Intelligent safety redundancy control system for aircraft tractor chassis

Abstract

The invention discloses an intelligent safety redundancy control system for an aircraft tractor chassis, which is used for constructing safety redundancy monitoring of the aircraft tractor chassis based on a digital twinborn technology by combining the monitoring requirement of the aircraft tractor chassis in a running state. The core of the digital twinning of the chassis of the aircraft tractor is to calculate data collected during driving in real time so as to make a decision of a coincidence event. The method specifically comprises the following steps: constructing a virtual chassis according to an existing aircraft tractor chassis, inputting sensing data into the virtual chassis for structural simulation through pressure, displacement and acceleration sensors, performing real-time data interaction between virtual and real, generating a sensing data set and a simulation data set, and jointly forming a twin data basis. The digital twin system for monitoring the safety of the chassis structure of the aircraft tractor in real time is jointly established through interactive feedback of the structural performance of the aircraft tractor, the virtual entity and the physical entity, and the safety, stability and the like of the aircraft tractor in the working process are improved.

Description

Technical Field

[0001] The invention relates to the technical field of chassis control of aviation ground special equipment, in particular to an intelligent safety redundant control system for an aircraft tractor chassis. Background Art

[0002] Aircraft ground operations involve tractors used to push and tow aircraft for tasks such as takeoff, parking, maintenance and transportation. The control system of the tractor chassis plays a vital role in ensuring safe operation.

[0003] The existing aircraft tractor chassis control system usually only has basic control functions, and often has deficiencies in safety and reliability. The traditional control system lacks an intelligent redundant control mechanism, and once a fault or failure occurs, it may cause operational accidents and casualties. Therefore, an intelligent safety redundant control system for aircraft tractor chassis is needed to improve operational safety and reliability. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent safety redundant control system for an aircraft tractor chassis to solve the problems existing in the prior art.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] The system includes a main controller ECU, a redundant controller, a sensor module, a drive system module, a steering system module, and a brake system module.

[0007] Preferably, the main controller is responsible for receiving and processing user input, sensor data, and system status information. A virtual RV chassis is constructed based on the existing aircraft tractor chassis. The sensor data is input into the virtual chassis for structural simulation through sensor modules such as pressure, displacement, and acceleration. Real-time data interaction is performed between the virtual and the real to generate a perception data set and a simulation data set, which together form the basis of twin data. By fusing physical data and virtual data, regression training and fitting are performed with the help of neural networks to quickly perform structural simulation, performance prediction, and information warning. At the same time, confidence verification is used to optimize and analyze the regression results of the neural network to improve the reliability of the system and generate system service data. Combined with system service data and knowledge data, the structural performance of the aircraft tractor chassis is evaluated, such as real-time performance monitoring, driving safety area evaluation, structural optimization design, and manufacturability evaluation.

[0008] Preferably, the intelligent safety redundant control system has two applications: real-time performance monitoring and driving safety domain assessment; through interactive feedback between structural performance, virtual entities and physical entities, a digital twin system for real-time monitoring of the aircraft tractor chassis structural safety is jointly established.

[0009] Preferably, the redundant controller serves as a backup of the main controller, monitors the operating status of the main controller in real time, and takes over control when the main controller fails. The redundant controller has a main system device and a backup system device, and can interact through the communication module of the redundant communication link. The main controller and the redundant controller perform data synchronization and status monitoring. When the main controller fails or fails, the redundant controller can automatically take over control to ensure the continuity and safety of operation.

[0010] Preferably, the sensor module is used to collect the operating status of the chassis, environmental information, and key parameters such as force and displacement during aircraft towing in real time. It is installed in the transfer case, main reducer, wheel-side reducer, tire and other important positions of the aircraft tractor to sense parameters, receive temperature, vibration, pressure and other data, and transmit the data to the main controller and redundant controller.

[0011] Preferably, digital twin is a multidisciplinary, multi-physical quantity, multi-scale and multi-probability simulation process, which integrates the physical model and the virtual model through sensors, and then combines the twin data and system services to achieve real-time mapping from real space to virtual space. It is feasible to use digital twin technology for structural safety monitoring of aircraft tractor chassis.

[0012] Preferably, the intelligent algorithm uses a neural network based on the digital twin to evaluate the maximum stress and structural safety status of the aircraft tractor chassis, providing intelligent execution, precise control, and reliable operation and maintenance services for the entire system, thereby realizing intelligent control of chassis movement.

[0013] Preferably, the operating parameters of the aircraft tractor chassis and the finite element simulation data together form the basis of the twin data and drive the digital twin model. In order to improve the accuracy of the twin data, it is also necessary to fuse the entity data, virtual entity data, service data, knowledge data and fusion derivative data.

[0016] The intelligent safety redundant control system for the aircraft tractor chassis of the present invention has the following beneficial effects:

[0017] 1. Improve the safety and reliability of operation and prevent accidents and injuries caused by control system failures.

[0018] 2. Intelligent algorithms realize intelligent analysis and processing of sensor data, improving the response speed and accuracy of the control system.

[0019] 3. The redundant control mechanism ensures the continuity of operation and can automatically take over control when the main controller fails, reducing the possibility of operation interruption. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1This is a system architecture diagram of the safety redundant control system of the aircraft tractor wire-controlled chassis of the present invention;

[0021] Figure 2 A schematic diagram of a sensor module of a wire-controlled chassis safety redundant control system for an aircraft tractor of the present invention;

[0022] Figure 3 It is a schematic diagram of the redundant control mechanism of the redundant control system of the aircraft tractor by-wire chassis safety control system of the present invention. DETAILED DESCRIPTION

[0023] The present invention is described in detail below with reference to the accompanying drawings and embodiments:

[0024] As attached Figure 1 As shown, the present invention provides a safe takeover system for a chassis controlled by wire of an unmanned vehicle, including a main controller ECU, a redundant controller, a sensor module, a drive system module, a steering system module, and a brake system module; and each module includes at least two independent control units, each control unit includes a processor and a memory for executing a control algorithm and storing related data;

[0025] As attached Figure 2 As shown, there are a certain number of sensors on the aircraft tractor for fault diagnosis of its major components, but the existing detection means are not sufficient to meet the requirements of the monitoring solution (for example, the transfer case temperature, the main reducer temperature, and the wheel-side reducer temperature seriously restrict the maneuvering speed), and it is necessary to design and add additional sensors to obtain monitoring parameters.

[0026] Aircraft tractor maneuvering state monitoring first uses the vehicle's own sensors (mainly used to measure engine speed, engine idle speed, engine cylinder head temperature, engine oil temperature, engine oil pressure, oil level sensor, torque converter hydraulic oil temperature, brake pressure, tire pressure, etc. on the chassis assembly) to obtain the corresponding information and convert it into the data format required by the system; secondly, the parameter scheme that needs to be monitored is analyzed according to the needs of maneuvering state monitoring, and other monitoring parameters (such as temperature, humidity, vibration, etc.) are selected from small-volume and small-mass micro sensors. The information obtained by various sensors is transmitted by wire, and the network is reasonably constructed according to the characteristics of the existing transmission bus.

[0027] The main controller establishes the virtual-real mapping of the aircraft tractor chassis, and comprehensively expresses the chassis operating status by constructing a three-dimensional model and a finite element model of the aircraft tractor chassis, thereby predicting and analyzing the operating conditions; during the operation of the aircraft tractor, changes in operating conditions will cause changes in the center of mass position and acceleration. The system mainly selects pressure sensors, displacement sensors, and acceleration sensors to collect the driving data of the aircraft tractor. The pressure sensor can convert the pressure signal into an electrical signal to measure the pressure; the displacement sensor can convert the displacement signal into an electrical signal to obtain the data-driven prediction function of the sensor at a certain moment, and obtain the operating status of the aircraft tractor chassis at that moment.

[0028] The prediction function is mainly realized through two neural networks. After the sensor obtains relevant data, it is converted into chassis state parameters and input into the regression neural network to obtain the maximum stress of the aircraft tractor chassis in the current state. If the maximum stress exceeds the safety threshold, the chassis state parameters are input into the classification neural network to predict the parts of the chassis that may be damaged. According to the maximum stress value, the safety area, warning area and danger area are set to map and control the structural safety of the aircraft tractor chassis.

[0029] As attached Figure 3 As shown, the redundant controller has a main system device and a backup system device, and can interact through the communication module of the redundant communication link. The main controller and the redundant controller perform data synchronization and status monitoring. When the main controller fails or fails, the redundant controller can automatically take over the control to ensure the continuity and safety of the operation. The redundancy of the system is achieved by using redundant software components to ensure that when a module or service fails, the system can automatically switch to the backup service.

[0030] Therefore, the safety redundant system can automatically adjust and control when a specific fault occurs. The controllable functions are as follows:

[0031] 1. When the single / double wheel hub motor fails, the drive module performs single-axis drive, and the brake module and steering module function normally;

[0032] 2. Single / double front / double rear steering gear failure, steering module double wheel steering, drive module and brake module function normally;

[0032] 3. Single / double front / double rear brake failure, the brake module performs single-axis / motor braking, and the drive module and steering module function normally;

[0033] 4. Double cross brake failure, the brake module performs steering auxiliary braking, and the drive module and steering module function normally;

[0034] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent safety redundant control system for aircraft tractor chassis, characterized in that: The system includes a main controller ECU, a redundant controller, a sensor module, a drive system module, a steering system module, and a brake system module; each module includes at least two independent control units, each control unit includes a processor and a memory for executing control algorithms and storing related data; When the aircraft tractor is in the state of controlled driving, the drive system module receives the signal feedback sent by the aircraft tractor and judges that the drive signal is small or even non-existent, or the drive out-of-bounds feedback is large, or when the vehicle turns under the state of steering controlled by the upper device, the passive drive is triggered and the vehicle exits the automatic driving state; When the aircraft tractor is in the state of controlling steering, the steering takeover module receives the signal sent by the aircraft tractor and judges that the steering signal feedback is small or even non-existent, or the sent command is not within the set controllable range, or when the aircraft tractor turns in the control driving or braking state, the passive steering is triggered and the vehicle exits the automatic driving state; When the aircraft tractor is in the controlled braking state, the brake takeover module receives the signal sent by the aircraft tractor's upper equipment and judges that the braking signal is small or even non-existent, or the sent command exceeds the limit and is greater than the controllable safety range, or when the aircraft tractor turns while the upper equipment is controlling the steering, passive braking is triggered and the vehicle exits the automatic driving state.

2. The intelligent safety redundant control system for aircraft tractor chassis according to claim 1, characterized in that: The intelligent safety redundant control system monitors and analyzes various data of the tractor chassis in real time based on the operating status and environmental conditions of the aircraft tractor according to the sensor module, and performs intelligent decision-making control according to the preset control strategy; The signal feedback it receives includes driving signals, steering signals, braking signals, etc.

3. The intelligent safety redundant control system for aircraft tractor chassis according to claim 1, characterized in that: The redundant controller and the control module exchange and synchronize data through the real-time communication module to ensure the redundancy and stability of the system.

4. The intelligent safety redundant control system for aircraft tractor chassis according to claim 1, characterized in that: The control system module has autonomous diagnosis and fault handling capabilities, can detect and identify chassis control unit failures, and automatically switch to the backup control unit to ensure system reliability and stability.

5. The intelligent safety redundant control system for aircraft tractor chassis according to claim 1, characterized in that: The control system has adaptive control capabilities. The core of the digital twin of the aircraft tractor chassis is to calculate the data collected during driving in real time, obtain accurate understanding of the driving conditions, and make decisions in accordance with the event; it can automatically adjust the control parameters and control strategies according to different traction tasks and aircraft models to achieve the best traction effect and safety.

6. The intelligent safety redundant control system for aircraft tractor chassis according to claim 1, characterized in that: The control system has remote monitoring and remote control functions, and can achieve real-time monitoring, fault diagnosis and remote control of the tractor chassis through a cloud platform or network connection to improve operation and maintenance efficiency and convenience.

7. The intelligent safety redundant control system for aircraft tractor chassis according to claim 1, characterized in that: The control system is scalable and compatible, able to adapt to aircraft tractor chassis of different models and brands, and seamlessly integrate with other ground equipment and systems.

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