Three-redundancy accelerator control method and device, computer equipment and storage medium

Abstract

The invention relates to a three-redundancy accelerator control method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring at least three pieces of sensor data of an aircraft accelerator push rod and a first weight factor corresponding to each piece of sensor data; threshold degree detection and synchronization degree detection are carried out on the at least three pieces of sensor data to adjust the first weight factor, and a second weight factor is obtained; and according to the second weight factor and the at least three pieces of sensor data, the opening degree of an aircraft accelerator is determined, and accelerator control is carried out based on the opening degree of the aircraft accelerator. The method comprises the following steps: acquiring at least three pieces of sensor data, and adjusting a first weight factor corresponding to each piece of sensor data according to the at least three pieces of sensor data to obtain a second weight factor; and finally determining the opening degree of the aircraft accelerator according to the data of the at least three sensors and the second weight factor. Therefore, the reliability and the stability of accelerator control are improved, and the flight safety of the electric aircraft is further improved.

Description

Technical Field

[0001] The present application relates to the field of aviation technology, and in particular to a triple-redundant throttle control method, device, computer equipment and storage medium. Background Art

[0002] The function of the throttle of an electric aircraft is similar to that of a traditional fuel aircraft, but the implementation mechanism is different. The aircraft throttle is a control device that controls the power of the engine or motor. For electric aircraft, the throttle controls the power output of the motor, which in turn affects the speed and flight status of the aircraft. With the global emphasis on environmental protection and sustainable development, electric aircraft have received widespread attention as an emerging green means of transportation. Compared with traditional fuel aircraft, electric aircraft have significant advantages such as low noise and zero emissions, so they show great potential in short-distance transportation and commuter flights.

[0003] In the current related technologies, the power system of electric aircraft is usually composed of battery packs, motors, throttle control systems, and propellers. Among them, the throttle control system is crucial to the safety, stability, and economy of the aircraft. In the current related technologies, the throttle is controlled through a single channel, but in the face of complex environments and sudden failures, the reliability and stability of the throttle control through a single channel are low, which further affects the flight safety of electric aircraft. Summary of the invention

[0004] Based on this, it is necessary to provide a triple-redundant throttle control method, device, computer equipment and storage medium to address the above technical problems.

[0005] In a first aspect, the present application provides a triple-redundant throttle control method, the method comprising: obtaining at least three sensor data of an aircraft throttle push rod and a first weight factor corresponding to each sensor data; performing threshold detection and synchronization detection on at least three of the sensor data to adjust the first weight factor to obtain a second weight factor; determining the aircraft throttle opening according to the second weight factor and at least three of the sensor data, and performing throttle control based on the aircraft throttle opening.

[0006] In one embodiment, performing threshold detection and synchronization detection on at least three of the sensor data to adjust the first weight factor to obtain the second weight factor includes: performing threshold detection on at least three of the sensor data to obtain a threshold detection result; adjusting the first weight factor according to the threshold detection result to obtain a third weight factor; performing synchronization detection on at least three of the sensor data to obtain a detection identifier; adjusting the third weight factor according to the detection identifier to obtain a second weight factor.

[0007] In one embodiment, the threshold detection is performed on at least three of the sensor data to obtain the threshold detection result, including: the sensor data includes: first sensor data, second sensor data and third sensor data; obtaining first upper and lower limit thresholds, second upper and lower limit thresholds and third upper and lower limit thresholds; performing threshold detection on the first sensor data according to the first upper and lower limit thresholds to obtain a first threshold detection result; performing threshold detection on the second sensor data according to the second upper and lower limit thresholds to obtain a second threshold detection result; performing threshold detection on the third sensor data according to the third upper and lower limit thresholds to obtain a third threshold detection result.

[0008] In one embodiment, adjusting the first weight factor according to the threshold detection result to obtain the third weight factor includes: based on a first preset order, adjusting the first weight factor according to the first threshold detection result, the second threshold detection result and the third threshold detection result to obtain the third weight factor.

[0009] In one embodiment, performing synchronization detection on at least three sensor data to obtain a detection identifier includes: obtaining an initial detection identifier; performing synchronization detection on at least three sensor data in pairs to obtain a detection result identifier; and obtaining a detection identifier based on the initial detection identifier and the detection result identifier.

[0010] In one embodiment, the synchronization detection is performed on at least three sensor data in pairs to obtain a detection result identification including: the sensor data includes: first sensor data, second sensor data and third sensor data; the first sensor data, the second sensor data and the third sensor data are combined in pairs to obtain a first data group, a second data group and a third data group; the first data group is subjected to a synchronization detection to obtain a first detection result identification; the first detection result identification includes: an operation identification and a result identification; the second data group is subjected to a synchronization detection to obtain a second detection result identification; the second detection result identification includes: an operation identification and a result identification; the third data group is subjected to a synchronization detection to obtain a third detection result identification; the third detection result identification includes: an operation identification and a result identification.

[0011] In one embodiment, obtaining the detection identifier according to the detection initial identifier and the detection result identifier includes: based on a second preset order, according to the first detection result identifier, the second detection result identifier and the third detection result identifier, calculating the detection initial identifier to obtain the detection identifier.

[0012] In one embodiment, adjusting the third weight factor according to the detection identifier to obtain the second weight factor includes: obtaining a mapping relationship between the detection identifier and the weight adjustment rule; determining a target weight adjustment rule according to the detection identifier and the mapping relationship; and obtaining the second weight factor according to the target weight adjustment rule and the third weight factor.

[0013] In the second aspect, the present application also provides a triple-redundant throttle control device, which includes: an acquisition module, used to obtain at least three sensor data of the aircraft throttle push rod and a first weight factor corresponding to each sensor data; a weight adjustment module, used to perform threshold detection and synchronization detection on at least three of the sensor data to adjust the first weight factor to obtain a second weight factor; a control module, used to determine the aircraft throttle opening according to the second weight factor and at least three of the sensor data, and perform throttle control based on the aircraft throttle opening.

[0014] In a third aspect, the present application further provides a computer device, wherein the computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, any one of the three-degree-of-redundancy throttle control methods in the first aspect is implemented.

[0015] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, any one of the three-degree-of-redundancy throttle control methods in the first aspect is implemented.

[0016] The above-mentioned three-redundant throttle control method, device, computer equipment and storage medium obtain at least three sensor data of the aircraft throttle push rod and the first weight factor corresponding to each sensor data; perform threshold detection and synchronization detection on at least three sensor data to adjust the first weight factor to obtain a second weight factor; determine the aircraft throttle opening according to the second weight factor and the three sensor data, and perform throttle control based on the aircraft throttle opening. At least three sensors are set at the aircraft throttle push rod, and at least three sensor data are collected through at least three sensors respectively, and the first weight factor corresponding to each sensor data is adjusted through at least three sensor data to obtain a second weight factor; finally, the aircraft throttle opening is determined through at least three sensor data and the second weight factor. Thereby, the reliability and stability of throttle control are improved, and the flight safety of electric aircraft is further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the structure of an aircraft throttle push rod in one embodiment;

[0018] Figure 2A schematic diagram of a flow chart of a triple-redundant throttle control method in an embodiment;

[0019] Figure 3 is a flow chart of a method for adjusting a weight factor in one embodiment;

[0020] Figure 4 It is a schematic diagram of the structure of a triple-redundant throttle control system in one embodiment;

[0021] Figure 5 is a structural block diagram of a triple-redundant throttle control device in one embodiment;

[0022] Figure 6 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0024] The function of the throttle of an electric aircraft is similar to that of a traditional fuel aircraft, but the implementation mechanism is different. The aircraft throttle is a control device that controls the power of the engine or motor. For electric aircraft, the throttle controls the power output of the motor, which in turn affects the speed and flight status of the aircraft. With the global emphasis on environmental protection and sustainable development, electric aircraft have received widespread attention as an emerging green means of transportation. Compared with traditional fuel aircraft, electric aircraft have significant advantages such as low noise and zero emissions, so they show great potential in short-distance transportation and commuter flights.

[0025] In the current related technologies, the power system of electric aircraft is usually composed of battery packs, motors, throttle control systems, and propellers. Among them, the throttle control system is crucial to the safety, stability, and economy of the aircraft. In the current related technologies, the throttle is controlled through a single channel, but in the face of complex environments and sudden failures, the reliability and stability of the throttle control through a single channel are low, which further affects the flight safety of electric aircraft.

[0026] In one embodiment, the electric aircraft determines the throttle opening of the aircraft by the push position of the aircraft throttle push rod, and then controls the speed and flight state of the electric aircraft by the throttle opening of the aircraft. In this embodiment, at least three sensors are set for the aircraft throttle push rod, and the position data of the aircraft throttle push rod is collected by at least three sensors to determine the throttle opening of the aircraft. For example, the sensor can be a Hall sensor or a variable resistor. Figure 1As shown, the aircraft throttle push rod is fixedly connected to the first gear; the second gear and the third gear are connected to both sides of the first gear. Among them, the size of the second gear and the third gear is exactly the same. A plurality of sensors can be provided for the second gear, and a plurality of sensors can also be provided for the third gear. More specifically, a Hall sensor is provided for the second gear; and a plurality of variable resistors are provided for the third gear. The plurality of variable resistors are connected to the third gear in a coaxial manner. Since the second gear and the third gear have the same size and are both connected to the first gear, when the electric aircraft pilot pushes the aircraft throttle push rod, the second gear and the third gear rotate in the same way, and the position data collected by the Hall sensor and the plurality of variable resistors should also be consistent. Among them, the Hall sensor and the variable resistor are both provided with independent power supply lines to ensure the independence of each sensor. The output of the plurality of sensors can adopt a variety of output types such as 0-20mA, 4-20mA, 0-3.3V and 0-5V, which are not specifically limited in this embodiment. It can be understood that at least three sensors can be freely combined through Hall sensors and variable resistors. Taking three sensors as an example, all three sensors can be Hall sensors; all three sensors can also be variable resistors; the three sensors can also be one Hall sensor and two variable resistors; the three sensors can also be two Hall sensors and one variable resistor. The embodiment of the present application does not specifically limit the setting of at least three sensors. Preferably, under normal circumstances, the data accuracy of the Hall sensor is higher than the data accuracy of the variable resistor, and the cost of the Hall sensor is also higher than the cost of the variable resistor. Taking into account the accuracy and cost, one Hall sensor and two variable resistors can be set.

[0027] In one embodiment, Figure 2 As shown, a triple-redundant throttle control method is provided, which can be applied to a controller of an electric aircraft, comprising the following steps:

[0028] Step 201: Acquire at least three sensor data of a throttle push rod of an aircraft and a first weight factor corresponding to each sensor data.

[0029] Based on the above, the aircraft throttle push rod is associated with at least three sensors, and at least three sensor data of the aircraft throttle push rod are collected through at least three sensors. The sensor data can represent the push position of the aircraft throttle push rod, that is, the throttle opening. A corresponding first weight factor is set in advance for each sensor data. While acquiring at least three sensor data, the first weight factor corresponding to each sensor data is acquired. Among them, the first weight factor represents the weight of the corresponding sensor data when calculating the aircraft throttle opening, and the sum of the first weight factors of all sensor data is 1. For example, three sensors are used as an example for explanation. If the three sensors are sensors of the same type, the first weight factors of the three sensor data can be set to 1 / 3. If the three sensors are Hall sensors, variable resistors 1 and variable resistors 2, since the accuracy of the Hall sensors is higher than that of the variable resistors, the first weight factor of the Hall sensors can be set to 0.5, the first weight factor of the variable resistor 1 can be set to 0.25, and the first weight factor of the variable resistor 2 can be set to 0.25. The first weight factor of each sensor data can be set according to the actual use requirements, and this embodiment does not make specific restrictions.

[0030] Step 202: Perform threshold detection and synchronization detection on at least three sensor data to adjust the first weight factor to obtain a second weight factor.

[0031] After obtaining at least three sensor data and the first weight factor corresponding to each sensor data, it is necessary to perform threshold detection and synchronization detection on the at least three sensor data, so as to adjust the first weight factor and obtain the second weight factor. Among them, the threshold detection is to perform upper and lower limit threshold detection on each sensor data. If the sensor data exceeds the corresponding upper and lower limit thresholds, it means that the corresponding sensor data is abnormal sensor data. Synchronization detection is to detect the aircraft throttle push rod position calculated by the two sensor data. If the aircraft throttle push rod position calculated by the two sensor data is very different, it means that one of the sensor data is abnormal. The abnormal sensor data is determined by performing synchronization detection on the two sensor data. After the abnormal sensor data is determined through threshold detection and synchronization detection, the first weight factor corresponding to the abnormal sensor data is reduced, and the first weight factor corresponding to the normal sensor data is increased to obtain the second weight factor corresponding to each sensor data, wherein the sum of the second weight factors of all sensor data is 1.

[0032] Step 203: Determine the throttle opening of the aircraft according to the second weight factor and at least three sensor data, and perform throttle control based on the throttle opening of the aircraft.

[0033] After obtaining the second weight factor, the aircraft throttle opening can be calculated according to at least three sensor data and the second weight factor corresponding to each sensor data, so as to perform throttle control according to the aircraft throttle opening, and further achieve the purpose of controlling the speed and flight state of the electric aircraft.

[0034] In the embodiment of the present application, at least three sensor data of the aircraft throttle push rod and the first weight factor corresponding to each sensor data are obtained; the first weight factor is adjusted by threshold detection and synchronization detection of at least three sensor data to obtain a second weight factor; the aircraft throttle opening is determined according to the second weight factor and the three sensor data, and the throttle control is performed based on the aircraft throttle opening. By setting at least three sensors at the aircraft throttle push rod, and collecting at least three sensor data through at least three sensors respectively, and collecting sensor data through multiple channels, the reliability and stability of throttle control can be improved. The first weight factor corresponding to each sensor data is adjusted through at least three sensor data to obtain a second weight factor; finally, the aircraft throttle opening is determined through at least three sensor data and the second weight factor. The reliability and stability of throttle control are further improved, thereby improving the flight safety of electric aircraft.

[0035] In one embodiment, if Figure 3 As shown, a method for adjusting a weight factor is provided, comprising the following steps:

[0036] This embodiment is illustrated by at least three sensor data including three sensor data, which include: first sensor data, second sensor data and third sensor data. The first sensor data is data collected by the Hall sensor, the second sensor data is data collected by the variable resistor, and the third sensor data is data collected by the variable resistor.

[0037] Step 301: Perform threshold detection on at least three sensor data to obtain a threshold detection result.

[0038] Before threshold detection, the upper and lower thresholds of each sensor need to be set. For example, when the pilot of an electric aircraft pushes the throttle lever of the aircraft, when the throttle lever of the aircraft is at the 0 position, the lower threshold corresponding to each sensor data is recorded, and when the throttle lever of the aircraft is at the maximum position, the upper threshold corresponding to each sensor data is recorded; thus, the upper and lower thresholds corresponding to each sensor data are obtained, and the upper and lower thresholds corresponding to each sensor are stored in the memory.

[0039] In the actual flight process, the threshold detection of sensor data includes the following steps:

[0040] Step 1: Obtain the first upper and lower thresholds, the second upper and lower thresholds, and the third upper and lower thresholds.

[0041] Among them, the first upper and lower limit thresholds are the upper and lower limit thresholds corresponding to the first sensor data; the second upper and lower limit thresholds are the upper and lower limit thresholds corresponding to the second sensor data; and the third upper and lower limit thresholds are the upper and lower limit thresholds corresponding to the third sensor data.

[0042] Step 2: Perform threshold detection on the first sensor data according to the first upper and lower thresholds to obtain a first threshold detection result.

[0043] The first upper and lower limit thresholds include: a first upper limit threshold and a first lower limit threshold. If the first sensor data is greater than the first upper limit threshold or less than the first lower limit threshold, the first threshold detection result is an abnormal detection; if the first sensor data is less than or equal to the first upper limit threshold and greater than or equal to the first lower limit threshold, the first threshold detection result is a normal detection.

[0044] Step 3: Perform threshold detection on the second sensor data according to the second upper and lower thresholds to obtain a second threshold detection result.

[0045] The second upper and lower limit thresholds include: a second upper limit threshold and a second lower limit threshold. If the second sensor data is greater than the second upper limit threshold or less than the second lower limit threshold, the second threshold detection result is an abnormal detection; if the second sensor data is less than or equal to the second upper limit threshold and greater than or equal to the second lower limit threshold, the second threshold detection result is a normal detection.

[0046] Step 4: Detect the memory threshold of the third sensor data according to the third upper and lower thresholds to obtain a third threshold detection result.

[0047] The third upper and lower limit thresholds include: a third upper limit threshold and a third lower limit threshold. If the third sensor data is greater than the third upper limit threshold or less than the third lower limit threshold, the third threshold detection result is an abnormal detection; if the third sensor data is less than or equal to the third upper limit threshold and greater than or equal to the third lower limit threshold, the third threshold detection result is a normal detection.

[0048] Step 302: adjust the first weight factor according to the threshold detection result to obtain a third weight factor.

[0049] If there is a detection anomaly, the first weight factor of the sensor data corresponding to the detection anomaly is reduced, and the first weight factor of the sensor data corresponding to the detection normal is increased to obtain the third weight factor corresponding to each sensor data. If there is no detection anomaly, the first weight factor is not adjusted. Specifically, based on the first preset order, the first weight factor is adjusted according to the first threshold detection result, the second threshold detection result and the third threshold detection result to obtain the third weight factor. The first preset order can be the order of the first threshold detection result, the second threshold detection result and the third threshold detection result; it can also be the order of the second threshold detection result, the first threshold detection result and the third threshold detection result. Based on the first preset order, the weight factors are adjusted in turn according to the threshold detection results. The following example is given with the first preset order being the order of the first threshold detection result, the second threshold detection result and the third threshold detection result: the first weight factor is adjusted by the first threshold detection result to obtain the first adjusted weight factor; the first adjusted weight factor is adjusted by the second threshold detection result to obtain the second adjusted weight factor; the second adjusted weight factor is adjusted by the third threshold detection result to obtain the third weight factor. Specifically as follows:

[0050] If the first threshold detection result is abnormal detection, then: K11 = K1 / 2; K22 = K2+(K1-K11) / 2; K33 = K3+(K1-K11) / 2. If the first threshold detection result is normal detection, since the accuracy of the Hall sensor is greater than the accuracy of the variable resistor acquisition, when the Hall sensor data is normal, the weight of the first sensor data can be increased, then: K11 = K1*2; K22 = K2-(K1-K11) / 2; K33 = K3-(K1-K11) / 2. Among them, K1, K2 and K3 are the first weight factor of the first sensor data, the first weight factor of the second sensor data and the first weight factor of the third sensor data respectively. K11, K22 and K33 are the first adjusted weight factor of the first sensor data, the first adjusted weight factor of the second sensor data and the first adjusted weight factor of the third sensor data respectively.

[0051] If the second threshold detection result is abnormal detection, then K222 = K22 / 2; K111 = K11 + (K22-K222) / 2; K333 = K33 + (K22-K222) / 2. Among them, K111, K222 and K333 are the second adjustment weight factor of the first sensor data, the second adjustment weight factor of the second sensor data and the second adjustment weight factor of the third sensor data respectively. If the second threshold detection result is normal detection, the first adjustment weight factor is used as the second adjustment weight factor of the corresponding sensor data.

[0052] If the third threshold detection result is abnormal detection, then K3'=K333 / 2; K1'=K111+(K333-K3') / 2; K2'=K222+(K333-K3') / 2. Among them, K1', K2' and K3' are the third weight factor of the first sensor data, the third weight factor of the second sensor data and the third weight factor of the third sensor data respectively. If the third threshold detection result is normal detection, the second adjustment weight factor is used as the third weight factor of the corresponding sensor data.

[0053] Step 303: Perform synchronization detection on at least three sensor data to obtain a detection mark.

[0054] After the threshold detection of the three sensor data, synchronization detection is also required. Obtain the initial detection mark; perform synchronization detection on at least three sensor data in pairs to obtain the detection result mark; obtain the detection mark according to the initial detection mark and the detection result mark. The initial detection mark is Error = 000.

[0055] Perform synchronization detection on at least three sensor data in pairs to obtain detection result identification, which specifically includes the following steps:

[0056] Step 1: Combine the first sensor data, the second sensor data, and the third sensor data in pairs to obtain a first data group, a second data group, and a third data group.

[0057] The first sensor data and the second sensor data are combined to obtain a first data group; the first sensor data and the third sensor data are combined to obtain a second data group; the second sensor data and the third sensor data are combined to obtain a third data group.

[0058] Step 2: Perform synchronization detection on the first data group to obtain a first detection result identifier; the first detection result identifier includes: an operation identifier and a result identifier.

[0059] The first sensor data is S1, the first upper threshold is S1max and the first lower threshold is S1min; the second sensor data is S2, the second upper threshold is S2max and the second lower threshold is S2min. The synchronization detection of the first data group is specifically as follows:

[0060] |(S1-S1min) / (S1max-S1min)-(S2-S2min) / (S2max-S2min)|≤preset threshold

[0061] The preset threshold value can be set according to actual needs. Preferably, the preset threshold value is 2%.

[0062] If the first data group meets the synchronization detection, the first detection result identifier includes: the operation identifier is an AND operation, and the result identifier is Error=011; if the first data group does not meet the synchronization detection, the first detection result identifier includes: the operation identifier is an OR operation, and the result identifier is Error=100.

[0063] Step 3, perform synchronization detection on the second data group to obtain a second detection result identifier; the second detection result identifier includes: an operation identifier and a result identifier.

[0064] The first sensor data is S1, the first upper threshold is S1max and the first lower threshold is S1min; the third sensor data is S3, the third upper threshold is S3max and the third lower threshold is S3min. The synchronization detection of the second data group is specifically as follows:

[0065] |(S1-S1min) / (S1max-S1min)-(S3-S3min) / (S3max-S3min)|≤preset threshold

[0066] The preset threshold value can be set according to actual needs. Preferably, the preset threshold value is 2%.

[0067] If the second data group meets the synchronization detection, the second detection result identification includes: the operation identification is an AND operation, and the result identification is Error=101; if the second data group does not meet the synchronization detection, the second detection result identification includes: the operation identification is an OR operation, and the result identification is Error=010.

[0068] Step 4: Perform synchronization detection on the third data group to obtain a third detection result identifier; the third detection result identifier includes: an operation identifier and a result identifier.

[0069] The second sensor data is S2, the second upper threshold is S2max and the second lower threshold is S2min; the third sensor data is S3, the third upper threshold is S3max and the third lower threshold is S3min. The synchronization detection of the third data group is specifically as follows:

[0070] |(S2-S2min) / (S2max-S2min)-(S3-S3min) / (S3max-S3min)|≤preset threshold

[0071] The preset threshold value can be set according to actual needs. Preferably, the preset threshold value is 2%.

[0072] If the third data group meets the synchronization detection, the third detection result identification includes: the operation identification is an AND operation, and the result identification is Error=110; if the third data group does not meet the synchronization detection, the third detection result identification includes: the operation identification is an OR operation, and the result identification is Error=001.

[0073] After obtaining the first detection result identifier, the second detection result identifier and the third detection result identifier, based on the second preset order, according to the first detection result identifier, the second detection result identifier and the third detection result identifier, the detection initial identifier is calculated to obtain the detection identifier. The second preset order can be the order of the first detection result identifier, the second detection result identifier and the third detection result identifier; it can also be the order of the second detection result identifier, the first detection result identifier and the third detection result identifier. Based on the second preset order, the detection initial identifier is calculated to obtain the detection identifier. The following example is given with the second preset order being the order of the first detection result identifier, the second detection result identifier and the third detection result identifier: based on the calculation identifier corresponding to the first detection result identifier, the detection initial identifier and the result identifier corresponding to the first detection result identifier are calculated to obtain the first adjustment identifier; based on the calculation identifier corresponding to the second detection result identifier, the first adjustment identifier and the result identifier corresponding to the second detection result identifier are calculated to obtain the second adjustment identifier; based on the calculation identifier corresponding to the third detection result identifier, the result identifier corresponding to the second adjustment identifier and the third detection result identifier are calculated to obtain the detection identifier. For example, the initial detection identifier Error = 000 is ANDed with the result identifier Error = 011 corresponding to the first detection result identifier; the first bit of the initial detection identifier is 0, the first bit of the result identifier is 0, and after the AND operation, the first bit of the first adjustment identifier is 0; the second bit of the initial detection identifier is 0, the second bit of the result identifier is 1, and after the AND operation, the second bit of the first adjustment identifier is 0; the third bit of the initial detection identifier is 0, the third bit of the result identifier is 1, and after the AND operation, the third bit of the first adjustment identifier is 0; that is, the final first adjustment identifier Error = 000. The AND operation and OR operation between the identifiers are all performed according to the value of each bit.

[0074] Step 304: adjust the third weight factor according to the detection identifier to obtain a second weight factor.

[0075] After determining the detection identifier, obtain the mapping relationship between the detection identifier and the weight adjustment rule; determine the target weight adjustment rule based on the detection identifier and the mapping relationship; obtain the second weight factor based on the target weight adjustment rule and the third weight factor. A mapping relationship between the detection identifier and the weight adjustment rule is preset. After determining the detection identifier, the target weight adjustment rule corresponding to the detection identifier is obtained by searching the mapping relationship, and then the third weight factor is adjusted according to the target weight adjustment rule to obtain the second weight factor. For example, the detection identifier is divided into 8 types, and each type corresponds to its own weight adjustment rule, as follows:

[0076] If the detection flag is Error=000, it means that the synchronization detection of the first data group, the second data group and the third data group are all in compliance. At this time, the weight factor is not adjusted, that is, the third weight factor is used as the second weight factor.

[0077] If the detection mark is Error=100, it means that the synchronization detection of the first data group does not meet the requirements, and the synchronization detection of the second data group and the third data group both meet the requirements. At this time, the weight adjustment rule is: K4=K1' / 2; K5=K2' / 2; K6=K3'+(K1'-K4)+(K2'-K5). Among them, K1', K2' and K3' are the third weight factor of the first sensor data, the third weight factor of the second sensor data, and the third weight factor of the third sensor data, respectively. K4, K5 and K6 are the second weight factor of the first sensor data, the second weight factor of the second sensor data, and the second weight factor of the third sensor data, respectively.

[0078] If the detection flag is Error=010, it means that the synchronization detection of the second data group does not meet the requirements, and the synchronization detection of the first data group and the third data group both meet the requirements. At this time, the weight adjustment rules are: K4=K1' / 2; K6=K3' / 2; K5=K2'+(K1'-K4)+(K3'-K6).

[0079] If the detection flag is Error=001, it means that the synchronization detection of the third data group does not meet the requirements, and the synchronization detection of the first data group and the second data group both meet the requirements. At this time, the weight adjustment rules are: K5=K2' / 2; K6=K3' / 2; K4=K1'+(K2'-K5)+(K3'-K6).

[0080] If the detection flag is Error=110, it means that the synchronization detection of the first data group and the second data group does not meet the requirements, and the synchronization detection of the third data group meets the requirements. At this time, the weight adjustment rules are: K4=K1' / 2; K5=K2'+(K1'-K4) / 2; K6=K3'+(K1'-K4) / 2.

[0081] If the detection flag is Error=101, it means that the synchronization detection of the first data group and the third data group does not meet the requirements, and the synchronization detection of the second data group meets the requirements. At this time, the weight adjustment rules are: K5=K2' / 2; K4=K1'+(K2'-K5) / 2; K6=K3'+(K2'-K5) / 2.

[0082] If the detection flag is Error=011, it means that the synchronization detection of the second data group and the third data group does not meet the requirements, and the synchronization detection of the first data group meets the requirements. At this time, the weight adjustment rules are: K6=K3' / 2; K4=K1'+(K3'-K6) / 2; K5=K2'+(K3'-K6) / 2.

[0083] If the detection flag is Error=111, it means that the synchronization detection of the first data group, the second data group and the third data group are all unqualified, and a throttle failure is indicated.

[0084] The embodiment of the present application adaptively adjusts the weight factor according to the abnormal conditions of the first sensor data, the second sensor data, and the third sensor data, which can further improve the reliability and stability of throttle control, thereby improving the flight safety of the electric aircraft.

[0085] In one embodiment, when an abnormality occurs in the threshold detection or synchronization detection, after the weight factor is adjusted, if the next threshold detection or synchronization detection does not occur abnormally, that is, all sensor data are normal, the initial weight factor, that is, the first weight factor, can be restored.

[0086] In one embodiment, after obtaining the second weight factor corresponding to each sensor data, the aircraft throttle opening is determined according to the second weight factor and at least three sensor data. Specifically:

[0087]

[0088] Among them, Sfinal is the aircraft throttle opening; K4, K5 and K6 are the second weight factor of the first sensor data, the second weight factor of the second sensor data and the second weight factor of the third sensor data respectively; S1 is the first sensor data; S1max is the first upper threshold; S1min is the first lower threshold; S2 is the second sensor data; S2max is the second upper threshold; S2min is the second lower threshold; S3 is the third sensor data; S3max is the third upper threshold; S3min is the third lower threshold.

[0089] After the aircraft throttle opening is calculated, throttle control is performed based on the aircraft throttle opening.

[0090] In one specific embodiment, Figure 4 As shown, a triple-redundant throttle control system is provided, which includes a position detection module and a throttle voting algorithm. Among them, the aircraft throttle push rod is installed with a Hall sensor and a variable resistor through a synchronous gear. Among them, variable resistor 1 and variable resistor 2 are coaxially connected. The Hall sensor collects data S1, variable resistor 1 collects data S2, and variable resistor 2 collects data S3, and transmits S1, S2 and S3 to the whole machine controller of the aircraft. The whole machine controller runs the throttle voting algorithm. The throttle voting algorithm includes a threshold detection algorithm and a synchronization detection algorithm. S1, S2 and S3 pass through the threshold detection algorithm and the synchronization detection algorithm respectively. When the threshold detection fails, the weight factor of the abnormal sensor data is reduced, and the weight factor of the normal sensor data is increased at the same time, so that the abnormal sensor is reduced in the proportion of the final throttle opening output. When the synchronization detection fails, the weight factors of the two abnormal sensor data are synchronously reduced, and the weight factor of the normal sensor data is increased. With each acquisition of sensor data, the weight factor of the sensor data of the faulty channel will approach 0, and the weight factor of the sensor data of the correct channel will gradually increase. The above method improves the utilization rate of sensor data, utilizes the sensor data of three channels, and finally outputs the throttle opening by changing the weight, thereby improving the reliability and stability of throttle control. It avoids occasional sensor data failures, such as electromagnetic interference; when the sensor data is detected to be normal, the weight factor can be increased and returned to the initial weight.

[0091] In the embodiment of the present application, when the electric aircraft leaves the ground during flight, the noise caused by the high-voltage system will interfere with the throttle signal. Especially for composite aircraft, due to the lack of metal surface, the Faraday cage effect cannot be formed, which further aggravates the electromagnetic noise. Therefore, a weight factor is introduced to reduce the impact of transient noise on the system, and after the noise is stabilized, the throttle signal can restore the original redundancy. By adopting the multi-sensor fusion type of Hall sensor and variable resistor, the redundancy of throttle signal detection is increased. When any one or even two position detection sensors fail, one sensor can still continue to work, avoiding the single point failure of the aircraft throttle control system. By adopting the threshold detection algorithm and the synchronization detection algorithm, the accuracy of the system can be improved, and the accuracy of throttle control can be further improved. In addition, the three-redundancy throttle control system of this embodiment is simple in composition, and only includes a Hall sensor, a variable resistor and its connecting parts. The threshold detection algorithm and the synchronization detection algorithm have very high versatility, which is not only applicable to electric aircraft, but also can be applied to fields such as new energy vehicles.

[0092] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0093] Based on the same inventive concept, the embodiment of the present application also provides a three-degree-of-freedom throttle control device for implementing the three-degree-of-freedom throttle control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more embodiments of the three-degree-of-freedom throttle control device provided below can refer to the limitations of the three-degree-of-freedom throttle control method above, and will not be repeated here.

[0094] In one embodiment, Figure 5 As shown, a triple-redundant throttle control device is provided, comprising: an acquisition module 100, a weight adjustment module 200 and a control module 300, wherein:

[0095] An acquisition module 100 is used to acquire at least three sensor data of a throttle push rod of an aircraft and a first weight factor corresponding to each sensor data;

[0096] A weight adjustment module 200, configured to perform threshold detection and synchronization detection on at least three sensor data to adjust the first weight factor to obtain a second weight factor;

[0097] The control module 300 is used to determine the aircraft throttle opening according to the second weight factor and at least three of the sensor data, and perform throttle control based on the aircraft throttle opening.

[0098] The weight adjustment module 200 is also used to perform threshold detection on at least three of the sensor data to obtain a threshold detection result; adjust the first weight factor according to the threshold detection result to obtain a third weight factor; perform synchronization detection on at least three of the sensor data to obtain a detection identifier; adjust the third weight factor according to the detection identifier to obtain a second weight factor.

[0099] The weight adjustment module 200 is also used to obtain the first upper and lower limit thresholds, the second upper and lower limit thresholds, and the third upper and lower limit thresholds; perform threshold detection on the first sensor data according to the first upper and lower limit thresholds to obtain a first threshold detection result; perform threshold detection on the second sensor data according to the second upper and lower limit thresholds to obtain a second threshold detection result; perform threshold detection on the third sensor data according to the third upper and lower limit thresholds to obtain a third threshold detection result.

[0100] The weight adjustment module 200 is further configured to adjust the first weight factor based on a first preset order and according to the first threshold detection result, the second threshold detection result and the third threshold detection result to obtain a third weight factor.

[0101] The weight adjustment module 200 is also used to obtain an initial detection identifier; perform synchronization detection on at least three sensor data in pairs to obtain a detection result identifier; and obtain a detection identifier based on the initial detection identifier and the detection result identifier.

[0102] The weight adjustment module 200 is also used to combine the first sensor data, the second sensor data and the third sensor data in pairs to obtain a first data group, a second data group and a third data group; perform a synchronization test on the first data group to obtain a first detection result identifier; the first detection result identifier includes: an operation identifier and a result identifier; perform a synchronization test on the second data group to obtain a second detection result identifier; the second detection result identifier includes: an operation identifier and a result identifier; perform a synchronization test on the third data group to obtain a third detection result identifier; the third detection result identifier includes: an operation identifier and a result identifier.

[0103] The weight adjustment module 200 is further used to calculate the detection initial identifier based on the second preset order and according to the first detection result identifier, the second detection result identifier and the third detection result identifier to obtain a detection identifier.

[0104] The weight adjustment module 200 is also used to obtain the mapping relationship between the detection identifier and the weight adjustment rule; determine the target weight adjustment rule according to the detection identifier and the mapping relationship; and obtain the second weight factor according to the target weight adjustment rule and the third weight factor.

[0105] Each module in the above-mentioned triple-redundant throttle control device can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each of the above modules.

[0106] In one embodiment, a computer device is provided. The computer device may be a whole machine controller of an aircraft. The internal structure diagram thereof may be as follows: Figure 6 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a three-degree-of-redundancy throttle control method is implemented.

[0107] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0108] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor implements any one of the three-degree-of-redundancy throttle control methods in the above embodiments when executing the computer program.

[0109] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, any one of the three-degree-of-redundancy throttle control methods in the above embodiments is implemented.

[0110] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, any one of the three-degree-of-redundancy throttle control methods in the above embodiments is implemented.

[0111] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0112] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0113] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A triple-redundant throttle control method, characterized in that: The method comprises: Acquire at least three sensor data of the aircraft throttle push rod and a first weight factor corresponding to each sensor data; Performing threshold detection and synchronization detection on at least three sensor data to adjust the first weight factor to obtain a second weight factor; The aircraft throttle opening is determined according to the second weight factor and at least three of the sensor data, and throttle control is performed based on the aircraft throttle opening.

2. The method according to claim 1, characterized in that: The step of performing threshold detection and synchronization detection on at least three sensor data to adjust the first weight factor to obtain the second weight factor comprises: Performing threshold detection on at least three of the sensor data to obtain a threshold detection result; Adjust the first weight factor according to the threshold detection result to obtain a third weight factor; Performing synchronization detection on at least three of the sensor data to obtain a detection identifier; The third weight factor is adjusted according to the detection identifier to obtain a second weight factor.

3. The method according to claim 2, characterized in that The performing threshold detection on at least three of the sensor data to obtain a threshold detection result includes: the sensor data includes: first sensor data, second sensor data and third sensor data; Obtaining first upper and lower thresholds, second upper and lower thresholds, and third upper and lower thresholds; Performing threshold detection on the first sensor data according to the first upper and lower thresholds to obtain a first threshold detection result; Performing threshold detection on the second sensor data according to the second upper and lower thresholds to obtain a second threshold detection result; Threshold detection is performed on the third sensor data according to the third upper and lower thresholds to obtain a third threshold detection result.

4. The method according to claim 3, characterized in that The adjusting the first weight factor according to the threshold detection result to obtain a third weight factor comprises: Based on a first preset order, the first weight factor is adjusted according to the first threshold detection result, the second threshold detection result and the third threshold detection result to obtain a third weight factor.

5. The method according to claim 2, characterized in that: The performing synchronization detection on at least three sensor data to obtain a detection identifier comprises: Get the initial detection ID; Perform synchronization detection on at least three sensor data in pairs to obtain detection result identifiers; A detection identifier is obtained according to the detection initial identifier and the detection result identifier.

6. The method according to claim 5, characterized in that The synchronization detection is performed on at least three sensor data in pairs to obtain the detection result identification, which includes: the sensor data includes: first sensor data, second sensor data and third sensor data; Combining the first sensor data, the second sensor data and the third sensor data in pairs to obtain a first data group, a second data group and a third data group; Performing synchronization detection on the first data group to obtain a first detection result identifier; the first detection result identifier includes: an operation identifier and a result identifier; Performing synchronization detection on the second data group to obtain a second detection result identifier; the second detection result identifier includes: an operation identifier and a result identifier; Perform synchronization detection on the third data group to obtain a third detection result identifier; the third detection result identifier includes: an operation identifier and a result identifier.

7. The method according to claim 6, characterized in that The obtaining of the detection identifier according to the detection initial identifier and the detection result identifier comprises: Based on a second preset order, the detection initial identifier is calculated according to the first detection result identifier, the second detection result identifier and the third detection result identifier to obtain a detection identifier.

8. The method according to claim 7, characterized in that Adjusting the third weight factor according to the detection identifier to obtain the second weight factor includes: Obtain the mapping relationship between the detection identifier and the weight adjustment rule; Determining a target weight adjustment rule according to the detection identifier and the mapping relationship; A second weight factor is obtained according to the target weight adjustment rule and the third weight factor.

9. A triple-redundant throttle control device, characterized in that: The device comprises: An acquisition module, used to acquire at least three sensor data of the aircraft throttle push rod and a first weight factor corresponding to each sensor data; A weight adjustment module, configured to perform threshold detection and synchronization detection on at least three sensor data to adjust the first weight factor to obtain a second weight factor; A control module is used to determine the aircraft throttle opening according to the second weight factor and at least three of the sensor data, and perform throttle control based on the aircraft throttle opening.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 8 is implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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