Automatic driving control system and system for monitoring acting force value

Abstract

The invention belongs to the technical field of aircraft system tests, and relates to an automatic driving control system and an acting force value monitoring system, which comprise two parts, namely a driving device and a control data processing device, wherein the control data processing device comprises an automatic test control unit, a motion control unit, a data acquisition, recording and analysis unit, a touch display screen and a power conversion unit; the driving device comprises a clamp, a driving device, an overload protection device, a force measuring device, a displacement angle measuring device and the like. The control unit is mainly used for controlling the driving device to automatically complete execution and testing of a forced disconnection force checking item of the autopilot system. Through a simple mechanical structure and a working principle, the test work of the forced breaking force of the autopilot is realized, the operation is simple, time and labor are saved, independent operation can be realized, the man-machine effect is relatively good, the working intensity of operators is reduced, test data can be monitored in real time, the accuracy of a test result is improved, the working efficiency is improved, and the production cycle of an airplane is shortened.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft system testing, and in particular, is an automatic driving control system and a system for monitoring the force value when the aircraft is powered on and debugged on the ground to perform a forced force test on the autopilot system. Background Art

[0002] At present, when the aircraft is conducting an inspection of the forced disconnection force value of the autopilot system on the ground, it is necessary to measure the forced disconnection force values ​​acting on the three control devices: the steering wheel, the joystick, and the pedals, respectively, and compare the forced disconnection force values ​​input into the control system with the data recorded by the flight parameter recording system.

[0003] The existing method is to use a digital dynamometer to apply force at the action point of the control mechanism (steering wheel, lever, pedal). During the measurement process, the force direction of the digital dynamometer must always be kept tangent to the movement trajectory of the control mechanism to ensure the most accurate force value detected. However, there are several disadvantages in the implementation process:

[0004] 1. Manual operation cannot guarantee that the axis of the force direction is always tangent to the motion trajectory at the force application point during movement. 2. Manual force application is uneven, resulting in an unstable movement process, and the dynamometer cannot accurately detect the magnitude and range of the input force. 3. When the autopilot system is manually disconnected, it is impossible to accurately grasp the timing of the disconnection of the control system. The autopilot status is judged only by the autopilot disconnection voice prompt. After confirming the status, the magnitude of the autopilot disconnection force is compared by observing the values ​​recorded by the flight parameters, resulting in a problem of inconsistency between the recorded time and the actual autopilot disconnection time, making the result of the autopilot disconnection force inaccurate.

[0005] The errors of the above-mentioned disadvantages accumulate, resulting in large errors in the power-on test results, increasing the number of power-on tests, etc., which reduces the significance of the power-on test and has a certain impact on the aircraft production cycle. Summary of the invention

[0006] The invention overcomes the drawbacks of the existing power-on test process and provides an automatic driving control system and a force value monitoring system.

[0007] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0008] An automatic driving control system and a system for monitoring the force value, comprising an automatic driving device and a control data processing device, wherein:

[0009] The control data processing device includes an automatic test control unit, a motion control unit, a data acquisition, recording and analysis unit, a touch display screen, and a power conversion unit;

[0010] The motion control unit is connected with the force-applying device, the overload protection device, and the force measuring device in the driving device, and is used to receive the test instructions sent by the automatic test control unit, and send motion instructions to the force-applying device according to the test instructions, so that the force-applying device drives the fixture to move according to the motion instructions; the motion control unit receives the overload signal, the measurement force signal, and the displacement angle measurement signal of the overload protection device, the force measuring device feedback, and the displacement angle measurement device in real time, and sends the overload signal, the measurement force signal, and the displacement angle measurement signal to the automatic control unit;

[0011] The automatic test control unit is used to receive the manual test instructions input by the touch display screen and generate the corresponding test instructions; at the same time, it receives the feedback force signal, displacement angle feedback signal and autopilot disengagement signal collected by the data acquisition, recording and analysis unit from the aircraft, and analyzes and processes them with the overload signal, displacement angle measurement signal and measurement force signal to obtain the maximum measurement force signal and feedback force signal at the moment of autopilot disengagement; at the same time, based on the comparison between the feedback force signal and the measurement force signal, and the comparison between the displacement angle measurement signal and the displacement angle feedback signal, it detects whether the force signal conditioning box and the displacement signal conditioning box on the aircraft are working properly;

[0012] The data acquisition, recording and analysis unit is used to obtain the feedback force signal from the force signal conditioning box of the machine, obtain the autopilot disengagement signal from the autopilot, and simultaneously obtain the displacement angle feedback signal of the fixture from the displacement angle measuring device;

[0013] The touch screen display is used for manual test instructions input by the user;

[0014] The driving device includes a clamp, a force applying device, an overload protection device, a force measuring device, and a displacement angle measuring device, wherein:

[0015] The fixture is installed on the control mechanism of the control system to be tested, connected to the force-applying device, and used to drive the control mechanism to move under the action of the force-applying device; the overload protection device is installed on the force-applying device, and when the output of the force-applying device is greater than the set threshold, an overload signal is generated and sent to the motion control unit, so that the motion control unit drives the force-applying device to move in the opposite direction, so as to achieve the purpose of protecting the equipment and the aircraft; the angle displacement measuring device is installed on the fixture, and used to obtain the displacement angle measurement signal of the control mechanism; the force measuring device is installed on the fixture, and used to obtain the measurement force signal of the control mechanism;

[0016] The displacement signal conditioning box and force signal conditioning box on the aircraft respectively collect the feedback force signal and displacement angle feedback signal generated during the driving process of the control mechanism through the sensors on the aircraft; the autopilot disengagement signal is generated when the autopilot detects that the feedback force signal reaches the preset disconnection threshold.

[0017] Furthermore, the manual operation instruction is generated by the user after selecting the test category and test parameters.

[0018] Furthermore, the test categories include steering wheel test, steering column test, and pedal test; the test parameters include movement direction and movement speed.

[0019] Furthermore, the system also includes a power conversion unit for converting the mains power into a safe voltage of the system.

[0020] Furthermore, the force applying device adopts a large torque motor.

[0021] Furthermore, the drive device is connected to the control mechanism on the aircraft through a clamp, and the drive device ensures that the direction of the force during the movement is always tangent to the control system through an arc motion trajectory; during the power-on test, the feedback force signal of the force signal conditioning box and the autopilot disengagement signal are extracted through the test cable, and are monitored in real time by the data acquisition, recording and analysis unit; manual test instructions are input through the touch screen, and the automatic test control unit analyzes and calculates, and transmits the movement speed and movement direction instructions in the manual test instructions to the motion control unit, and the motion control unit uses the force application device to stably apply force to the aircraft control mechanism; the drive device adopts closed-loop control to make the clamp drive the control mechanism to move to complete the corresponding test work, and at the same time, the measurement force signal and displacement angle measurement signal of the force measurement device and the displacement angle measurement device are sent to the data acquisition, recording and analysis unit in real time for monitoring.

[0022] Furthermore, the overload protection device is used to prevent equipment failure from causing damage to the control mechanism: when the applied force value is at a preset disconnection threshold of the autopilot system, the autopilot disengagement signal issued by the aircraft is collected by the data acquisition and recording unit and transmitted to the automatic test control unit, and the automatic test control unit sends a stop drive signal to the motion control unit.

[0023] Furthermore, after the automatic test control unit analyzes and summarizes the data and makes a graph, a comparison chart of the maximum measured force signal and the feedback force signal at the moment of autopilot disengagement is displayed on the touch screen.

[0024] Compared with the prior art, the present invention has the following technical features:

[0025] 1. The autopilot forced force disconnection test process is transformed from manual operation to equipment automated operation to reduce the operator's workload.

[0026] 2. The operation is simple and convenient, with good human-machine efficiency. One person can operate it alone without the need for collaboration. It is fast and effective, and improves work efficiency.

[0027] 3. The test data can be monitored in real time, solving the problem of inaccurate manual test results today. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural diagram of the system of the present invention;

[0029] Figure 2 It is a voltage-time comparison chart, which is used to analyze the maximum voltage at the moment when the forced force is disconnected, and control the data processing device to resolve the electrical signal into a digital quantity, thereby reflecting the maximum force value. DETAILED DESCRIPTION

[0030] The present invention discloses a method for using an automatic driving device to manipulate the movement of a joystick, a plate and a pedal and to monitor the magnitude of the driving force value in real time when checking the forced disconnection force value during ground power-on debugging of an aircraft autopilot system.

[0031] Embodiment 1

[0032] like Figure 1 As shown, the present application provides an automatic driving and manipulating system and a system for monitoring the force value, including an automatic driving device and a control data processing device, wherein:

[0033] The control data processing device includes an automatic test control unit, a motion control unit, a data acquisition, recording and analysis unit, a touch display screen, and a power conversion unit;

[0034] The motion control unit is connected with the force-applying device, the overload protection device, and the force measuring device in the driving device, and is used to receive the test instructions sent by the automatic test control unit, and send motion instructions to the force-applying device according to the test instructions, so that the force-applying device drives the fixture to move according to the motion instructions; the motion control unit receives the overload signal, the measurement force signal, and the displacement angle measurement signal of the overload protection device, the force measuring device feedback, and the displacement angle measurement device in real time, and sends the overload signal, the measurement force signal, and the displacement angle measurement signal to the automatic control unit;

[0035] The automatic test control unit is used to receive the manual test instructions input by the touch display screen and generate the corresponding test instructions; at the same time, it receives the feedback force signal, displacement angle feedback signal and autopilot disengagement signal collected by the data acquisition, recording and analysis unit from the aircraft, and analyzes and processes them with the overload signal, displacement angle measurement signal and measurement force signal to obtain the maximum measurement force signal and feedback force signal at the moment of autopilot disengagement; at the same time, based on the comparison between the feedback force signal and the measurement force signal, and the comparison between the displacement angle measurement signal and the displacement angle feedback signal, it detects whether the force signal conditioning box and the displacement signal conditioning box on the aircraft are working properly;

[0036] The data acquisition, recording and analysis unit is used to obtain the feedback force signal from the force signal conditioning box of the machine, obtain the autopilot disengagement signal from the autopilot, and simultaneously obtain the displacement angle feedback signal of the fixture from the displacement angle measuring device;

[0037] The touch screen is used for manual test instructions input by the user; the manual control instructions are generated by the user after selecting the test category and test parameters; the test categories include steering wheel test, steering column test, and pedal test; the test parameters include movement direction and movement speed;

[0038] The driving device includes a clamp, a force applying device, an overload protection device, a force measuring device, and a displacement angle measuring device, wherein:

[0039] The fixture is installed on the control mechanism of the control system to be tested, connected to the force-applying device, and used to drive the control mechanism to move under the action of the force-applying device; the overload protection device is installed on the force-applying device, and when the output of the force-applying device is greater than the set threshold, an overload signal is generated and sent to the motion control unit, so that the motion control unit drives the force-applying device to move in the opposite direction, so as to achieve the purpose of protecting the equipment and the aircraft; the angle displacement measuring device is installed on the fixture, and used to obtain the displacement angle measurement signal of the control mechanism; the force measuring device is installed on the fixture, and used to obtain the measurement force signal of the control mechanism; the force-applying device adopts a large torque motor;

[0040] The displacement signal conditioning box and force signal conditioning box on the aircraft respectively collect the feedback force signal and displacement angle feedback signal generated during the driving process of the control mechanism through the sensors on the aircraft; the autopilot disengagement signal is generated when the autopilot detects that the feedback force signal reaches the preset disconnection threshold.

[0041] The system also includes a power conversion unit for converting the mains power into a safe voltage for the system.

[0042] When the system is in use, the drive device is connected to the control mechanism on the aircraft through a clamp. The drive device ensures that the direction of the force during the movement is always tangent to the control system through an arc motion trajectory; during the power-on test, the feedback force signal of the force signal conditioning box and the autopilot disengagement signal are extracted through the test cable, and the data acquisition, recording and analysis unit conducts real-time monitoring; the manual test command is input through the touch screen, and the automatic test control unit parses and calculates, and transmits the movement speed and movement direction commands in the manual test command to the motion control unit, and the motion control unit uses the force application device to stably apply the force to the aircraft control mechanism; the drive device adopts closed-loop control to make the clamp drive the control mechanism to move The corresponding test work is completed automatically, and the measurement force signals and displacement angle measurement signals of the force measuring device and the displacement angle measuring device are sent to the data acquisition, recording and analysis unit for monitoring in real time; the overload protection device is used to prevent equipment failure from causing damage to the control mechanism: when the applied force value is at the preset disconnection threshold of the autopilot system, the autopilot disengagement signal issued by the aircraft is collected by the data acquisition and recording unit and transmitted to the automatic test control unit, and the automatic test control unit sends a stop drive signal to the motion control unit; after the automatic test control unit analyzes and summarizes the data and makes a graph, a comparison chart of the maximum measured force signal and the feedback force signal at the moment of autopilot disengagement is displayed on the touch screen.

[0043] Embodiment 2

[0044] like Figure 2 As shown, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments: Specifically,

[0045] The first step, before conducting the autopilot forced force power-on test on the ground, is to first use a fixture to connect the aircraft's control mechanism to be tested with the drive device, and at the same time connect the aircraft force signal conditioning box, displacement signal conditioning box and autopilot disengagement signal to the system through the test cable.

[0046] The second step is to connect the system to a 220V AC power supply. The power conversion unit converts the required working voltage for the drive device and the control data processing device. After turning on the device power switch, the aircraft autopilot system is turned on.

[0047] The third step is to input manual test instructions through the touch screen, and the manual test instructions are transmitted to the automatic test control unit;

[0048] In the fourth step, the automatic test control unit parses the manual test instructions to the motion control unit. The motion control unit instructs the force-applying device to start moving, and the force-applying device drives the fixture to move. The force-applying device ensures that the direction of the force during the movement is always tangent to the control system through an arc motion trajectory; when the system is abnormal, the overload protection device sends an overload signal to the motion control unit to avoid damage to the aircraft control mechanism.

[0049] In this solution, because the autopilot system is turned on, its servo is energized, and the control mechanism cannot be displaced, the force measuring device and the displacement angle measuring device sense the deformation and send electrical signals to the data acquisition, recording and analysis unit; at this time, the feedback force signal, displacement angle feedback signal force signal conditioning box, and displacement signal conditioning box generated by the aircraft control system sensor after the force deformation are amplified and collected and recorded by the data acquisition, recording and analysis unit, and after comparison and processing with the measurement force signal and displacement angle measurement signal generated by the collection and recording system, the signal and time comparison chart collected by the system and the aircraft respectively is displayed in real time on the touch screen.

[0050] Check the signal and time comparison chart displayed on the touch screen, where the X-axis is the test time t, and the Y-axis is the voltage signal V. The intersection of the voltage change curve obtained by analyzing the signals fed back by the force signal conditioning box and the displacement signal conditioning box and the autopilot disengagement signal is the voltage magnitude of the force applied to the control mechanism of the aircraft autopilot system at the moment the autopilot disengagement signal is sent; the intersection of the voltage change curve obtained by analyzing the system's measured force signal and the autopilot disengagement signal is the voltage magnitude of the force applied to the control mechanism at the moment the autopilot disengagement signal is sent.

[0051] The automatic test control unit analyzes and converts the voltage value at the intersection into a mathematical quantity of force and displays the final data on the touch screen. The displayed force value is the force value at the moment the autopilot is disengaged. The operator can confirm whether the test is successfully completed by comparing the force applied to the aircraft control mechanism with the actual force.

Claims

1. An automatic driving control system and a system for monitoring the force value, characterized in that: It includes an automatic drive device and a control data processing device, wherein: The control data processing device includes an automatic test control unit, a motion control unit, a data acquisition, recording and analysis unit, a touch display screen, and a power conversion unit; The motion control unit is connected with the force-applying device, the overload protection device, and the force measuring device in the driving device, and is used to receive the test instructions sent by the automatic test control unit, and send motion instructions to the force-applying device according to the test instructions, so that the force-applying device drives the fixture to move according to the motion instructions; the motion control unit receives the overload signal, the measurement force signal, and the displacement angle measurement signal of the overload protection device, the force measuring device feedback, and the displacement angle measurement device in real time, and sends the overload signal, the measurement force signal, and the displacement angle measurement signal to the automatic control unit; The automatic test control unit is used to receive the manual test instructions input by the touch display screen and generate the corresponding test instructions; at the same time, it receives the feedback force signal, displacement angle feedback signal and autopilot disengagement signal collected by the data acquisition, recording and analysis unit from the aircraft, and analyzes and processes them with the overload signal, displacement angle measurement signal and measurement force signal to obtain the maximum measurement force signal and feedback force signal at the moment of autopilot disengagement; at the same time, based on the comparison between the feedback force signal and the measurement force signal, and the comparison between the displacement angle measurement signal and the displacement angle feedback signal, it detects whether the force signal conditioning box and the displacement signal conditioning box on the aircraft are working properly; The data acquisition, recording and analysis unit is used to obtain the feedback force signal from the force signal conditioning box of the machine, obtain the autopilot disengagement signal from the autopilot, and simultaneously obtain the displacement angle feedback signal of the fixture from the displacement angle measuring device; The touch screen display is used for manual test instructions input by the user; The driving device includes a clamp, a force applying device, an overload protection device, a force measuring device, and a displacement angle measuring device, wherein: The fixture is installed on the control mechanism of the control system to be tested, connected to the force-applying device, and used to drive the control mechanism to move under the action of the force-applying device; the overload protection device is installed on the force-applying device, and when the output of the force-applying device is greater than the set threshold, an overload signal is generated and sent to the motion control unit, so that the motion control unit drives the force-applying device to move in the opposite direction, so as to achieve the purpose of protecting the equipment and the aircraft; the angle displacement measuring device is installed on the fixture, and used to obtain the displacement angle measurement signal of the control mechanism; the force measuring device is installed on the fixture, and used to obtain the measurement force signal of the control mechanism; The displacement signal conditioning box and force signal conditioning box on the aircraft respectively collect the feedback force signal and displacement angle feedback signal generated during the driving process of the control mechanism through the sensors on the aircraft; the autopilot disengagement signal is generated when the autopilot detects that the feedback force signal reaches the preset disconnection threshold.

2. The automatic driving and manipulating system and the system for monitoring the force value according to claim 1, characterized in that: Manual control instructions are generated by the user after selecting the test category and test parameters.

3. The automatic driving and manipulating system and the system for monitoring the force value according to claim 1, characterized in that: The test categories include steering wheel test, steering column test, and pedal test; the test parameters include movement direction and movement speed.

4. The automatic driving and manipulating system and the system for monitoring the force value according to claim 1, characterized in that: The system also includes a power conversion unit for converting the mains power into a safe voltage for the system.

5. The automatic driving and manipulating system and the system for monitoring the force value according to claim 1, characterized in that: The force applying device adopts a large torque motor.

6. The automatic driving and manipulating system and the system for monitoring the force value according to claim 1, characterized in that: The drive device is connected to the control mechanism on the aircraft through a clamp. The drive device ensures that the direction of the force during the movement is always tangent to the control system through an arc motion trajectory; during the power-on test, the feedback force signal of the force signal conditioning box and the autopilot disengagement signal are extracted through the test cable, and are monitored in real time by the data acquisition, recording and analysis unit; manual test instructions are input through the touch screen, and the automatic test control unit parses and calculates, and transmits the movement speed and movement direction instructions in the manual test instructions to the motion control unit, and the motion control unit uses the force application device to stably apply force to the aircraft control mechanism; the drive device adopts closed-loop control to make the clamp drive the control mechanism to move to complete the corresponding test work, and at the same time, the measurement force signal and displacement angle measurement signal of the force measurement device and the displacement angle measurement device are sent to the data acquisition, recording and analysis unit in real time for monitoring.

7. The automatic driving and manipulating system and the system for monitoring the force value according to claim 1, characterized in that: The overload protection device is used to prevent equipment failure from causing damage to the control mechanism: when the applied force value reaches the preset disconnection threshold of the autopilot system, the autopilot disengagement signal issued by the aircraft is collected by the data acquisition and recording unit and transmitted to the automatic test control unit, and the automatic test control unit sends a stop drive signal to the motion control unit.

8. The automatic driving and manipulating system and the system for monitoring the force value according to claim 1, characterized in that: After the automatic test control unit analyzes, summarizes and plots the data, a comparison chart of the maximum measured force signal and the feedback force signal at the moment the autopilot is disengaged is displayed on the touch screen.

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