A method for controlling a haptic alert shake of a motor-driven aircraft control device

Abstract

The present application belongs to the field of flight control technology, and relates to a motor-driven aircraft control device tactile alarm shaking control method. The shaking alarm control method designed by the present application makes the shaking frequency and amplitude settable; when the onboard alarm device identifies the tactile alarm information, the shaking alarm instruction is sent to the control device; the controller of the control device adds the shaking alarm instruction to the control target instruction, and calculates and executes the motor drive control instruction according to the control algorithm; the motor drive circuit of the control device drives the execution motor to rotate according to the drive control instruction; the execution motor drives the control mechanism to move to the control target instruction position through the transmission mechanism, and makes the control device shake according to the frequency, amplitude and time length of the shaking alarm instruction. The present application realizes the tactile alarm function of the aircraft control device with stronger interaction and more comprehensive information elements, improves the interaction between the pilot and the aircraft, and makes the flight control safer.

Description

Technical Field

[0001] This invention belongs to the field of flight control technology and relates to a method for controlling tactile alarm jitter in motor-driven aircraft control equipment. Background Technology

[0002] Aircraft warnings typically employ multiple methods, including visual, auditory, and tactile warnings. As a crucial human-machine interface within the aircraft flight control system, aircraft control equipment should provide reliable tactile alerts to the pilot upon receiving warning information. For example, current aircraft control sticks primarily use stick vibrators to provide tactile feedback for stall warnings. For control equipment with servo or active functions, tactile feedback can be achieved through actuators within the device, providing similar tactile feedback while displaying more information and eliminating the need for dedicated tactile feedback hardware such as stick vibrators. Summary of the Invention

[0003] The purpose of this invention is:

[0004] This paper proposes a motor jitter alarm control method that utilizes the actuators of aircraft control devices to provide tactile alarms. This method aims to achieve a more interactive and comprehensive tactile alarm function for aircraft control devices, thereby enhancing the interaction between the pilot and the aircraft and making flight control safer.

[0005] The technical solution of this invention is:

[0006] The present invention solves the above problems by designing a method for controlling tactile alarm jitter in motor-driven aircraft control equipment.

[0007] The technical solution of this invention: a method for controlling tactile alarm jitter in motor-driven aircraft control equipment, comprising the following steps:

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

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

[0010] 3) The motor drive circuit of the operating equipment drives the motor to rotate according to the drive control command;

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

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

[0013] The position closed loop is as follows: the controller of the control device converts the jitter alarm command into a time-series sine command θa* through jitter command calculation, and adds it to the received target position command θ* of the control mechanism to obtain the final target position command θl* of the control mechanism; the real-time position θl of the control mechanism is measured by the displacement sensor, and the difference between θl* and θl is calculated to solve the deviation value between the real-time position and the target position. The target speed ω* of the execution motor is calculated through the position closed loop control algorithm to form the position control closed loop of the control mechanism.

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

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

[0017] The current closed-loop control involves sampling the motor current i, subtracting i from the target current i*, and then using a current closed-loop algorithm and a motor vector control algorithm to calculate the drive control command for the motor, thus forming a current control closed loop for the motor.

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

[0019] The function of the motor drive circuit is to convert drive control commands into power signals that drive the motor to rotate.

[0020] The advantages of this invention are:

[0021] 1) Pilots can perceive the type and severity of alarms by observing the vibration of the control equipment, and the system has high stability and accuracy;

[0022] 2) The designed jitter alarm control method allows for setting the jitter frequency and amplitude;

[0023] 3) The jitter alarm control structure is simple, the control algorithm is mature, and it has high reliability and security. Attached Figure Description

[0024] Figure 1 Block diagram of motor vibration alarm control principle for operating equipment;

[0025] Figure 2 Control procedure for motor vibration alarm of operating equipment;

[0026] Figure 3 Example control principle block diagram. Detailed Implementation

[0027] This invention provides a method for controlling tactile alarm jitter in motor-driven aircraft control equipment. The aircraft is equipped with onboard alarm equipment and control equipment with follow-up or active functions. The onboard alarm equipment refers to equipment with alarm information decision-making or management functions. The control equipment has a jitter alarm function requirement, and its jitter alarm includes, but is not limited to, aircraft stall alarm. The motor jitter alarm control method includes:

[0028] refer to Figure 1 The block diagram shown and Figure 2 The flowchart shown illustrates that when the airborne alarm device recognizes tactile alarm information, it sends a jitter alarm command to the control device. The jitter alarm command includes, but is not limited to, information such as jitter frequency, amplitude, and duration.

[0029] The controller of the operating device will add jitter alarm instructions to the existing control inputs, such as control target instructions, and calculate and execute motor drive control instructions according to the control algorithm. The control target instructions refer to control function instructions such as target position and target speed of the operating mechanism in the operating device. The control algorithm can be modified based on the characteristics of the instructions, based on the original control algorithm of the operating device.

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

[0031] The actuator motor drives the control mechanism to move near the control target command through the transmission mechanism, and causes the control equipment to vibrate and alarm according to the frequency, amplitude, duration and other requirements of the vibration alarm command.

[0032] To achieve precise control of the vibration of the operating device, the vibration control method provided by this invention further includes:

[0033] The real-time position of the control mechanism of the control device is fed back to the controller of the control device for position closed-loop or speed closed-loop control of the control mechanism;

[0034] The real-time position of the motor is fed back to the controller of the operating device for closed-loop control of the motor;

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

[0036] Example

[0037] An embodiment of the motor jitter alarm control method for aircraft control equipment provided by the present invention is as follows:

[0038] The technical solution will now be described in further detail with reference to the accompanying drawings. This description is exemplary and not intended to limit the invention. Any other similar situations are also within the scope of protection of this invention. (Reference) Figure 3 As shown, taking the jitter alarm of a control device A with position tracking function as an example, the implementation steps are as follows:

[0039] S1. The airborne warning equipment identifies an alarm message requiring tactile alerting via control device A, generates a jitter alarm command containing jitter amplitude and frequency information, and sends it to control device A. The jitter alarm command can be described as a signal, the amplitude and frequency of which can be set by the airborne warning equipment; the pilot can determine the type and severity of the alarm by observing the jitter amplitude and frequency on the control mechanism.

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

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

[0042] S4. Measure the real-time position θ of the actuator motor shaft using an angular displacement sensor. m , for θ m The real-time speed ω of the motor is obtained by performing differential calculations with respect to time. The difference between ω and the target speed ω* is then used to calculate the target current i* of the motor through a speed closed-loop algorithm, thus forming a speed control closed loop for the motor.

[0043] S5. Sample the current i of the motor, calculate the difference between i and the target current i*, and then use the current closed-loop algorithm and the motor vector control algorithm to calculate the drive control command of the motor, thus forming the current control closed loop of the motor.

[0044] S6. The motor drive circuit in the control device A drives the motor to rotate according to the drive control command.

[0045] S7. The actuator, through the transmission mechanism, drives the control mechanism to vibrate and issue an alarm near the target position command θ* according to the frequency and amplitude requirements of the vibration alarm command, in order to remind the pilot.

Claims

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

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

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

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

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

6. The tactile alarm jitter control method for motor-driven aircraft control equipment 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 drive circuit for current closed-loop control of the actuator motor.

7. The tactile alarm jitter control method for motor-driven aircraft control equipment according to claim 6, characterized in that, The current closed-loop control involves sampling the motor current i, subtracting i from the target current i*, and then using a current closed-loop algorithm and a motor vector control algorithm to calculate the drive control command for the motor, thus forming a current control closed loop for the motor.

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

9. The method for controlling tactile alarm jitter in motor-driven aircraft control equipment according to claim 1, characterized in that, The function of the motor drive circuit is to convert drive control commands into power signals that drive the motor to rotate.

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