Stability margin test method for distributed fly-by-wire flight control system

Abstract

The invention discloses a stability margin test method for a distributed fly-by-wire flight control system, and relates to the technical field of flight control system tests. The stability margin test system of the distributed fly-by-wire flight control system comprises a flight control computer, an actuator control electron, an actuator servo controller, an actuator, an operation surface, a digital-to-analog conversion module and a frequency response analyzer. According to the stability margin test method of the distributed fly-by-wire flight control system, conversion and output of digital signals and analog signals are realized by adding or calling a digital-to-analog conversion module and an analog-to-digital conversion module, and a flight control instruction and an excitation signal of a frequency response analyzer are collected; the calculation logic of an actuator servo controller is modified to realize superposition of an excitation signal and a flight control instruction, the superposed instruction is downloaded to an actuator and is returned to a digital-to-analog conversion module, the digital-to-analog conversion module converts a digital signal into an analog signal and transmits the analog signal to a frequency response analyzer, and the calculation of the stability margin is realized.

Description

Technical Field

[0001] The invention relates to the technical field of test and testing of distributed flight control systems, and in particular to a stability margin test method for a distributed fly-by-wire flight control system. Background Art

[0002] Early fly-by-wire flight control systems adopted a centralized architecture, with actuator control electronics or flight control computers (there are various forms of fly-by-wire flight control system architectures, including the flight control computer directly issuing commands to control the actuators; and the flight control computer transmitting commands to the actuator control electronics, which then control the actuators) directly generating control commands (current signals) for the actuators and collecting feedback signals (voltage signals) from the actuators to achieve servo control of the actuators; to achieve the transmission of each excitation signal and the collection of feedback signals required for a single actuator, a cable consisting of at least 19 wires is required. For large transport aircraft, the distance from the flight control computer / actuator control electronics to the actuator is long, and long and numerous cables will increase the weight of the entire aircraft harness. The increased resistance brought by long cables will attenuate the signal, making the signal susceptible to interference; and the number of cables is large, because the increased probability of cable damage will increase the probability of loss of actuator control function.

[0003] In order to solve the above problems, the distributed fly-by-wire flight control system separates the actuator servo control function from the actuator control electronics or the flight control computer, and transfers the servo control function to a dedicated actuator servo controller. The actuator servo controller is directly installed on the actuator, and digital signals are transmitted between the flight control computer or the actuator control electronics and the actuator servo controller, which increases the anti-interference capability of signal transmission, reduces the failure rate of signal transmission, and reduces the number and weight of signal transmission cables. However, because the information-rich digital signals are transmitted between the actuator control electronics or the flight control computer and the actuator servo controller, the traditional solution of changing the actuator control current signal to conduct stability margin testing is difficult to implement.

[0004] The purpose of the stability margin test is to ensure that the flight control system has sufficient amplitude margin and phase margin to prevent the flight control system from becoming unstable due to factors such as aging of the feedback sensor and changes in the aircraft configuration that affect the parameters of the flight control system.

[0005] When testing the stability margin, the complete closed-loop control system needs to be processed into an open-loop system, that is, when the closed-loop control system is working normally, the input-output data of the open-loop system is extracted, and the amplitude and phase relationship of the output signal relative to the input signal is analyzed to obtain the stability margin value. Usually, the extraction of the input-output data of the open-loop system is completed at the control command input end of the actuator. Under the distributed architecture, the actuator servo controller is directly connected to the actuator, and the actuator servo controller obtains a digital signal. It is impossible to directly superimpose the excitation signal provided by the frequency response analyzer and inject it into the actuator. At the same time, the frequency response analyzer cannot directly perform stability margin analysis on the digital signal. For this reason, we propose a stability margin test method for distributed fly-by-wire flight control systems. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a stability margin testing method for a distributed fly-by-wire flight control system, which solves the problem that the actuator servo controller is directly connected to the actuator, and the actuator servo controller obtains a digital signal, and it is impossible to directly superimpose the excitation signal provided by the frequency response analyzer and inject it into the actuator, and the frequency response analyzer is also unable to directly perform stability margin analysis on the digital signal.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a stability margin test system for a distributed fly-by-wire flight control system, comprising:

[0008] A flight control computer, the flight control computer is used to perform control rate parameter calculation and logic processing;

[0009] Actuator control electronics connected to the flight control computer;

[0010] an actuator servo controller, the actuator servo controller being connected to the flight control computer and the brake control electronics, the actuator servo controller being used to receive signals from the flight control computer and the actuator control electronics;

[0011] An actuator, wherein the actuator is connected to an actuator servo controller, and the actuator receives a signal from the actuator servo controller and performs the signal;

[0012] an operating surface, the operating surface being connected to the operating surface, the operating surface being used to control the actuator;

[0013] A digital-to-analog conversion module, wherein the digital-to-analog conversion module is provided in multiple groups;

[0014] An analog-to-digital conversion module, the analog-to-digital conversion module is connected to the actuator servo controller, and the digital-to-analog conversion module and the analog-to-digital conversion module are used to convert and output digital signals and analog signals;

[0015] A frequency response analyzer is connected to the digital-to-analog conversion module and the analog-to-digital conversion module, and performs stability margin analysis on digital signals.

[0016] Preferably, it includes:

[0017] A flight control computer, the flight control computer is used to perform control rate parameter calculation and logic processing;

[0018] Actuator control electronics, the actuator control electronics being connected to the flight control computer, the actuator control electronics being a backup computer for the flight control computer;

[0019] an actuator servo controller, the actuator servo controller being connected to the flight control computer and the brake control electronics, the actuator servo controller being used to receive signals from the flight control computer and the actuator control electronics;

[0020] An actuator, wherein the actuator is connected to an actuator servo controller, and the actuator receives a signal from the actuator servo controller and performs the signal;

[0021] an operating surface, the operating surface being connected to the operating surface, the operating surface being used to control the actuator;

[0022] A digital-to-analog conversion module, wherein the digital-to-analog conversion module is provided in multiple groups;

[0023] An analog-to-digital conversion module, the analog-to-digital conversion module is connected to the actuator servo controller, and the digital-to-analog conversion module and the analog-to-digital conversion module are used to convert and output digital signals and analog signals;

[0024] A frequency response analyzer, the frequency response analyzer is connected to the digital-to-analog conversion module and the analog-to-digital conversion module, and the frequency response analyzer performs stability margin analysis on the digital signal;

[0025] An integrated circuit board is used for modular integrated installation of an actuator servo controller, a digital-to-analog conversion module, and an analog-to-digital conversion module.

[0026] Preferably, the actuator control electronics is a backup computer for the flight control computer.

[0027] Preferably, the actuator servo controller is used to understand the digital signals provided by the upstream flight control computer or actuator control electronics, and the actuator servo controller realizes the processing and conversion of the specified control command signals and excitation signals by adjusting the internal logic.

[0028] Preferably, one group of the digital-to-analog conversion modules is connected to the flight control computer's primary brake control electronics, and another group of the digital-to-analog conversion modules is connected to the actuator servo controller.

[0029] Preferably, the actuator servo controller is used to determine whether the control instruction is tampered with during the transmission process from the flight control computer to the actuator servo controller, and the determination method of the actuator servo controller is a data verification algorithm.

[0030] Preferably, the actuator control electronics are used to control the command superposition signal and can monitor the communication between the flight control computer and the actuator servo controller.

[0031] The present invention also provides a stability margin test method for a distributed fly-by-wire flight control system, comprising the following steps: the actuator control electronics transmits the instructions of the flight control computer to the actuator servo controller, the actuator servo controller confirms whether the control instructions are tampered with during the transmission process from the flight control computer to the actuator servo controller through a data verification algorithm, the actuator servo controller superimposes the excitation signal with the flight instruction, and transmits the superimposed instruction to the actuator, and at the same time the instruction returns to the digital-to-analog conversion module, and the digital-to-analog conversion module converts the digital signal into an analog signal and transmits it to the frequency response analyzer, the frequency response analyzer performs stability margin calculation, and then the frequency response analyzer transmits the excitation signal to the actuator servo controller through the analog-to-digital conversion module, and finally injects it into the actuator.

[0032] The present invention discloses a stability margin testing method for a distributed fly-by-wire flight control system, which has the following beneficial effects:

[0033] The stability margin test method of the distributed fly-by-wire flight control system realizes the conversion and output of digital signals and analog signals by adding or calling a digital-to-analog conversion module and an analog-to-digital conversion module based on the functions of the actuator servo controller itself, collects flight control instructions and excitation signals of a frequency response analyzer, modifies the solution logic of the actuator servo controller to realize the superposition of the excitation signal and the flight control instruction, transmits the superimposed instruction to the actuator, and returns it to the digital-to-analog conversion module at the same time. The digital-to-analog conversion module converts the digital signal into an analog signal and transmits it to the frequency response analyzer to realize the solution of the stability margin. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be 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.

[0035] Figure 1 This is a schematic diagram of Embodiment 1 of the present invention;

[0036] Figure 2 This is a schematic diagram of Embodiment 2 of the present invention. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] The embodiment of the present application provides a stability margin test method for a distributed fly-by-wire flight control system, which solves the problem that the actuator servo controller is directly connected to the actuator, and the actuator servo controller obtains a digital signal, and cannot directly superimpose the excitation signal provided by the frequency response analyzer and inject it into the actuator, and the frequency response analyzer cannot directly perform stability margin analysis on the digital signal. By adding or calling a digital-to-analog conversion module and an analog-to-digital conversion module based on the functions of the actuator servo controller itself, the conversion and output of digital signals and analog signals are realized, and the flight control command and the excitation signal of the frequency response analyzer are collected, and the solution logic of the actuator servo controller is modified to realize the superposition of the excitation signal and the flight control command, and the superimposed command is transmitted to the actuator and returned to the digital-to-analog conversion module at the same time. The digital-to-analog conversion module converts the digital signal into an analog signal and transmits it to the frequency response analyzer to realize the solution of the stability margin.

[0039] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0040] Embodiment 1 of the present invention discloses a stability margin test system for a distributed fly-by-wire flight control system.

[0041] According to the attached Figure 1 ,include:

[0042] Flight control computer, which is used for control rate parameter calculation and logic processing;

[0043] Actuator control electronics, which are connected to the flight control computer;

[0044] an actuator servo controller, the actuator servo controller is connected to the flight control computer and the brake control electronics, and the actuator servo controller is used to receive signals from the flight control computer and the actuator control electronics;

[0045] An actuator, the actuator is connected to the actuator servo controller, and the actuator receives a signal from the actuator servo controller and implements it;

[0046] An operating surface, the operating surface is connected to the operating surface, and the operating surface is used to control the actuator;

[0047] A digital-to-analog conversion module, wherein the digital-to-analog conversion module is provided with multiple groups;

[0048] The analog-to-digital conversion module is connected to the actuator servo controller, and the digital-to-analog conversion module and the analog-to-digital conversion module are used for converting and outputting digital signals and analog signals;

[0049] The frequency response analyzer is connected with the digital-to-analog conversion module and the analog-to-digital conversion module, and the frequency response analyzer performs stability margin analysis on the digital signal.

[0050] When the digital-to-analog conversion module and the analog-to-digital conversion module are installed outside the actuator servo controller, the flexibility is higher, so that the digital-to-analog conversion module and the analog-to-digital conversion module can be replaced or upgraded independently to adapt to different system requirements without affecting the actuator servo controller, and it can be easier to realize modular design of the system, making the design and maintenance of the system more flexible, and the digital-to-analog conversion module and the analog-to-digital conversion module can be replaced or adjusted as needed without changing the entire actuator servo controller, and the external installation can achieve better isolation between the power box signals and reduce interference caused by common ground or power supply noise, especially when the digital-to-analog conversion module and the analog-to-digital conversion module need to be isolated from noise-sensitive equipment.

[0051] Embodiment 2 of the present invention discloses a stability margin test system for a distributed fly-by-wire flight control system.

[0052] According to the attached Figure 2 ,include:

[0053] Flight control computer, which is used for control rate parameter calculation and logic processing;

[0054] Actuator control electronics, the actuator control electronics is connected to the flight control computer, and the actuator control electronics is a backup computer for the flight control computer;

[0055] an actuator servo controller, the actuator servo controller is connected to the flight control computer and the brake control electronics, and the actuator servo controller is used to receive signals from the flight control computer and the actuator control electronics;

[0056] An actuator, the actuator is connected to the actuator servo controller, and the actuator receives a signal from the actuator servo controller and implements it;

[0057] An operating surface, the operating surface is connected to the operating surface, and the operating surface is used to control the actuator;

[0058] A digital-to-analog conversion module, wherein the digital-to-analog conversion module is provided with multiple groups;

[0059] The analog-to-digital conversion module is connected to the actuator servo controller, and the digital-to-analog conversion module and the analog-to-digital conversion module are used for converting and outputting digital signals and analog signals;

[0060] A frequency response analyzer, which is connected to the digital-to-analog conversion module and the analog-to-digital conversion module, and performs stability margin analysis on digital signals;

[0061] Integrated circuit board, the integrated circuit board is used for modular integrated installation of actuator servo controller, digital-to-analog conversion module and analog-to-digital conversion module.

[0062] As an implementation method, the frequency response analyzer is integrated with an artificial intelligence-based stability margin evaluation module. The evaluation module uses a machine learning algorithm to intelligently evaluate and predict the stability margin of the system and gives suggestions for optimizing control parameters. The stability margin evaluation module collects the frequency domain response data of the system and uses classification, regression and other algorithms in machine learning to establish a mapping relationship model between the stability margin and influencing factors (such as gain margin, phase margin, bandwidth, etc.). During the test, the evaluation module performs real-time analysis on the collected frequency response data and predicts the stability margin level of the system. Once the stability margin is found to be insufficient or has a downward trend, an early warning is issued and the cause is diagnosed so that engineers can deal with it in a timely manner. At the same time, the evaluation module can also use optimization algorithms to solve the optimal values ​​of control parameters to improve the stability margin and provide optimization suggestions for engineers.

[0063] The digital-to-analog conversion module, the analog-to-digital conversion module and the actuator servo controller are installed on the integrated circuit board. This integration method can reduce the electromagnetic interference of the digital signal during the transmission process, thereby improving the accuracy and reliability of the signal. The integration of the digital-to-analog conversion module and the analog-to-digital conversion module with the actuator servo controller can also reduce the total volume and weight of the system, which is suitable for aviation and aerospace applications that are sensitive to space and weight. The internal integration method reduces the number of independent components that need to be managed, thereby simplifying the design, installation and maintenance. The number of cables and connectors that need to be connected in the system will also be reduced. The internal integration method also reduces the number of connections and external interfaces, reducing the possible failures that may occur at the physical connections, thereby improving the overall reliability of the system.

[0064] As an implementation method, the integrated circuit board adopts anti-electromagnetic interference and anti-radiation reinforcement design to improve its working reliability in harsh environments. When designing and manufacturing the integrated circuit board, a variety of measures are adopted to improve its anti-interference ability and environmental adaptability. Anti-electromagnetic interference design includes reasonable layout and wiring, shielding of sensitive devices, filtering of power supply noise, etc., to ensure that the circuit is not affected by external electromagnetic fields. Anti-radiation reinforcement adopts the selection of anti-radiation components, redundant circuit design, shielding and reinforced casing, etc., so that the circuit can withstand a certain dose of radiation without damage. At the same time, it is also necessary to consider moisture-proof, salt spray-proof, shock-proof and other measures, so that the integrated circuit board can adapt to harsh environments such as high humidity, salt spray, and vibration. If necessary, the integrated circuit board can also be treated with a three-proof coating to further improve reliability.

[0065] Among them, the actuator control electronics is the backup computer of the flight control computer. The actuator servo controller is used to understand the digital signals provided by the upstream flight control computer or the actuator control electronics. The actuator servo controller realizes the processing and conversion of the specified control command signal and the excitation signal by adjusting the internal logic. The actuator servo controller first receives the digital control command signal from the flight control computer. These signals may be the setting of the target value such as position, speed or torque. The logic circuit inside the servo controller decodes these signals and parses out the specific control target. The actuator servo controller usually obtains feedback signals from the actuator or other sensors, such as the current position, speed or torque. These feedback signals are used to compare with the control command signal to generate an error signal. According to the control theory (such as PID control, fuzzy control, etc.), the control logic inside the actuator servo controller will calculate the error signal and generate the corresponding control output signal according to the size, direction and time characteristics of the error. These control output signals are used to adjust the motion state of the actuator to minimize the error and achieve accurate control goals. If the control command signal and the logic operation inside the servo controller are both performed in digital form, then the servo controller needs to convert these digital signals into analog signals before it can drive the actuator. This is where the digital-to-analog conversion module comes in. The digital-to-analog conversion module converts the processed digital control signal into an analog voltage or current signal. The excitation signal generated by the servo controller usually needs to be power-amplified before it can drive the actual actuator (such as a motor, hydraulic cylinder, or pneumatic cylinder). The power amplifier is designed to ensure that the output signal has sufficient voltage and current to meet the power requirements of the actuator. The servo controller may also modulate the excitation signal to adapt to the specific needs of the actuator. For example, pulse width modulation (PWM) technology is often used to control the speed and position of the motor. In addition, filters are used to remove noise or unwanted frequency components in the signal to ensure the stability and accuracy of the output signal. The excitation signal, which has been processed and converted by internal logic, is finally transmitted to the actuator through the output of the servo controller. The actuator performs the corresponding action based on this signal, such as moving, rotating, or generating force. While driving the actuator, the servo controller continuously monitors the feedback signal and continuously adjusts the output signal to achieve precise closed-loop control. This real-time monitoring and adjustment ensures the motion accuracy and response speed of the actuator.

[0066] As an implementation method, a backup machine is provided in the flight control computer and the actuator servo controller. When the main control fails, the system automatically switches to the backup machine to continue working. The key components such as the flight control computer and the actuator servo controller adopt a dual-machine redundant or multi-machine redundant design, that is, one or more identical backup machines are provided to synchronize operation and data with the main control. The system monitors the working status of the main control in real time. Once the main control fails, the control right is immediately switched to the backup machine to ensure the continuous availability of the system. The backup machine and the main control adopt a hot backup mode, and the switching can be completed within milliseconds. At the same time, a voting mechanism can also be adopted. Multiple controllers run at the same time, and the final control instruction is determined by the minority obeying the majority, which further improves the system reliability and ensures that the system works stably and continuously.

[0067] As an implementation method, a monitoring module is provided between the flight control computer and the actuator control electronics. The monitoring module is used to monitor the communication status and the correctness of data transmission between the flight control computer and the actuator control electronics in real time, and to send out an early warning signal when an abnormality is found, notifying the staff to handle it in time. The monitoring module collects and analyzes the communication data between the flight control computer and the actuator control electronics, and evaluates the quality of the communication link and the integrity and accuracy of the data in real time. When abnormal conditions such as communication interruption, data error, and excessive delay are detected, the monitoring module will immediately issue an early warning to prompt relevant personnel to check and deal with it, so as to avoid the abnormal state from continuously affecting the system performance and safety, so as to ensure that the system can work stably and continuously.

[0068] As an implementation method, an adaptive control module is provided in the actuator servo controller. The adaptive control module automatically adjusts control parameters and optimizes control performance according to the actual working conditions of the actuator and system requirements. The adaptive control module adopts an adaptive control algorithm to estimate the dynamic characteristics and external interference of the actuator in real time according to the actual position, speed, acceleration, load and other state feedback signals of the actuator, and automatically adjusts the gain parameters, compensation parameters, etc. of the controller, so that the controller can adapt to changes in the actuator characteristics and suppress the influence of external interference, thereby improving the dynamic response performance and control accuracy of the actuator, ensuring that the optimal control effect can be achieved under different working conditions.

[0069] Among them, one group of digital-to-analog conversion modules is connected to the first-level brake control electronics of the flight control computer, and another group of digital-to-analog conversion modules is connected to the actuator servo controller.

[0070] Among them, the actuator servo controller is used to determine whether the control command has been tampered with during the transmission process from the flight control computer to the actuator servo controller. The actuator servo controller uses a data verification algorithm to determine whether the command has been tampered with in the flight control system. The data verification algorithm used to verify whether the command has been tampered with is usually a checksum algorithm or a cryptographic hash algorithm. These algorithms are used to ensure that the integrity and authenticity of the data are not threatened during the data transmission process. Specifically, they can be the following algorithms:

[0071] Cyclic redundancy check: Cyclic redundancy check is a data verification algorithm widely used in communication systems. It verifies the integrity of data by generating a check code. In flight control systems, cyclic redundancy check is often used to detect whether errors or tampering have occurred in the transmission process of instructions;

[0072] Message digest algorithm: These hash functions convert input data into a fixed-length string (often called a digest or hash value). When sending a command, the flight control computer calculates the hash value of the command and appends it to the command. After receiving the command, the receiver (actuator servo controller) calculates the hash value of the command again and compares it with the received hash value. If the two hash values ​​are consistent, it means that the data has not been tampered with;

[0073] HMAC (Keyed Hash Message Authentication Code): This method adds a key to the ordinary hash algorithm to further enhance the security of data verification. Only the communicating parties with the correct key can generate or verify the correct HMAC value, so it can not only check the integrity of the data, but also verify the authenticity of the data;

[0074] The choice of these algorithms usually depends on the specific needs of the system, including safety requirements, computing resource constraints, and real-time requirements. In flight control systems, ensuring data integrity and tamper-proofing is critical, so a verification method with higher security is usually selected.

[0075] Among them, the actuator control electronics is used to control the command superposition signal, and can monitor the communication between the flight control computer and the actuator servo controller. The actuator control electronics receives the control command signal from the flight control computer and can superimpose additional correction signals as needed. These correction signals may come from a variety of sources, such as redundant systems, additional sensor data, or manual adjustments made through external inputs. This superposition process enables the actuator control electronics to consider additional influencing factors or redundant instructions while executing control instructions, thereby improving the safety and reliability of the system. After the signal is superimposed, the actuator control electronics may modulate or convert the signal to meet the needs of the actuator servo controller. For example, the superimposed signal may need to be filtered, amplified, or analog-to-digital converted to ensure the accuracy and quality of the signal. The actuator control electronics continuously monitors the control signal from the flight control computer and the feedback signal from the actuator servo controller. By monitoring the timing, amplitude, and frequency characteristics of the signal, the actuator control electronics can detect potential communication failures or data anomalies. For example, actuator control electronics can detect problems such as signal loss, delay, and error coding, and issue an alarm or make corrections in a timely manner. Actuator control electronics usually checks the signal according to the predetermined communication protocol to ensure that the data has not been tampered with or damaged during transmission. This verification usually includes cyclic redundancy check, checksum, hash value comparison, etc. to ensure the integrity and correctness of command and feedback signals. In many flight control systems, actuator control electronics are also responsible for managing and monitoring redundant communication channels. By comparing the signals of multiple channels, actuator control electronics can determine whether there is a channel failure and switch to the backup channel when necessary to ensure the continuity of communication. The communication monitoring function of actuator control electronics also includes fault detection capabilities, which can identify abnormal conditions in the communication link, such as noise interference, signal loss, or forged signals. Once a fault is detected, the actuator control electronics will take immediate measures, which may include issuing an alarm, switching to a redundant system, or starting a preset emergency procedure. Actuator control electronics usually have self-test and diagnostic functions, which can perform health checks on themselves and the communication link at system startup or during operation. Self-test results can help the system determine if there is a potential fault and whether maintenance or adjustment is required. When communication monitoring detects a serious fault, the actuator control electronics may proactively execute emergency response procedures. For example, when a critical signal is lost or severely interfered with, the actuator control electronics can trigger the system to enter a safe mode or enable manual control to avoid an accident.

[0076] As an implementation method, the test system has a real-time simulation function. By connecting to the digital twin system, it can realize real-time monitoring and predictive maintenance of the flight control system under test. The test system is synchronized with the digital twin model of the flight control system in real time, and the status of the twin model is updated in real time through sensor data. The test system uses the twin model to simulate the flight control system in real time to predict its future performance trends and possible failures. When certain key parameters (such as stability margin) are detected to be close to the threshold value or a downward trend, the test system will issue an early warning to prompt maintenance personnel to conduct inspections and maintenance in advance to avoid failures. At the same time, the test system can also use the simulation results to intelligently generate test cases, expand the test coverage, optimize the test process, and shorten the test cycle.

[0077] The present invention also provides a stability margin test method for a distributed fly-by-wire flight control system, comprising the following steps: the actuator control electronics transmits the instructions of the flight control computer to the actuator servo controller, the actuator servo controller confirms whether the control instructions are tampered with during the transmission process from the flight control computer to the actuator servo controller through a data verification algorithm, the actuator servo controller superimposes the excitation signal with the flight instruction, and transmits the superimposed instruction to the actuator, and at the same time the instruction returns to the digital-to-analog conversion module, and the digital-to-analog conversion module converts the digital signal into an analog signal and transmits it to the frequency response analyzer, the frequency response analyzer performs stability margin calculation, and then the frequency response analyzer transmits the excitation signal to the actuator servo controller through the analog-to-digital conversion module, and finally injects it into the actuator.

[0078] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A stability margin test system for a distributed fly-by-wire flight control system. It is characterized in that include: A flight control computer, the flight control computer is used to perform control rate parameter calculation and logic processing; Actuator control electronics connected to the flight control computer; an actuator servo controller, the actuator servo controller being connected to the flight control computer and the brake control electronics, the actuator servo controller being used to receive signals from the flight control computer and the actuator control electronics; An actuator, wherein the actuator is connected to an actuator servo controller, and the actuator receives a signal from the actuator servo controller and performs the signal; an operating surface, the operating surface being connected to the operating surface, the operating surface being used to control the actuator; A digital-to-analog conversion module, wherein the digital-to-analog conversion module is provided in multiple groups; An analog-to-digital conversion module, the analog-to-digital conversion module is connected to the actuator servo controller, and the digital-to-analog conversion module and the analog-to-digital conversion module are used to convert and output digital signals and analog signals; A frequency response analyzer is connected to the digital-to-analog conversion module and the analog-to-digital conversion module, and performs stability margin analysis on digital signals.

2. A stability margin test system for a distributed fly-by-wire flight control system according to claim 1, It is characterized in that include: A flight control computer, the flight control computer is used to perform control rate parameter calculation and logic processing; Actuator control electronics, the actuator control electronics being connected to the flight control computer, the actuator control electronics being a backup computer for the flight control computer; an actuator servo controller, the actuator servo controller being connected to the flight control computer and the brake control electronics, the actuator servo controller being used to receive signals from the flight control computer and the actuator control electronics; An actuator, wherein the actuator is connected to an actuator servo controller, and the actuator receives a signal from the actuator servo controller and performs the signal; an operating surface, the operating surface being connected to the operating surface, the operating surface being used to control the actuator; A digital-to-analog conversion module, wherein the digital-to-analog conversion module is provided in multiple groups; An analog-to-digital conversion module, the analog-to-digital conversion module is connected to the actuator servo controller, and the digital-to-analog conversion module and the analog-to-digital conversion module are used to convert and output digital signals and analog signals; A frequency response analyzer, the frequency response analyzer is connected to the digital-to-analog conversion module and the analog-to-digital conversion module, and the frequency response analyzer performs stability margin analysis on the digital signal; An integrated circuit board is used for modular integrated installation of an actuator servo controller, a digital-to-analog conversion module, and an analog-to-digital conversion module.

3. A stability margin test system for a distributed fly-by-wire flight control system according to claim 2, It is characterized in that The actuator control electronics are a backup computer for the flight control computers.

4. A stability margin test system for a distributed fly-by-wire flight control system according to claim 2, It is characterized in that The actuator servo controller is used to understand the digital signals provided by the upstream flight control computer or actuator control electronics. The actuator servo controller realizes the processing and conversion of the specified control command signal and excitation signal by adjusting the internal logic.

5. The stability margin test system of a distributed fly-by-wire flight control system according to claim 2, It is characterized in that One group of the digital-to-analog conversion modules is connected to the flight control computer's primary brake control electronics, and another group of the digital-to-analog conversion modules is connected to the actuator servo controller.

6. A stability margin test system for a distributed fly-by-wire flight control system according to claim 2, It is characterized in that The actuator servo controller is used to determine whether the control instruction is tampered with during the transmission process from the flight control computer to the actuator servo controller, and the determination method of the actuator servo controller is a data verification algorithm.

7. A stability margin test system for a distributed fly-by-wire flight control system according to claim 2, It is characterized in that The actuator control electronics are used to control the command superposition signal and can monitor the communication between the flight control computer and the actuator servo controller.

8. A stability margin test method for a distributed fly-by-wire flight control system. It is characterized in that The following steps are involved: The actuator control electronics transmits the flight control computer's instructions to the actuator servo controller. The actuator servo controller uses a data verification algorithm to confirm whether the control instructions have been tampered with during the transmission process from the flight control computer to the actuator servo controller. The actuator servo controller superimposes the excitation signal with the flight instruction and transmits the superimposed instruction to the actuator. At the same time, the instruction returns to the digital-to-analog conversion module, and the digital-to-analog conversion module converts the digital signal into an analog signal and transmits it to the frequency response analyzer. The frequency response analyzer calculates the stability margin, and then the frequency response analyzer transmits the excitation signal to the actuator servo controller through the analog-to-digital conversion module, and finally injects it into the actuator.

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