Tactile alarm jitter control method for motor-driven aircraft control equipment

Abstract

The invention belongs to the technical field of flight control, and relates to a tactile alarm jitter control method for motor-driven aircraft control equipment. According to the jitter alarm control method designed by the invention, the jitter frequency and amplitude can be set; when the airborne alarm device recognizes the touch alarm information, a jitter alarm instruction is sent to the control device; a controller of the control equipment adds a jitter alarm instruction to a control target instruction, and calculates and executes a motor driving control instruction according to a control algorithm; a motor driving circuit of the control equipment drives an execution motor to rotate according to the driving control instruction; and the execution motor drives the control mechanism to move to a control target instruction position through the transmission mechanism, and controls the equipment to shake and give an alarm according to the frequency, the amplitude and the duration of the shaking alarm instruction. According to the invention, the haptic alarm function of the aircraft control equipment with higher interactivity and more comprehensive information elements is realized. Interaction between a pilot and an aircraft is improved, and flight control is safer.

Description

Technical Field

[0001] The invention belongs to the technical field of flight control and relates to a tactile warning jitter control method for an aircraft control device driven by a motor. Background Art

[0002] Aircraft warnings generally include visual warnings, auditory warnings, and tactile warnings. Aircraft control equipment, as an important human-machine interface of the aircraft flight control system, should be able to provide reliable tactile warnings to remind pilots when receiving warning information. For example, the current aircraft joystick mainly uses a stick shaker to provide tactile prompts for stall warnings. For control equipment with follow-up or active functions, the tactile prompt function can be achieved by the actuator motor in the equipment to provide similar tactile prompts, which can reflect more information elements and do not require dedicated tactile prompt hardware such as a stick shaker. Summary of the invention

[0003] The objects of the present invention are:

[0004] A motor vibration warning control method for realizing tactile warning through the actuator motor of the aircraft control equipment is designed to realize the tactile warning function of the aircraft control equipment with stronger interactivity and more comprehensive information elements. It improves the interactivity between the pilot and the aircraft and makes flight control safer.

[0005] The technical solution of the present invention is:

[0006] The present invention solves the above-mentioned problem through the following technical scheme, and designs a tactile warning jitter control method of a motor-driven aircraft control device.

[0007] The technical solution of the present invention is a motor-driven aircraft control equipment tactile warning jitter control method, comprising the following steps:

[0008] 1) When the airborne warning device recognizes the tactile warning information, it sends a jitter warning command to the control device;

[0009] 2) The controller of the operating device will add a jitter alarm instruction to the control target instruction and execute the motor drive control instruction according to the control algorithm calculation;

[0010] 3) The motor drive circuit of the operating device drives the execution motor to rotate according to the drive control instruction;

[0011] 4) The execution motor drives the operating mechanism to move to the control target command position through the transmission mechanism, and operates the device to vibrate and alarm according to the frequency, amplitude and duration requirements of the vibration alarm command.

[0012] The manipulation device feeds back the real-time position of the manipulation mechanism to the controller of the manipulation device for closed-loop position control of the manipulation mechanism.

[0013] The position closed loop is that the controller of the operating device converts the jitter alarm command into a time series sinusoidal command θa* through jitter command resolution and sums it with the received operating mechanism target position command θ* to obtain the final operating mechanism target position command θl*; the real-time position θl of the operating mechanism is measured by a displacement sensor, θl* and θl are subtracted to solve the deviation value between the real-time position and the target position, and the target speed ω* of the execution motor is calculated through a position closed-loop control algorithm to form a position control closed loop of the operating mechanism.

[0014] The actuator motor feeds back the real-time position of the actuator motor to the controller of the manipulation device through the angular displacement sensor for closed-loop speed control of the actuator motor.

[0015] The speed closed-loop control of the executing motor is achieved by measuring the real-time position θm of the executing motor shaft through an angular displacement sensor, and obtaining the real-time speed ω of the motor by differentiating θm with respect to time. The target current i* of the executing motor is calculated by a speed closed-loop algorithm after subtracting ω from the target speed ω*, thus forming a speed control closed-loop for the executing motor.

[0016] The actuator motor feeds back the real-time stator current of the actuator motor to the controller of the operating device through the motor driving circuit for current closed-loop control of the actuator motor.

[0017] The current closed-loop control is to sample the motor current i, and after subtracting i from the target current i*, calculate the drive control instruction of the motor through the current closed-loop algorithm and the motor vector control algorithm to form a current control closed-loop of the motor.

[0018] The control target instruction refers to the target position and target speed control function instruction of the control mechanism in the control device.

[0019] The motor drive circuit is used to convert the drive control instruction into a power signal for driving the motor to rotate.

[0020] The advantages of the present invention are:

[0021] 1) Pilots can perceive the type and severity of warnings through the vibration of the control equipment, with high stability and accuracy;

[0022] 2) The jitter alarm control method designed enables the jitter frequency and amplitude to be set;

[0023] 3) The jitter alarm control structure is simple, the control algorithm is highly mature, and it has high reliability and security. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Principle block diagram of motor vibration alarm control of operating equipment;

[0025] Figure 2 Control equipment motor vibration alarm control process;

[0026] Figure 3 Control principle block diagram of the embodiment. DETAILED DESCRIPTION

[0027] The present invention provides a motor-driven aircraft control device tactile warning jitter control method, wherein the aircraft is equipped with an onboard warning device and a control device with a follow-up or active function, the onboard warning device refers to a device with a warning information decision-making or management function; the control device has a jitter warning function requirement, and its jitter warning includes but is not limited to aircraft stall warning. The motor jitter warning control method includes:

[0028] refer to Figure 1 The block diagram and Figure 2 As shown in the flow chart, when the airborne warning device recognizes the tactile warning information, it sends a shaking warning instruction to the control device, and the shaking warning instruction includes but is not limited to information such as shaking frequency, amplitude and duration.

[0029] The controller of the manipulator will add a jitter warning instruction based on the original control input such as the control target instruction, and calculate and execute the motor drive control instruction according to the control algorithm. The control target instruction refers to the control function instruction such as the target position and target speed of the manipulator in the manipulator. The control algorithm can be changed based on the original control algorithm of the manipulator according to the instruction characteristics.

[0030] The motor driving circuit of the operating device drives the motor to rotate according to the driving control instruction. The function of the motor driving circuit is to convert the driving control instruction into a power signal for driving the motor to rotate.

[0031] The execution motor drives the control mechanism to move to the vicinity of the control target instruction through the transmission mechanism, and makes the control device vibrate and alarm according to the frequency, amplitude, duration and other requirements of the vibration alarm instruction.

[0032] In order to achieve accurate control of the jitter of the operating device, the jitter control method provided by the present invention also includes:

[0033] Feedback the real-time position of the operating mechanism of the operating device to the controller of the operating device for position closed-loop or speed closed-loop control of the operating mechanism;

[0034] Feeding back the real-time position of the actuator motor to the controller of the manipulating device for closed-loop control of the actuator motor;

[0035] The real-time stator current of the motor is fed back to the controller of the operating device for current closed-loop control of the motor.

[0036] Example

[0037] An embodiment of the motor vibration warning control method of the aircraft control device provided by the present invention is as follows:

[0038] The technical solution is further described in detail below in conjunction with the accompanying drawings. This description is exemplary and not intended to limit the present invention. Any other similar situations are also within the protection scope of the present invention. Figure 3 As shown, taking the jitter alarm of the control device A with position following function as an example, the implementation steps are as follows:

[0039] S1. The onboard warning device identifies the warning information that needs to be tactilely warned by the control device A, forms a jitter warning instruction containing jitter amplitude and frequency information, and sends it to the control device A. The jitter warning instruction can be described as a signal, and its amplitude and frequency can be set by the onboard warning device; the pilot can judge the type and severity of the warning by the jitter amplitude and frequency of the control mechanism.

[0040] S2. The controller of the operating device A converts the jitter alarm command into a time series sinusoidal command θ through jitter command resolution. a *, and sum it with the received control mechanism target position command θ* to obtain the final control mechanism target position command θ l *.

[0041] S3. Measure the real-time position of the operating mechanism through the displacement sensor θ l , and θ l * and θ l The deviation between the real-time position and the target position is solved, and the target speed ω* of the motor is calculated through the position closed-loop control algorithm to form a position control closed-loop of the operating mechanism.

[0042] S4. Measure the real-time position θ of the motor shaft through the angular displacement sensor m , for θ m The real-time speed ω of the motor is obtained by differential calculation with respect to time. The speed closed-loop algorithm is used to calculate the target current i* of the motor after subtracting ω from the target speed ω*, thus forming a speed control closed-loop for the motor.

[0043] S5. Sample the execution motor current i, make a difference between i and the target current i*, and then calculate the drive control instruction of the execution motor through the current closed-loop algorithm and the motor vector control algorithm to form a current control closed loop of the execution motor.

[0044] S6. The execution motor driving circuit in the operating device A drives the execution motor to rotate according to the driving control instruction.

[0045] S7. The execution motor drives the control mechanism through the transmission mechanism to vibrate and warn near the target position instruction θ* according to the frequency, amplitude and other requirements of the vibration warning instruction to remind the pilot.

Claims

1. A method for controlling the tactile warning jitter of a motor-driven aircraft control device, characterized in that: The following steps are involved: 1) When the airborne warning device recognizes the tactile warning information, it sends a jitter warning command to the control device; 2) The controller of the operating device will add a jitter alarm instruction to the control target instruction and execute the motor drive control instruction according to the control algorithm calculation; 3) The motor drive circuit of the operating device drives the execution motor to rotate according to the drive control instruction; 4) The execution motor drives the operating mechanism to move to the control target command position through the transmission mechanism, and operates the device to vibrate and alarm according to the frequency, amplitude and duration requirements of the vibration alarm command.

2. The motor-driven aircraft control equipment tactile warning jitter control method according to claim 1 is characterized in that: The manipulation device feeds back the real-time position of the manipulation mechanism to the controller of the manipulation device for closed-loop position control of the manipulation mechanism.

3. The motor-driven aircraft control equipment tactile warning jitter control method according to claim 2 is characterized in that: The position closed loop is that the controller of the operating device converts the jitter alarm command into a time series sinusoidal command θa* through jitter command resolution and sums it with the received operating mechanism target position command θ* to obtain the final operating mechanism target position command θl*; the real-time position θl of the operating mechanism is measured by a displacement sensor, θl* and θl are subtracted to solve the deviation value between the real-time position and the target position, and the target speed ω* of the execution motor is calculated through a position closed-loop control algorithm to form a position control closed loop of the operating mechanism.

4. The motor-driven aircraft control equipment tactile warning jitter control method according to claim 1, characterized in that: The actuator motor feeds back the real-time position of the actuator motor to the controller of the manipulation device through the angular displacement sensor for closed-loop speed control of the actuator motor.

5. The motor-driven aircraft control equipment tactile warning jitter control method according to claim 4, characterized in that: The speed closed-loop control of the executing motor is achieved by measuring the real-time position θm of the executing motor shaft through an angular displacement sensor, and obtaining the real-time speed ω of the motor by differentiating θm with respect to time. The target current i* of the executing motor is calculated by a speed closed-loop algorithm after subtracting ω from the target speed ω*, thus forming a speed control closed-loop for the executing motor.

6. The motor-driven aircraft control equipment tactile warning jitter control method according to claim 1, characterized in that: The actuator motor feeds back the real-time stator current of the actuator motor to the controller of the operating device through the motor driving circuit for current closed-loop control of the actuator motor.

7. The motor-driven aircraft control equipment tactile warning jitter control method according to claim 6, characterized in that: The current closed-loop control is to sample the motor current i, and after subtracting i from the target current i*, calculate the drive control instruction of the motor through the current closed-loop algorithm and the motor vector control algorithm to form a current control closed-loop of the motor.

8. The motor-driven aircraft control equipment tactile warning jitter control method according to claim 1, characterized in that: The control target instruction refers to the target position and target speed control function instruction of the control mechanism in the control device.

9. The motor-driven aircraft control equipment tactile warning jitter control method according to claim 1, characterized in that: The motor drive circuit is used to convert the drive control instruction into a power signal for driving the motor to rotate.

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