Conversion method and device of main and standby actuators of flight control system and storage medium

Abstract

The invention relates to the technical field of flight controllers, and discloses an exchange method and device for main and standby actuators of a flight control system and a storage medium, and the method comprises the following steps: obtaining the power-on frequency of a flight main controller; selecting an actuating controller with an initial state as a main state according to the power-on times, and setting other actuating controllers as standby states; the working state of the actuator corresponding to the actuation controller in the main state is detected in real time, and whether the actuator corresponding to the actuation controller in each standby state is normal or not is obtained; when the actuator corresponding to the actuation controller in the main state breaks down, a main-standby conversion instruction is sent to the actuation controller in the main state at present and any one of the actuation controllers in the normal standby state of the corresponding actuator, and the state of the actuation controller in the main state at present is modified into the standby state; and the actuation controller in the standby state in which any corresponding actuator can work normally is modified to be in the main state. According to the method, the balance degree of the working time of each actuator can be improved.

Description

Technical Field

[0001] The present invention relates to the field of flight control technology, and in particular to a method, a device and a storage medium for switching primary and standby actuators of a flight control system. Background Art

[0002] The flight control system of large transport aircraft generally adopts redundant control for the aircraft's main control surfaces. A single control surface is generally equipped with at least two actuators for control. When the energy system or control device of an actuator fails, causing the actuator to lose control of the control surface, the other actuator can still ensure that the flight control system controls the aircraft control surface and ensures the normal flight of the aircraft to meet the aircraft system safety requirements.

[0003] In the flight control system of the main-backup working mode, one actuator is in the active control state and the other is in the damping follower state. When the control of the actuator in the active control state fails, the flight control system needs to exchange the states of the two actuators according to the conversion logic to ensure the flight control system's effective control of the control surface. In the existing flight control system, one of the two actuators is usually fixed as the main one and the other as the backup one. After the flight control system is powered on, the main actuator is set to work in the active control state first, and the backup actuator is set to work in the damping follower state first. This configuration will cause a large difference in the total working time of the two actuators after multiple uses, which will cause the aging degree of the main actuator to be significantly higher than that of the backup actuator, thereby reducing the safety of the entire flight control system. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a method for switching the main and standby actuators of a flight control system, which can evenly use multiple actuators in the flight control system and avoid the aging degree of one actuator being significantly higher than that of other actuators, thereby reducing the safety of the entire flight control system.

[0005] To solve the above problems, the technical solution adopted by the present invention is as follows: A method for switching the main and standby actuators of a flight control system comprises the following steps:

[0006] Get the number of times the main flight controller is powered on;

[0007] An actuating controller whose initial state is the main state is selected according to the number of power-on times, and other actuating controllers are set to the standby state, so that multiple actuating controllers take turns to serve as the main actuating controller whose initial state is the main state;

[0008] Real-time detection of the working status of the actuator corresponding to the actuation controller in the main state, and obtaining whether the actuators corresponding to the actuation controllers in each standby state are normal;

[0009] When the actuator corresponding to the actuation controller in the main state fails, a master-slave conversion instruction is sent to the actuation controller currently in the main state and any corresponding actuation controller in the normal standby state, and the state of the actuation controller currently in the main state is changed to the standby state, and the state of any corresponding standby state controller in which the actuator can work normally is changed to the main state.

[0010] Compared with the prior art, the beneficial effect of the present invention is that the initial master-slave state of the actuation controller of each actuator after each power-on is switched according to the number of times the flight main controller is powered on, so that each actuator takes turns as the master actuator that is preferentially in the active control state after power-on, and the total working time of each actuator is balanced. The switching method of the master and standby actuators of the flight control system can prevent the aging degree of a certain actuator from being significantly higher than that of other actuators, thereby affecting the safety of the entire flight control system.

[0011] The above-mentioned method for converting the main and standby actuators of the flight control system includes two actuation controllers and corresponding two sets of actuators. In the step of selecting the actuation controller whose initial state is the main state according to the number of power-on times, and setting other actuation controllers to the standby state, so that multiple actuation controllers take turns as the main actuation controller whose initial state is the main state, when the number of power-on times of the flight main controller is an odd number, the first actuation controller is set to the main state, and the second actuation controller is set to the standby state; when the number of power-on times of the flight main controller is an even number, the first actuation controller is set to the standby state, and the second actuation controller is set to the main state.

[0012] The above-mentioned method for switching the primary and standby actuators of the flight control system further includes:

[0013] Get the aircraft's air and ground status;

[0014] When the fault of the actuator corresponding to the actuation controller whose initial state is the main state is recovered, if the aircraft is on the ground, the state of each controller is restored to the initial state; if the aircraft is in the air, each controller maintains the current state.

[0015] The above-mentioned method for switching the main and standby actuators of the flight control system is as follows: when the actuator controller is in the main state, the actuator controller conducts the power supply to the solenoid valve of the corresponding actuator, allowing the high-pressure oil to enter the modal valve, and switching the modal valve to the active position; when the actuator controller is in the standby state, the actuator controller cuts off the power supply to the solenoid valve of the corresponding actuator, blocking the high-pressure oil from entering the modal valve, and switching the modal valve to the damping position.

[0016] In the above-mentioned method for converting the main and standby actuators of the flight control system, in the step of detecting in real time the working status of the actuator corresponding to the actuator controller in the main state, and obtaining whether the actuators corresponding to the actuator controllers in each standby state are normal, if the pressure of the hydraulic system of the actuator is lower than the pressure threshold value for a time greater than or equal to the first time threshold, or the state signal of the mechanical pump of the hydraulic system of the actuator is a low-pressure signal for a time greater than or equal to the second time threshold, it is determined that the actuator has a fault.

[0017] A flight main controller comprises: a power-on times counting unit for recording the power-on times of the flight main controller; an initial state judgment unit for selecting an actuating controller whose initial state is the main state according to the power-on times, so that a plurality of actuating controllers take turns as the main actuating controllers whose initial state is the main state; an actuating state acquisition unit for acquiring the states of a plurality of actuators and judging whether the actuators fail; a state switching unit for controlling the switching between the main state and the standby state of each actuating controller according to the states of each actuator acquired by the actuating state acquisition unit, and when the actuator corresponding to the actuating controller currently in the main state fails, the state of the actuating controller currently in the main state is modified to the standby state, and the state of the actuating controller in the standby state in which any corresponding actuator can work normally is modified to the main state.

[0018] The above-mentioned flight main controller also includes: an aircraft status acquisition unit, which is used to acquire the ground and air status of the aircraft; the state switching unit is also used to, when the fault of the actuator corresponding to the actuation controller whose initial state is the main state is recovered, if the aircraft is in the ground state, restore the state of each actuation controller to the initial state after power-on; if the aircraft is in the air, maintain the current state of each actuation controller.

[0019] A flight control system comprises: the above-mentioned flight main controller; a plurality of actuation controllers, which are communicatively connected to the flight main controller and switch between a main state and a standby state under the control of the flight main controller; and a plurality of actuators, which are electrically connected to the plurality of actuation controllers in a one-to-one correspondence and are used to control various servos of the aircraft.

[0020] In the above-mentioned flight control system, the plurality of actuation controllers are cross-communicated with each other.

[0021] A computer-readable storage medium stores a computer program, wherein the computer program, when executed and called by a processor, implements the above-mentioned method for switching between the primary and standby actuators of the flight control system.

[0022] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A flow chart of a method for switching between the primary and standby actuators of a flight control system according to a first embodiment of the present invention;

[0024] Figure 2 A flow chart of a method for switching between active and standby actuators of a flight control system according to a second embodiment of the present invention;

[0025] Figure 3 The schematic diagram of the flight control system according to the embodiment of the present invention is shown in FIG. DETAILED DESCRIPTION

[0026] The embodiments of the present invention are described in detail below. Figure 1 The embodiment of the present invention provides a method for switching between the primary and standby actuators of a flight control system, which specifically includes the following steps:

[0027] Get the number of times the main flight controller is powered on;

[0028] An actuating controller whose initial state is the main state is selected according to the number of power-on times, and other actuating controllers are set to the standby state, so that multiple actuating controllers take turns to serve as the main actuating controller whose initial state is the main state;

[0029] Real-time detection of the working status of the actuator corresponding to the actuation controller in the main state, and obtaining whether the actuators corresponding to the actuation controllers in each standby state are normal;

[0030] When the actuator corresponding to the actuation controller in the main state fails, a master-slave conversion instruction is sent to the actuation controller currently in the main state and any corresponding actuation controller in the normal standby state, and the state of the actuation controller currently in the main state is changed to the standby state, and the state of any corresponding standby state controller in which the actuator can work normally is changed to the main state.

[0031] The method for switching the master and standby actuators of the flight control system of the embodiment of the present invention selects one actuator controller as the master actuator controller with the initial state as the master state in turn according to the number of times the flight main controller is powered on, so that the actuators corresponding to each actuator controller work in the active control state in turn, thereby balancing the total working time of each actuator after multiple flights and balancing the aging degree of each actuator to avoid the aging degree of one actuator being significantly higher than that of other actuators, resulting in lower safety and reliability of the actuator, thereby reducing the safety and reliability of the entire flight control system.

[0032] In practical applications, the actuator generally includes a number of solenoid valves, servo valves, mode conversion valves and other devices. When the actuator controller corresponding to the actuator is in the main state, the actuator controller controls the avionics system to supply power to each valve in the corresponding actuator, so that high-pressure oil can enter the modal valve and switch the modal valve to the active position; when the actuator controller corresponding to the actuator is in the standby state, the actuator controller controls the avionics system to cut off the power supply to each valve in the corresponding actuator, blocking the high-pressure oil from entering the modal valve and switching the modal valve to the damping position.

[0033] It is understandable that the controller whose initial state is the main state can be selected according to the number of times each actuator is powered on, or according to the total number of times all actuators are powered on. In a normal single flight mission, the switching of actuators generally does not occur, so the number of times the flight main controller is powered on is basically the same as the total number of times the actuators are powered on, and the total number of times the flight main controller is powered on can be regarded as the total number of times each actuator is powered on. Taking a flight control system with two sets of actuators as an example, when the number of times the flight main controller is powered on is an odd number, the first actuator controller corresponding to the first actuator is in the main state, and the second actuator controller corresponding to the second actuator is in the standby state; when the number of times the flight main controller is powered on is an even number, the second actuator controller corresponding to the second actuator is in the main state, and the first actuator controller corresponding to the first actuator is in the standby state. If the number of actuators in the flight control system is more than two sets, the multiple actuators and their corresponding actuator controllers can be numbered, and the controller with the corresponding number can be selected as the main controller with the initial state as the main state according to the remainder after dividing the number of power-on times of the flight main controller by the total number of actuators.

[0034] In some embodiments, if the scheme of determining the master controller according to the number of times each actuator is powered on is adopted, the number of times each actuator is powered on needs to be counted separately, and the controller corresponding to the actuator with the least number of power-ons is selected as the master controller with the initial state being the master state. In some embodiments, there may be a situation where the number of power-ons of multiple actuators is the same. In this case, the power-on time of each actuator can also be counted, that is, the time the corresponding controller is in the master state can be counted. When the number of power-ons of multiple actuators is the smallest, the controller with the shortest total time in the master state is selected as the master controller with the initial state being the master state.

[0035] In some embodiments, the flight master controller determines whether an actuator fails based on the pressure of the hydraulic system of each actuator or the status signal of the mechanical pump of the hydraulic system. When the time when the pressure of the hydraulic system of the actuator is lower than the pressure threshold value is greater than or equal to the first time threshold, or the time when the status signal of the mechanical pump of the hydraulic system is a low pressure signal is greater than or equal to the second time threshold, the actuator is judged to be faulty. The specific pressure threshold value, the first time threshold and the second time threshold should be set according to the parameters of the hydraulic system and the mechanical pump of the actual aircraft. In this embodiment, the pressure threshold value is set to 10.3Mpa, and the values ​​of the first time threshold and the second time threshold are both 1 second. By setting the pressure threshold value to warn whether the pressure source of the hydraulic system fails, the main-standby conversion of the actuator can be performed in advance to ensure that the flight control system can work normally.

[0036] In some embodiments, in order to ensure that the actuator controller of the actuator after switching can work normally, multiple actuator controllers in the flight control system are interconnected and communicated with each other, and each actuator controller transmits status information to the flight main controller while also transmitting status information to the actuator controllers of other interconnected actuators. When the actuator controller currently in the main state receives the main-standby switching instruction, it communicates with the actuator controller that needs to be exchanged to confirm whether the actuator controller can work normally. After confirming that the actuator controller can work normally, the state is switched. At the same time, after the switching is completed, the actuator controllers communicate with each other to confirm their respective working states, to ensure that the working state after switching is correct, to ensure that there is only one actuator controller working in the main state, to avoid the control surface being out of control due to no actuator controller working in the main state after switching.

[0037] Reference Figure 2 , because there are certain risks in the switching process of the actuator, if after the switching, when the actuator corresponding to the actuator controller whose initial state is the main state recovers from the fault, if the aircraft is in the air, the state of each actuator controller after the switching is maintained, and the state of each actuator controller is not reset; if the aircraft is on the ground, the state of each actuator controller is reset to the initial state determined when the entire flight control system is powered on. In practice, the flight main controller can determine whether the aircraft is on the ground or in the air by receiving atmospheric or wheel-borne signals sent by the avionics system.

[0038] When all actuators in the flight control system fail, or the actuation controllers of all actuators are in standby state and cannot be switched to main state, the actuation controllers of each actuator transmit warning information to the flight main controller, alerting the flight main controller that the operating surface has failed.

[0039] Based on the same inventive concept, an embodiment of the present invention also proposes a flight main controller, including a power-on count unit, an initial state judgment unit, an actuator state acquisition unit and a state switching unit. The power-on count unit is used to record the number of times the flight main controller is powered on, and the initial state judgment unit is used to select an actuator controller with the initial state as the main state according to the number of power-ons, so that multiple actuator controllers take turns as the main actuator controller with the initial state as the main state. The actuator state acquisition unit is used to obtain the states of multiple actuators and determine whether the actuators are faulty. The state switching unit is used to control the switching between the main state and the standby state of each actuator controller according to the states of each actuator obtained by the actuator state acquisition unit. When the actuator corresponding to the actuator controller in the current main state fails, the state of the actuator controller in the current main state is modified to the standby state, and the actuator controller in the standby state in which any corresponding actuator can work normally is modified to the main state.

[0040] In some embodiments, the power-on times counting unit may include a plurality of sub-counting units, each of which records the power-on times of the corresponding actuator, so that the initial state judgment unit selects the actuator controller whose initial state is the main state according to the total number of power-on times of all actuators or the number of power-on times of each actuator, so as to make each actuator work in a balanced manner as much as possible. In some embodiments, the flight main controller may also include a plurality of timing units, which are used to respectively record the total time when the corresponding actuator controller is in the main state, so as to obtain the total working time of each actuator, so that when there are multiple actuators whose power-on times are the lowest at the same time, the actuator with the lowest total working time can be selected as the main actuator that initially works in the active control state, so as to further improve the balance of the working time of each actuator.

[0041] In some embodiments, the flight master controller may also include an aircraft state acquisition unit for acquiring the ground and air state of the aircraft, and receiving atmospheric or wheel-borne signals sent by the avionics system to determine whether the aircraft is in a ground state or an air state. The state switching unit is also used to determine whether it is necessary to reset the state of each actuation controller according to the ground and air state of the aircraft when the fault of the brake corresponding to the actuation controller whose initial state is the main state is recovered. When the aircraft is in the ground state, the state of each actuation controller is restored to the initial state when the entire flight control system is powered on; when the aircraft is in the air, each actuation controller is maintained in the current state.

[0042] Based on the same inventive concept, an embodiment of the present invention also provides a flight control system, including the above-mentioned flight main controller, multiple actuation controllers and multiple actuators. The multiple actuation controllers are all connected to the flight main controller in communication, and switch between the main state and the standby state under the control of the flight main controller. The multiple actuators are respectively and electrically connected to the multiple actuation controllers in a one-to-one correspondence, and the actuators control the various servos of the aircraft under the control of the corresponding actuation controllers. Figure 3 In this embodiment, the flight main controller is electrically connected to the actuator controller and the avionics system through the actuator control electronics, directly sends control instructions to the actuator controller through the actuator control electronics, and receives the status signal fed back by the actuator controller as well as the aircraft status signal, airspeed and attitude hydraulic system status, etc. The actuator control electronics can be a communication circuit or a level conversion circuit. The actuator generally includes a hydraulic system and a solenoid valve, a servo valve, a mode conversion valve and some sensors arranged in the hydraulic system, such as a hydraulic sensor and a displacement sensor installed on the valve core of the mode conversion valve, etc. The actuator controller drives the various valves and sensors in the actuator to work through the avionics system, and obtains the status of each device in the actuator. The specific structure of the actuator, avionics system and actuator control electronics is common knowledge in the art and will not be elaborated here.

[0043] Reference Figure 3 In some embodiments, each actuation controller communicates with each other cross-linked, and synchronizes the state of each actuator and the state of the actuation controller to other actuation controllers, so that after receiving the master-slave switching instruction issued by the flight master controller, the actuation controller can confirm the state of the other actuation controller to be exchanged before and after the switch, and ensure the correctness of the switching logic, thereby improving the accuracy of the switching process, ensuring that the operating surface can work normally, and thus improving the safety of the aircraft during flight. The actuation controller includes a cross-communication unit, which is used to obtain the state of other connected actuation controllers and corresponding actuators, and synchronously sends the state of itself and its corresponding actuator to the connected actuation controller.

[0044] In this embodiment, in order to further ensure the reliability of the flight control system, the hydraulic system of each actuator needs to include at least three independent hydraulic sources, which are used to supply pressure to avoid the failure of switching between the main and standby actuators due to the failure of a single hydraulic source, thereby preventing the loss of control of the control surface.

[0045] Based on the same inventive concept, an embodiment of the present invention further provides a computer-readable storage medium storing a computer program, which, when executed and called by a processor, can implement the method for switching the primary and standby actuators of the flight control system provided in an embodiment of the present invention.

[0046] As a non-volatile computer-readable storage medium, the memory can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The memory can include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (Rand om Access Memory, RAM), static random access memory (Static RandomAccess Memory, SRAM), programmable read-only memory (Programmab le Read On ly Memory, PROM), read-only memory (Read On ly Memory, ROM), electrically erasable programmable read-only memory (Electrically Erasable Programmab le Read-Only Memory, EEPROM), magnetic storage, disk, optical disk, etc. The memory is any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory in the embodiment of the present application can also be a circuit or any other device that can realize a storage function, for storing program instructions and / or data.

[0047] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0048] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0049] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0050] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0051] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0052] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A method for switching between a primary and a secondary actuator of a flight control system, characterized in that: The steps include: Get the number of times the main flight controller is powered on; An actuating controller whose initial state is the main state is selected according to the number of power-on times, and other actuating controllers are set to the standby state, so that multiple actuating controllers take turns to serve as the main actuating controller whose initial state is the main state; Real-time detection of the working status of the actuator corresponding to the actuation controller in the main state, and obtaining whether the actuators corresponding to the actuation controllers in each standby state are normal; When the actuator corresponding to the actuation controller in the main state fails, a master-slave conversion instruction is sent to the actuation controller currently in the main state and any corresponding actuation controller in the normal standby state, and the state of the actuation controller currently in the main state is changed to the standby state, and the state of any corresponding standby state controller in which the actuator can work normally is changed to the main state.

2. The method for switching the primary and standby actuators of the flight control system according to claim 1, characterized in that: The invention comprises two actuation controllers and two corresponding sets of actuators. In the step of selecting an actuation controller whose initial state is the main state according to the number of power-ons, and setting other actuation controllers to the standby state, so that multiple actuation controllers take turns as the main actuation controller whose initial state is the main state, when the number of power-ons of the flight main controller is an odd number, the first actuation controller is set to the main state, and the second actuation controller is set to the standby state; when the number of power-ons of the flight main controller is an even number, the first actuation controller is set to the standby state, and the second actuation controller is set to the main state.

3. The method for switching the primary and standby actuators of the flight control system according to claim 1, characterized in that: Also includes: Get the aircraft's air and ground status; When the fault of the actuator corresponding to the actuation controller whose initial state is the main state is recovered, if the aircraft is in the ground state, the state of each controller is restored to the initial state; If the aircraft is in the air, each controller is maintained in the current state.

4. The method for switching the primary and standby actuators of the flight control system according to claim 1, characterized in that: When the actuator controller is in the main state, the actuator controller conducts the power supply to the solenoid valve of the corresponding actuator, allowing the high-pressure oil to enter the modal valve, and the modal valve is switched to the active position; when the actuator controller is in the standby state, the actuator controller cuts off the power supply to the solenoid valve of the corresponding actuator, blocking the high-pressure oil from entering the modal valve, and the modal valve is switched to the damping position.

5. The method for switching the primary and standby actuators of the flight control system according to claim 1, characterized in that: In the step of detecting in real time the working state of the actuator corresponding to the actuation controller in the main state and obtaining whether the actuators corresponding to the actuation controllers in each standby state are normal, if the time when the pressure of the hydraulic system of the actuator is lower than the pressure threshold value is greater than or equal to the first time threshold, or the time when the state signal of the mechanical pump of the hydraulic system of the actuator is a low-pressure signal is greater than or equal to the second time threshold, it is determined that the actuator has a fault.

6. A flight main controller, characterized in that: include: A power-on times counting unit is used to record the number of times the flight main controller is powered on; An initial state judgment unit is used to select an actuation controller whose initial state is the main state according to the power-on times, so that multiple actuation controllers take turns as the main actuation controller whose initial state is the main state; An actuation status acquisition unit, used to acquire the status of multiple actuators and determine whether the actuators are faulty; The state switching unit is used to control the switching between the main state and the standby state of each actuation controller according to the state of each actuator obtained by the actuation state acquisition unit. When the actuator corresponding to the actuation controller currently in the main state fails, the state of the actuation controller currently in the main state is changed to the standby state, and the state of the actuation controller in the standby state in which any corresponding actuator can work normally is changed to the main state.

7. The main flight controller according to claim 6, characterized in that: Also includes: An aircraft status acquisition unit, used to acquire the ground and air status of the aircraft; The state switching unit is also used for, when the failure of the actuator corresponding to the actuation controller whose initial state is the main state is recovered, if the aircraft is in the ground state, restoring the state of each actuation controller to the initial state; If the aircraft is in the air, each actuation controller is maintained in the current state.

8. A flight control system, characterized in that: include: The main flight controller according to claim 6 or 7; A plurality of actuation controllers are communicatively connected with the flight main controller and switch between a main state and a standby state under the control of the flight main controller; A plurality of actuators are electrically connected to the plurality of actuation controllers in a one-to-one correspondence, and are used to control the various steering gears of the aircraft.

9. The flight control system according to claim 8, characterized in that: The plurality of actuation controllers are cross-communicationally connected to each other.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed and called by the processor, the method for switching the primary and standby actuators of the flight control system according to any one of claims 1 to 5 is implemented.

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