signal, the rotation error factor, the vibration abnormality factor and the current error accumulation factor, thereby improving the rationality of the PID control amount adjustment, and then improving the rationality of the wiper angle control. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 A flow chart of a method for controlling an aircraft windshield wiper angle according to the present invention;

[0051] Figure 2 A schematic diagram of the structure of an aircraft windshield wiper angle control device according to the present invention;

[0052] Figure 3 The figure is a schematic diagram of the structure of a computer device of the present invention. DETAILED DESCRIPTION

[0053] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the technical solutions proposed by the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0054] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0055] refer to Figure 1 , shows the process of some embodiments of a method for controlling the angle of windshield wipers of an aircraft according to the present invention. The method for controlling the angle of windshield wipers of an aircraft comprises the following steps:

[0056] Step S1, obtaining an initial wiper vibration signal of the aircraft to be controlled in the current wiper cleaning process, decomposing the initial wiper vibration signal, and screening out a target current vibration signal from all decomposition results obtained.

[0057] Among them, the aircraft to be controlled may be an aircraft to be subjected to wiper angle control. The end time of the time period corresponding to the current wiper cleaning process may be the current time. The current wiper cleaning process may be an ongoing wiper cleaning process. The wiper cleaning process may be a process of cleaning the windshield on an aircraft using wipers installed on the aircraft. Wipers are also called windshield wipers. The initial wiper vibration signal can characterize the vibration condition of the aircraft to be controlled in the current wiper cleaning process to a certain extent, which often includes real vibration and noise. The initial wiper vibration signal may be a vibration signal collected by a vibration sensor. The target current vibration signal can characterize the real vibration condition of the aircraft to be controlled in the current wiper cleaning process, and compared with the initial wiper vibration signal, the noise content is reduced to a certain extent.

[0058] It should be noted that windshield wipers are often installed in the cockpit and on the outer surface of the windshield of an aircraft to prevent rain or pollutants from blocking the view. Secondly, the PID (Proportion Integration Differentiation) controller can be used to control the rotation angle and rotation frequency of the windshield wipers during the glass cleaning process, thereby realizing the windshield wiper angle control of the aircraft, and then effectively cleaning the front window of the aircraft during flight.

[0059] As an example, this step may include the following steps:

[0060] The first step is to obtain the initial wiper vibration signal of the aircraft to be controlled in the current wiper cleaning process.

[0061] For example, a vibration sensor may be used to collect a vibration signal of a windshield wiper installed on the aircraft to be controlled during the current windshield wiper cleaning process as an initial windshield wiper vibration signal.

[0062] It should be noted that the vibration sensor can be installed on the windshield wiper frame, and specifically can be installed at the rotating structure of the wiper.

[0063] In the second step, the initial wiper vibration signal is decomposed to obtain multiple decomposition results.

[0064] For example, the initial wiper vibration signal can be decomposed by the NMF (Nonnegative Matrix Factorization) algorithm to obtain multiple decomposition results, wherein the decomposition ratio can be set to 8:2 during the signal decomposition process. At this time, each decomposition result obtained may include: a basis vector signal component with a signal component ratio of 8, and a basis vector signal component with a signal component ratio of 2; the basis vector signal component with a signal component ratio of 8 can be used as a vibration candidate signal, and the basis vector signal component with a signal component ratio of 2 can be used as a noise candidate signal.

[0065] It should be noted that in the initial wiper vibration signal collected by the vibration sensor, the wiper vibration signal component is often much larger than the noise signal component. Therefore, the basis vector signal component with a signal component ratio of 8 is most likely the signal component representing the wiper vibration, and the basis vector signal component with a signal component ratio of 2 is most likely the signal component representing the noise.

[0066] The third step is to determine the decomposition effect factor corresponding to each decomposition result according to the periodic coefficient and kurtosis of the vibration candidate signal included in each decomposition result, and the amplitude information entropy and amplitude mean of the noise candidate signal included in each decomposition result.

[0067] Among them, the decomposition result can be obtained by decomposing through the NMF algorithm. The signal component ratio of the vibration candidate signal can be greater than the signal component ratio of the noise candidate signal. The periodicity coefficient can characterize the significance of the periodicity of the signal, which can be obtained through the autocorrelation function method. The kurtosis can characterize the distribution of the signal. The amplitude information entropy can characterize the information entropy between the amplitudes in the signal. The amplitude can characterize the intensity of the vibration. The amplitude mean can be represented by the mean of all amplitudes in the signal.

[0068] For example, determining the decomposition effect factor corresponding to each decomposition result may include the following sub-steps:

[0069] In the first sub-step, the absolute value of the difference between the kurtosis of the vibration candidate signal included in each decomposition result and a preset value is determined as a non-steady-state factor corresponding to each decomposition result.

[0070] The preset value may be a preset kurtosis value when the signal is normally distributed. For example, the preset value may be 3.

[0071] The second sub-step is to determine the decomposition effect factor corresponding to each decomposition result based on the periodic coefficient of the vibration candidate signal included in each decomposition result, its corresponding non-steady-state factor, and the amplitude information entropy and amplitude mean of the noise candidate signal included in each decomposition result.

[0072] Among them, the periodic coefficient and amplitude information entropy can be positively correlated with the decomposition effect factor, and the non-stationary factor and amplitude mean can be negatively correlated with the decomposition effect factor.

[0073] For example, the formula for determining the decomposition effect factor corresponding to the decomposition result can be:

[0074] ;in, is the decomposition effect factor corresponding to the i-th decomposition result. i is the sequence number of the decomposition result. is the numerical value corresponding to the periodic coefficient of the vibration candidate signal included in the i-th decomposition result. is a natural exponential function. is an absolute value function. A is a preset value, for example, A can be 3. is the value corresponding to the kurtosis of the vibration candidate signal included in the i-th decomposition result. is the amplitude information entropy of the noise candidate signal included in the i-th decomposition result. is the amplitude mean of the noise candidate signal included in the i-th decomposition result. It is a pre-set factor greater than 0, mainly used to prevent the denominator from being 0, such as, It can be 0.001. is the non-stationary factor corresponding to the i-th decomposition result.

[0075] It should be noted that in actual situations, when the wiper is working normally, its operation is often relatively stable, so the real wiper vibration signal often has significant periodicity and uniform steady-state distribution characteristics. When is larger, it often indicates that the periodicity of the vibration candidate signal included in the ith decomposition result is relatively more significant, and it often indicates that the vibration candidate signal included in the ith decomposition result is more likely to represent the real vibration. The smaller it is, the more likely the vibration candidate signal included in the ith decomposition result is to present the characteristics of a uniform steady-state distribution, the more likely the vibration candidate signal included in the ith decomposition result is to conform to the characteristics of a vibration signal, and the more likely there is no noise in the vibration candidate signal included in the ith decomposition result. In actual situations, the distribution of noise signals is often complex, chaotic and irregular. When is larger, it often means that the amplitude distribution of the noise candidate signal included in the ith decomposition result is relatively chaotic, and it often means that the noise candidate signal included in the ith decomposition result is more likely to represent the real noise. In actual situations, aircraft windshield wipers often have a certain structural stability, and the amplitude of the noise signal caused by the external environment and its own factors is often small. When is larger, it often means that the average amplitude of the noise candidate signal included in the ith decomposition result is larger, which often means that the noise candidate signal included in the ith decomposition result is more likely to contain important signal components that have not been decomposed and captured. When is larger, it often indicates that the decomposition effect corresponding to the i-th decomposition result is better, it often indicates that the vibration candidate signal included in the i-th decomposition result is more likely to represent the real vibration, and it often indicates that there is no noise in the vibration candidate signal included in the i-th decomposition result.

[0076] The fourth step is to select the vibration candidate signal with the largest decomposition effect factor corresponding to the decomposition result from all the vibration candidate signals as the target current vibration signal.

[0077] It should be noted that during the actual flight of the aircraft, it may be affected by the adverse external weather and the aircraft's own engine vibration, which may cause certain noise signal components in the wiper vibration signal collected by the vibration sensor. In this case, if the wiper angle control is directly based on the collected initial wiper vibration signal, the rationality of the subsequent wiper angle control may be poor. The target current vibration signal can often represent the real wiper vibration with the noise signal removed. The subsequent wiper angle control based on the target current vibration signal can improve the rationality of the wiper angle control to a certain extent.

[0078] Step S2, determining a rotation error factor corresponding to each complete wiper cleaning process based on the rotation information corresponding to each complete wiper cleaning process in a historical time period acquired in advance.

[0079] Among them, the historical time period can represent the time that occurred in the past. The starting time of the historical time period can be the time when the aircraft to be controlled is officially put into use after being detected as normal. The ending time of the historical time period can be the starting time of the current time period. The complete wiper cleaning process can be a complete wiper cleaning process in the past, which can represent the process in which the wiper continuously cleans the windshield, that is, the wiper is not controlled to make an angular movement at least within a preset time interval before and after the complete wiper cleaning process. The preset time interval can be a pre-set time interval. For example, the duration corresponding to the preset time interval can be 2 minutes. The rotation information can represent the rotation of the wiper during the complete wiper cleaning process.

[0080] It should be noted that, in actual situations, the rain conditions encountered by aircraft in different time periods are often different, so the duration of each windshield cleaning with wipers is often different. Therefore, the number of times the wipers rotate in each complete cleaning process is often different, and the rotation angles may be different.

[0081] As an example, the absolute value of the difference between the actual maximum rotation angle amount and the theoretical maximum rotation angle amount included in the rotation information corresponding to each complete wiper cleaning process may be normalized to obtain the rotation error factor corresponding to each complete wiper cleaning process.

[0082] Among them, the actual maximum turning angle can characterize the maximum angle generated when the wiper actually rotates during the complete cleaning process of the wiper. The method for obtaining the actual maximum turning angle can be: in the complete cleaning process of the wiper, the angle of the sector swept by the wiper between the start and end of each rotation of the wiper is determined as the target angle, and the maximum target angle in the complete cleaning process of the wiper is determined as the actual maximum turning angle. The theoretical maximum turning angle can be the angle of the maximum sector swept by the wiper between the start and end of the wiper rotation after the same instruction as the complete cleaning process of the wiper is sent during the detection simulation when the aircraft to be controlled is normally tested and can be put into use. The detection simulation process can be implemented in a three-in-one experimental box. In the detection simulation process, a situation without wind and rain can be simulated.

[0083] It should be noted that the angle of the wiper can be measured by a gyro sensor, which can be installed on the motor shaft of the windshield wiper of the aircraft or at a position connected to the mechanical connection of the wiper.

[0084] For example, the formula for determining the rotation error factor corresponding to the complete cleaning process of the wiper can be:

[0085] ;in, is the rotation error factor corresponding to the jth complete cleaning process of the wiper. j is the sequence number of the complete cleaning process of the wiper in the historical time period. is a normalization function. It is the absolute value function. It is the actual maximum rotation angle included in the rotation information corresponding to the j-th wiper complete cleaning process. It is the theoretical maximum rotation angle included in the rotation information corresponding to the j-th wiper complete cleaning process.

[0086] It should be noted that the theoretical maximum turning angle can represent the expected turning angle of the wiper when the wiper is not affected by the harsh environment. When the value is larger, it often means that the jth wiper complete cleaning process is more likely to encounter abnormal conditions, for example, heavy rain and snow may cause abnormal friction between the glass and the wiper; it often means that the wiper is more likely to be damaged during the jth wiper complete cleaning process, which often means that it is more likely to affect the subsequent wiper angle control. Therefore, when The larger it is, the more likely it is that the j-th wiper complete cleaning process will increase the error of subsequent wiper angle control.

[0087] Step S3, determining the vibration abnormality factor corresponding to each current sampling moment according to the probability of occurrence of vibration data corresponding to each current sampling moment in the target current vibration signal and the duration between adjacent peaks in a preset window corresponding to each current sampling moment in the target current vibration signal.

[0088] Among them, the current sampling moment can be a sampling moment in the process of collecting the current vibration signal of the target. The sampling moment can be the moment of collecting vibration data. The vibration data can be used to form a vibration signal. The vibration data can characterize the vibration condition of the wiper at each sampling moment. The preset window corresponding to the current sampling moment can be a pre-set window with a length of 21, with the current sampling moment as the center point; that is, the vibration data of the current moment and the 10 sampling moments before and after it can constitute the preset window corresponding to the current moment. If a current moment is close to an endpoint, that is, there may be less than 10 sampling moments on one side of the current moment, all sampling moments on this side with less than 10 sampling moments can be divided into the preset window corresponding to the current sampling moment.

[0089] It should be noted that the preset window needs to include at least two peaks. If there are less than two peaks in the preset window under the preset size of the preset window, the size of the preset window needs to be increased until at least two peaks are included in the preset window. Each time the size of the preset window is increased, two sampling moments can be added to the time period corresponding to the preset window. The range of the time period corresponding to the preset window corresponding to the current sampling moment cannot exceed the range of the time period corresponding to the wiper rotation process to which the current sampling moment belongs. The wiper rotation process can be a process in which the wiper rotates once completely, that is, the process in which the wiper rotates out and then rotates back.

[0090] As an example, this step may include the following steps:

[0091] The first step is to determine any current sampling moment as the marked sampling moment, determine the peak value in the above-mentioned target current vibration signal as the target peak value, and determine the vibration data in the above-mentioned target current vibration signal located at the above-mentioned marked sampling moment as the target vibration corresponding to the above-mentioned marked sampling moment.

[0092] Among them, the target vibration corresponding to the marked sampling moment is the vibration data representing the real wiper vibration at the marked sampling moment.

[0093] In the second step, the initial abnormality factor corresponding to the marked sampling moment is determined based on the probability of the target vibration corresponding to the marked sampling moment appearing in the current vibration signal of the target, the duration between adjacent target peaks in the preset window corresponding to the marked sampling moment, and the preset standard peak interval.

[0094] Among them, the method for obtaining the probability of the target vibration corresponding to the marked sampling moment appearing in the target current vibration signal can be: determining the target vibration corresponding to the marked sampling moment as a candidate vibration, screening out vibration data equal to the candidate vibration from the target current vibration signal as reference vibration data, and determining the proportion of all reference vibration data in all vibration data in the target current vibration signal as the probability of the target vibration corresponding to the marked sampling moment appearing in the target current vibration signal. The duration between adjacent target peaks can be equal to the duration between the sampling moments corresponding to adjacent target peaks. The preset standard peak interval can characterize the mean of the duration between all adjacent peaks in the target standard vibration signal within the wiper simulation standard rotation process. The wiper simulation standard rotation process can be a wiper rotation process in which the wiper action angle control instruction sent is the same as the wiper action angle control instruction sent during the wiper rotation process to which the marked sampling moment belongs, which can be implemented in the three comprehensive experimental boxes, and can simulate a windless and rainless situation during the wiper simulation standard rotation process. The wiper action angle control instruction, also known as the wiper swing angle control instruction, can be an instruction for wiper angle control. The target standard vibration signal can represent the actual vibration condition of the aircraft to be controlled during the wiper simulated standard rotation process. The method for obtaining the target standard vibration signal can be the same as the method for obtaining the target current vibration signal, which will not be repeated here.

[0095] The third step is to determine the vibration abnormality factor corresponding to the above-mentioned marked sampling moment based on the initial abnormality factor corresponding to the above-mentioned marked sampling moment and the probability of the target vibration corresponding to all current sampling moments in the preset window corresponding to the above-mentioned marked sampling moment appearing in the above-mentioned target current vibration signal.

[0096] For example, the formula for determining the vibration anomaly factor corresponding to the marked sampling moment may be:

[0097] ;

[0098] ; Where f is the vibration anomaly factor corresponding to the marked sampling moment. is a normalization function. W is the initial anomaly factor corresponding to the marked sampling moment. is a natural exponential function. N is the number of current sampling moments in the preset window corresponding to the marked sampling moment. n is the sequence number of the current sampling moment in the preset window corresponding to the marked sampling moment. is the probability that the target vibration corresponding to the nth current sampling moment appears in the target current vibration signal within the preset window corresponding to the marked sampling moment. p is the probability that the target vibration corresponding to the marked sampling moment appears in the target current vibration signal. is the absolute value function. d is the value corresponding to the average of the durations between all adjacent target peaks in the preset window corresponding to the marked sampling moment. D is the value corresponding to the preset standard peak interval.

[0099] It should be noted that when p is smaller, it often means that the probability of the target vibration corresponding to the marked sampling moment appearing in the target's current vibration signal is smaller, which often means that there is a greater possibility of abnormal conditions at the marked sampling moment. For example, the windshield wiper may vibrate abnormally due to the sudden change of wind and rain in the external environment. The preset standard peak interval can characterize the average duration between adjacent peaks of the wiper when it is not affected by harsh environments. When the value is larger, it often indicates that the average duration between adjacent peaks in the preset window corresponding to the marked sampling time deviates more from the preset standard peak interval, which often indicates that the vibration of the wiper at the marked sampling time is more likely to be affected by the harsh environment, and the wiper is more likely to have abnormal vibration at the marked sampling time. The smaller the value, the more types of vibration data may be near the marked sampling time, and the larger the proportion of amplitude; it often means that there is more likely to be abnormal vibration near the marked sampling time, and it often means that the wiper is more likely to have abnormal vibration at the marked sampling time. Therefore, when f is larger, it often means that the wiper is more likely to have abnormal vibration at the marked sampling time.

[0100] Step S4, obtaining the target historical vibration signal in each complete cleaning process of the wiper, and determining the vibration abnormality factor corresponding to each historical sampling moment in the target historical vibration signal.

[0101] Among them, the target historical vibration signal during the complete cleaning process of the wiper can represent the actual vibration condition of the aircraft to be controlled during the complete cleaning process of the wiper, and its acquisition method can be the same as the acquisition method of the target current vibration signal, which will not be repeated here. The historical sampling moment can be the sampling moment in the process of collecting the target historical vibration signal. The method for obtaining the vibration abnormality factor corresponding to the historical sampling moment can be the same as the method for obtaining the vibration abnormality factor corresponding to the current sampling moment, which will not be repeated here.

[0102] Step S5, determining the current error accumulation factor according to the vibration abnormality factors corresponding to all historical sampling moments, all rotation error factors and the initial angles of the wipers during all complete cleaning processes of the wipers.

[0103] The initial angle of the wiper during the complete cleaning process may be the angle between the wiper and the preset standard line at the start time corresponding to the complete cleaning process. The preset standard line may represent the wiper reaching the target recovery position. The target recovery position may be the farthest position that the wiper can reach when the wiper ends its rotation and recovers, that is, the wiper rotation recovery position when the wiper is normally put into use.

[0104] As an example, the current error accumulation factor may be determined based on the average of the vibration anomaly factors corresponding to all historical sampling moments in each complete wiper cleaning process, and the rotation error factor and wiper initial angle corresponding to each complete wiper cleaning process.

[0105] For example, the formula for determining the current error accumulation factor may be:

[0106] ;

[0107] ; Where E is the current error accumulation factor. M is the number of complete wiper cleaning processes in the historical time period. j is the sequence number of complete wiper cleaning processes in the historical time period. Characterizes the error increment of the jth wiper complete cleaning process. is a normalization function. is the rotation error factor corresponding to the jth complete cleaning process of the wiper. is the rotation error factor corresponding to the j-1th wiper complete cleaning process. It is the mean value of the vibration anomaly factor corresponding to all historical sampling moments in the jth complete cleaning process of the wiper. It is the mean of the vibration anomaly factors corresponding to all historical sampling moments in the j-1th complete cleaning process of the wiper. is the initial wiper angle of the jth wiper complete cleaning process. is the initial wiper angle of the j-1th wiper complete cleaning process.

[0108] It should be noted that as the number of wiper cleanings increases, the wiper may not move at an adequate angle during subsequent cleanings and may not return to the initial preparation state in time, resulting in the accumulation of posture errors. As time goes by, the wiper cleaning angle error becomes more and more obvious. When the value is larger, it often indicates that the wiper is more likely to be damaged during the jth complete cleaning process, and it often indicates that the jth complete cleaning process is more likely to increase the error of subsequent wiper angle control. The larger the value, the more likely it is that the wiper has abnormal vibration during the jth complete cleaning process. The larger the value, the more likely it is that the wiper has not returned to its original position after the jth wiper completes the cleaning process. To a certain extent, it can characterize the error increment between two adjacent complete wiper cleaning processes. The larger its value, the larger the error increment between two adjacent complete wiper cleaning processes. Therefore, E can characterize the error increment generated by the complete wiper cleaning process before the current wiper cleaning process to a certain extent. The larger its value, the more likely it is that the current wiper cleaning process is affected by damage caused by historical cleaning conditions, and the more likely it is that historical cleaning conditions will increase the error of the current wiper angle control, which means that the PID control amount at the current moment should be increased.

[0109] Step S6, adjusting the PID control amount at the current moment according to all vibration abnormality factors corresponding to the current sampling moment and the current error accumulation factor to obtain the target PID control amount.

[0110] The PID control quantity may be the output quantity of a PID (Proportion Integration Differentiation) controller.

[0111] As an example, the formula for determining the target PID control amount may be:

[0112] ;in, is the value corresponding to the target PID control quantity. F is the mean value of the vibration abnormality factor corresponding to all current sampling moments, and its value range can be [0, 1]. is the value corresponding to the PID control amount when no control amount adjustment is performed at the current moment. For example, the target current vibration signal can be input into the PID controller, and the output obtained by the PID controller is . E is the current error accumulation factor.

[0113] It should be noted that when F is larger, it often means that the wiper is more likely to have abnormal vibration in the current time period. When E is larger, it often means that the historical cleaning situation is more likely to increase the error of the current wiper angle control, which often means that the PID control amount at the current moment should be increased. Therefore, The adjusted PID control quantity can be characterized.

[0114] Step S7, performing angle control on the wipers on the aircraft to be controlled according to the target PID control amount.

[0115] As an example, the output of the PID controller at the current moment can be updated to the target PID control amount, and the wipers installed on the aircraft to be controlled can be controlled to rotate through the PID controller to achieve angle control of the wipers installed on the aircraft to be controlled.

[0116] It should be noted that the embodiment of the present invention can input the target current vibration signal into the PID controller to obtain the PID control amount before adjustment at the current moment, and adjust the PID control amount at the current moment based on the vibration abnormality factors corresponding to all current sampling moments and the current error accumulation factor. Finally, the PID controller is used to achieve accurate real-time control of the aircraft windshield wiper angle, thereby improving the driving safety of the flight crew.

[0117] refer to Figure 2 Based on the same inventive concept as the above method embodiment, the present invention provides an aircraft windshield wiper angle control device, the device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the above computer program is executed by the processor, the steps of implementing an aircraft windshield wiper angle control method may specifically include:

[0118] The signal acquisition and decomposition module 201 is used to acquire the initial wiper vibration signal of the aircraft to be controlled in the current wiper cleaning process, decompose the initial wiper vibration signal, and filter out the target current vibration signal from all the decomposition results obtained;

[0119] A rotation error factor determination module 202, configured to determine a rotation error factor corresponding to each complete wiper cleaning process based on rotation information corresponding to each complete wiper cleaning process in a pre-acquired historical time period;

[0120] The vibration abnormality factor determination module 203 is used to determine the vibration abnormality factor corresponding to each current sampling moment according to the probability of occurrence of vibration data corresponding to each current sampling moment in the target current vibration signal and the duration between adjacent peaks in a preset window corresponding to each current sampling moment in the target current vibration signal;

[0121] The signal acquisition and determination module 204 is used to acquire the target historical vibration signal in each complete cleaning process of the wiper, and determine the vibration abnormality factor corresponding to each historical sampling moment in the target historical vibration signal;

[0122] The error accumulation factor determination module 205 is used to determine the current error accumulation factor according to the vibration abnormality factors corresponding to all historical sampling moments, all rotation error factors and the initial angles of the wipers during all complete cleaning processes of the wipers;

[0123] The PID control amount adjustment module 206 is used to adjust the PID control amount at the current moment according to the vibration abnormality factors corresponding to all current sampling moments and the current error accumulation factor to obtain the target PID control amount;

[0124] The steering angle control module 207 is used to perform steering angle control on the windshield wiper on the controlled aircraft according to the target PID control amount.

[0125] Figure 3 is a schematic diagram of the structure of a computer device provided by an embodiment of the present invention. Figure 3 As shown, the computer device 300 includes: a memory 301, a processor 302, and a computer program 303 stored in the memory 301 and running on the processor 302, wherein when the processor 302 executes the computer program 303, the computer device can execute any one of the aircraft windshield wiper angle control methods introduced above.

[0126] Based on the same inventive concept as the above method embodiment, the present invention provides a server, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the device executes any of the above aircraft windshield wiper control methods.

[0127] Based on the same inventive concept as the above method embodiment, the present invention provides a computer program product, which includes: computer program code, when the computer program code is run on a computer, the computer executes any one of the above aircraft windshield wiper angle control methods.

[0128] Based on the same inventive concept as the above-mentioned method embodiment, the present invention provides a computer-readable storage medium, which stores a computer program code. When the computer program code runs on a computer, the computer executes any one of the above-mentioned aircraft windshield wiper angle control methods.

[0129] In summary, compared with the wiper vibration signal collected in the current time period, the present invention decomposes the initial wiper vibration signal obtained, and the target current vibration signal screened out from all the decomposition results can more accurately characterize the actual wiper vibration situation to a certain extent, so that it is convenient to input the target current vibration signal into the PID controller in the future, and obtain the PID control amount at the current moment through the PID controller, thereby improving the rationality of the PID control amount determination to a certain extent. Secondly, in the process of controlling the wiper angle through the PID controller, compared with only considering the wiper vibration signal collected in the current time period, the present invention comprehensively considers multiple indicators related to the control amount, such as the target current vibration signal, the rotation error factor, the vibration abnormality factor and the current error accumulation factor, thereby improving the rationality of the PID control amount adjustment, and then improving the rationality of the wiper angle control.

[0130] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A method for controlling an aircraft windshield wiper angle, characterized in that: The following steps are involved: Obtaining an initial wiper vibration signal of the aircraft to be controlled in the current wiper cleaning process, decomposing the initial wiper vibration signal, and screening out a target current vibration signal from all decomposition results obtained; Determine a rotation error factor corresponding to each complete wiper cleaning process based on the rotation information corresponding to each complete wiper cleaning process in a pre-acquired historical time period; Determine the vibration abnormality factor corresponding to each current sampling moment according to the probability of occurrence of vibration data corresponding to each current sampling moment in the target current vibration signal and the duration between adjacent peaks in a preset window corresponding to each current sampling moment in the target current vibration signal; Obtain a target historical vibration signal within each complete cleaning process of the wiper, and determine a vibration anomaly factor corresponding to each historical sampling moment in the target historical vibration signal; Determine the current error accumulation factor according to the vibration anomaly factors corresponding to all historical sampling moments, all rotation error factors, and the initial angles of the wipers during all complete wiper cleaning processes; According to the vibration abnormality factors corresponding to all current sampling moments and the current error accumulation factor, the PID control amount at the current moment is adjusted to obtain the target PID control amount; According to the target PID control amount, the windshield wiper on the controlled aircraft is controlled at an angle; The determining of the rotation error factor corresponding to each complete wiper cleaning process based on the rotation information corresponding to each complete wiper cleaning process in the pre-acquired historical time period includes: Normalizing the absolute value of the difference between the actual maximum rotation angle and the theoretical maximum rotation angle included in the rotation information corresponding to each complete cleaning process of the wiper to obtain the rotation error factor corresponding to each complete cleaning process of the wiper; The formula for determining the rotation error factor corresponding to the complete cleaning process of the wiper is: ;in, is the rotation error factor corresponding to the jth complete cleaning process of the wiper; j is the sequence number of the complete cleaning process of the wiper in the historical time period; is the normalization function; It is the absolute value function; is the actual maximum rotation angle included in the rotation information corresponding to the j-th wiper complete cleaning process; is the theoretical maximum rotation angle included in the rotation information corresponding to the j-th wiper complete cleaning process; The method of determining the vibration abnormality factor corresponding to each current sampling moment according to the probability of occurrence of vibration data corresponding to each current sampling moment in the target current vibration signal and the duration between adjacent peaks in a preset window corresponding to each current sampling moment in the target current vibration signal comprises: Determine any current sampling moment as a marked sampling moment, determine the peak value in the target current vibration signal as the target peak value, and determine the vibration data in the target current vibration signal at the marked sampling moment as the target vibration corresponding to the marked sampling moment; Determine the initial abnormal factor corresponding to the marked sampling moment according to the probability of the target vibration corresponding to the marked sampling moment appearing in the target current vibration signal, the duration between adjacent target peaks in the preset window corresponding to the marked sampling moment, and the preset standard peak interval, wherein the preset standard peak interval represents the average of the duration between all adjacent peaks in the target standard vibration signal in the wiper simulated standard rotation process; Determine the vibration abnormality factor corresponding to the marked sampling moment according to the initial abnormality factor corresponding to the marked sampling moment and the probability that the target vibration corresponding to all current sampling moments within the preset window corresponding to the marked sampling moment appears in the target current vibration signal; The formula corresponding to the vibration anomaly factor corresponding to the marked sampling time is: ； ; Where f is the vibration anomaly factor corresponding to the marked sampling moment; is the normalization function; W is the initial anomaly factor corresponding to the marked sampling moment; is a natural exponential function; N is the number of current sampling moments in the preset window corresponding to the marked sampling moment; n is the sequence number of the current sampling moment in the preset window corresponding to the marked sampling moment; is the probability that the target vibration corresponding to the nth current sampling moment appears in the target current vibration signal within the preset window corresponding to the marked sampling moment; p is the probability that the target vibration corresponding to the marked sampling moment appears in the target current vibration signal; is the absolute value function; d is the value corresponding to the average of the durations between all adjacent target peaks in the preset window corresponding to the marked sampling moment; D is the value corresponding to the preset standard peak interval; The current error accumulation factor is determined according to the vibration abnormality factors corresponding to all historical sampling moments, all rotation error factors, and the initial angles of all wipers during the complete cleaning process of the wipers, including: Determine the current error accumulation factor according to the average value of the vibration anomaly factor corresponding to all historical sampling moments in each complete cleaning process of the wiper, and the rotation error factor and the wiper initial angle corresponding to each complete cleaning process of the wiper; The formula corresponding to the current error accumulation factor is: ； ; Where E is the current error accumulation factor; M is the number of complete wiper cleaning processes in the historical time period; j is the sequence number of complete wiper cleaning processes in the historical time period; Characterizes the error increment of the jth wiper complete cleaning process; is the normalization function; is the rotation error factor corresponding to the jth wiper complete cleaning process; is the rotation error factor corresponding to the j-1th wiper complete cleaning process; is the mean value of the vibration anomaly factor corresponding to all historical sampling moments in the jth complete cleaning process of the wiper; is the mean value of the vibration anomaly factor corresponding to all historical sampling moments in the j-1th complete cleaning process of the wiper; is the initial wiper angle of the jth complete cleaning process; is the initial wiper angle of the j-1th wiper complete cleaning process.

2. The aircraft windshield wiper angle control method according to claim 1, characterized in that: The step of filtering out the target current vibration signal from all the decomposition results obtained includes: Determine the decomposition effect factor corresponding to each decomposition result according to the periodic coefficient and kurtosis of the vibration candidate signal included in each decomposition result, and the amplitude information entropy and amplitude mean of the noise candidate signal included in each decomposition result, wherein the decomposition result is obtained by decomposition through the NMF algorithm, and the signal component proportion of the vibration candidate signal is greater than the signal component proportion of the noise candidate signal; A vibration candidate signal having the largest decomposition effect factor corresponding to the decomposition result is selected from all vibration candidate signals as the target current vibration signal.

3. The aircraft windshield wiper angle control method according to claim 2, characterized in that: Determining the decomposition effect factor corresponding to each decomposition result according to the periodic coefficient and kurtosis of the vibration candidate signal included in each decomposition result, and the amplitude information entropy and amplitude mean of the noise candidate signal included in each decomposition result, includes: Determine the absolute value of the difference between the kurtosis of the vibration candidate signal included in each decomposition result and a preset value as a non-steady-state factor corresponding to each decomposition result; According to the periodic coefficient of the vibration candidate signal included in each decomposition result, its corresponding non-steady-state factor, and the amplitude information entropy and amplitude mean of the noise candidate signal included in each decomposition result, the decomposition effect factor corresponding to each decomposition result is determined, wherein the periodic coefficient and the amplitude information entropy are positively correlated with the decomposition effect factor, and the non-steady-state factor and the amplitude mean are negatively correlated with the decomposition effect factor.

4. The aircraft windshield wiper angle control method according to claim 1, characterized in that: The formula corresponding to the target PID control quantity is: ;in, is the value corresponding to the target PID control quantity; F is the mean value of the vibration abnormality factors corresponding to all current sampling moments; It is the value corresponding to the PID control quantity when no control quantity adjustment is performed at the current moment; E is the current error accumulation factor.

5. An aircraft windshield wiper angle control device, characterized in that: The invention comprises a processor and a memory, wherein the processor is used to process instructions stored in the memory to implement an aircraft windshield wiper angle control method according to any one of claims 1 to 4.

Images