Active double-side-lever working mode, switching method and control signal voting method

Abstract

The invention provides an active double-side-rod working mode, which comprises an active synchronous mode, a double-side-rod working mode, a double-side-rod working mode, a double-side-rod working mode, a double-side-rod working mode and a double-side-rod working mode, in the passive synchronous mode, the manipulated variable of a pilot on one side can be sent to the flight control computer, the flight control computer calculates a driving instruction, the driving instruction is sent to the side rod on the other side to drive the side rod on the other side to move, and the manipulated strokes between the two side rods are kept consistent; in the asynchronous mode, the control strokes of the two side rods correspond to the control variables of a main pilot and an auxiliary pilot respectively, and the two side rods are not linked any more, that is, the control strokes of the two side rods are not kept consistent any more; in the clamping stagnation mode, when the side rod on one side has a clamping stagnation fault, the side rod on the side does not generate a control stroke any more, but the control quantity is calculated through pilot control force collected by an internal force sensor; in the cutting mode, the control authority of a pilot on one side is cut; meanwhile, the invention further provides a switching method and a control signal voting method.

Description

Technical Field

[0001] The present application belongs to the technical field of helicopter flight control systems, and in particular relates to an active dual-side stick working mode, a switching method, and a control signal voting method. Background Art

[0002] The active side stick is a control device of the flight control system. Compared with the central stick, it can effectively reduce the installation space and achieve small stroke and large gain control. For helicopters with both the main and co-pilot pilots, the traditional central stick and the main and co-pilot joysticks are linked through mechanical devices such as pull rod assemblies. When the pilots on either side use the joystick, or the flight control system drives the lever through the parallel servo, the control stroke of the main and co-pilot sticks is always consistent, so the control amount of the two pilots is always consistent.

[0003] The two side sticks of the active side stick are synchronized and data exchanged through electrical signals, and the control strokes of the two side sticks may be inconsistent due to pilot control, control system drive, side stick failure, etc. Therefore, the working mode needs to be designed according to different side stick usage conditions.

[0004] Because the active side stick is designed with multiple working modes, when the working modes of the two side sticks are inconsistent, there will be permutations and combinations of working modes. An unreasonable side stick signal redundancy voting algorithm will lead to large differences in pilot driving experience in different working modes, increasing the driving burden. Summary of the invention

[0005] Purpose of the invention: To provide a set of working modes suitable for active double side sticks of helicopters, design working modes for different working conditions of side sticks, design transition conditions between different modes, and design corresponding redundancy voting algorithms for combinations of different working modes of double side sticks.

[0006] In a first aspect, the present application provides an active dual-side lever working mode, the working mode comprising:

[0007] Active synchronization mode can realize linkage between the two side levers and keep the control stroke of the two side levers consistent;

[0008] In passive synchronization mode, the control amount of the pilot on one side will be sent to the flight control computer, which will calculate the drive command and send it to the other side stick to drive the other side stick to move and keep the control stroke between the two side sticks consistent;

[0009] In asynchronous mode, the control strokes of the two side sticks correspond to the control amount of the main / co-pilot respectively, and the two side sticks are no longer linked, that is, the control strokes of the two side sticks are no longer kept consistent;

[0010] In the stuck mode, if one side stick is stuck, the side stick will no longer generate control stroke, but the control amount will be calculated by the pilot's control force collected by the internal force sensor;

[0011] Cut-off mode cuts off the control authority of the pilot on one side.

[0012] Preferably, the working mode also includes:

[0013] BIT mode, capable of self-detection.

[0014] In a second aspect, the present application also provides a switching method, the method comprising:

[0015] When the synchronization signal or data transmission between the two side poles fails, the two side poles simultaneously switch from the active synchronization mode to the passive synchronization mode;

[0016] When the difference between the primary and secondary pilot control commands exceeds the threshold value or the driving function of the side stick fails, the linkage between the two side sticks will be withdrawn and the two side sticks will be switched to asynchronous mode at the same time. The asynchronous mode can be switched directly from the active synchronous mode and the passive synchronous mode. In the asynchronous mode, when the control strokes of the two side sticks are the same and the fault is restored, the two side sticks can be switched to the active synchronous mode at the same time.

[0017] When a mechanical jam occurs on one side of the side stick, the other side stick is immediately locked at the current control stroke, and both side sticks are simultaneously switched to the jam mode, which can be directly switched from the active synchronization mode, the passive synchronization mode, or the asynchronous mode. When in the jam mode, when the control strokes of the side sticks on both sides are the same and the fault is restored, both side sticks can simultaneously switch to the active synchronization mode.

[0018] When the pilot on one side presses the cut-off button on the corresponding side stick, the side stick enters the asynchronous mode and the side stick on the other side enters the cut-off mode. At this time, the control authority of the side stick on the other side is cut off, and the flight control system no longer responds to the control stroke of the cut-off side stick, and no longer drives the side stick; the cut-off mode can be directly switched from active synchronous mode, passive synchronous mode, asynchronous mode, and stuck mode; in the cut-off mode, when the control stroke of the side sticks on both sides is the same and they work normally, both side sticks can enter the active synchronous mode at the same time.

[0019] Preferably, the method further comprises:

[0020] When the flight control system enters BIT mode, both side sticks will simultaneously enter BIT mode to cooperate with the system to complete self-test;

[0021] When in BIT mode, the pilot operates any side stick and both side sticks exit BIT mode at the same time and enter active synchronization mode; BIT mode can be directly entered from all other working modes.

[0022] In a third aspect, the present application further provides a manipulation signal voting method, the method comprising:

[0023] When both side sticks are in active synchronization mode, the control amount voting value is the average value of the control stroke of the side sticks on both sides;

[0024] When both side sticks are in passive synchronization mode, the control amount voting value is the average value of the control stroke of the side sticks on both sides;

[0025] When both side sticks are in asynchronous mode, the voting value of the control quantity is the sum of the control strokes of the side sticks on both sides.

[0026] When both side sticks are in the stuck mode, the control amount voting value is the sum of the control force signals of the side sticks on both sides;

[0027] Preferably, the method further comprises:

[0028] When the side sticks on one side are in asynchronous mode and the side sticks on the other side are in cut-off mode, the manipulated variable voting value is the manipulated stroke of the side stick on the asynchronous side.

[0029] Preferably, the method further comprises:

[0030] When the side sticks on one side are in the stuck mode and the side sticks on the other side are in the cut-off mode, the control force signal of the side stick on the stuck side is taken as the voting value of the control quantity.

[0031] Preferably, the method further comprises:

[0032] When both the primary and co-pilot sidesticks are in BI T mode, the pilots are not allowed to operate the sidesticks.

[0033] Beneficial technical effects of this application:

[0034] This application improves the availability of the side stick in a fault state through the design of active dual side stick working mode and conversion conditions. The side stick can collect pilot driving instructions in active synchronization mode, passive synchronization mode, asynchronous mode, and stuck mode, and will not cause the pilot on this side to completely lose control authority due to any side stick failure. At the same time, when the pilot on one side determines that the control instruction of the pilot on the other side is abnormal or the side stick is faulty, or wants to fully obtain flight control authority, the control authority of the pilot on the other side can be manually cut off, which improves the safety of the system.

[0035] This application reduces the impact of the side stick working mode switching on the pilot's control experience through the voting algorithm design of the dual side sticks under different working mode combinations, improves the comfort of control, reduces the pilot's control burden, and improves the safety of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1It is a schematic diagram of a sidebar working mode conversion provided by an embodiment of the present application;

[0037] Figure 2 This is another schematic diagram of sidebar working mode conversion provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] The sidestick working mode designed in the present application can cover the normal, faulty and self-detection working states of the sidestick. Through the design of the working mode, both usability and safety are taken into consideration. While ensuring the control functions of the primary / co-pilot, conflicts between the dual sidestick commands are avoided, which may affect flight safety.

[0039] The redundancy voting algorithm designed in this application can enable the pilot to keep the control response consistent as much as possible under different combinations of dual-side stick working modes, avoiding excessive differences in the pilot's control experience.

[0040] Among them, the sidebar working modes include: active synchronization, passive synchronization, asynchronous, stuck, cut-off, and BIT.

[0041] See also Figure 1-Figure 2 In the embodiment of the present application, when both side sticks work normally after being powered on, the side sticks are in active synchronization mode. At this time, the two side sticks are linked, and the control amount of the pilot on one side will be directly sent to the side stick on the other side. The side stick on the other side calculates its own drive command to drive the side stick to move, so as to keep the control stroke between the two side sticks consistent.

[0042] In the embodiment of the present application, when the synchronization signal or data transmission between the two side sticks fails, the two side sticks are simultaneously switched from the active synchronization mode to the passive synchronization mode. At this time, the control amount of the pilot on one side will be sent to the flight control computer, which will calculate the drive instruction and send it to the other side stick to drive the side stick to move and keep the control stroke between the two side sticks consistent.

[0043] In the embodiment of the present application, when the difference between the primary and secondary pilot control instructions exceeds the threshold value or the driving function of the side stick fails, the linkage between the two side sticks is exited and the asynchronous mode is entered at the same time. At this time, the control strokes of the two side sticks correspond to the control amount of the primary and secondary pilots respectively, and the two side sticks are no longer consistent. The asynchronous mode can be directly entered from the active synchronization mode and the passive synchronization mode.

[0044] When in asynchronous mode, when the control strokes of the side sticks on both sides are the same and the fault is restored, the pilot can press the "reset" button on the aircraft to make both side sticks enter active synchronous mode at the same time.

[0045] In the embodiment of the present application, when a mechanical jam occurs on one side of the side stick, the other side stick is immediately locked at the current control stroke, and both side sticks are simultaneously switched to the jam mode. At this time, the side stick no longer generates a control stroke, but calculates the control amount through the pilot's control force collected by the internal force sensor. The jam mode can be directly switched from active synchronization, passive synchronization, or asynchronous mode.

[0046] When in the stuck mode, when the control travel of the side sticks on both sides is the same and the fault is restored, the pilot can press the "reset" button on the aircraft to make both side sticks enter the active synchronization mode at the same time.

[0047] In the embodiment of the present application, when the pilot on one side presses the cut-off button on the corresponding side stick, the side stick is switched to the asynchronous mode, and the other side stick is switched to the cut-off mode. At this time, the control authority of the other side stick is cut off, and the flight control system no longer responds to the control stroke of the cut-off side stick, and no longer drives the side stick. The cut-off mode can be directly switched from active synchronization, passive synchronization, asynchronous, and stuck mode.

[0048] In the cut-off mode, when the control travel of the side sticks on both sides is the same and they are working normally, the pilot can press the "reset" button on the aircraft to make both side sticks enter the active synchronization mode at the same time.

[0049] In the embodiment of the present application, when the flight control system enters the BIT (self-test) mode, both side sticks are simultaneously switched to the BIT mode to cooperate with the system to complete the self-test.

[0050] In BIT mode, the pilot controls any side stick, and both side sticks exit BIT mode at the same time and enter active synchronization mode. BIT mode can be directly entered from any working mode.

[0051] The sidestick working mode designed in the present application can cover the normal, faulty and self-detection working states of the sidestick. Through the design of the working mode, both usability and safety are taken into consideration. While ensuring the control functions of the primary / co-pilot, conflicts between the dual sidestick commands are avoided, which may affect flight safety.

[0052] The redundancy voting algorithm designed in this application can enable the pilot to keep the control response consistent as much as possible under different combinations of dual-side stick working modes, avoiding excessive differences in the pilot's control experience.

[0053] This application improves the availability of the side stick in a fault state through the design of active dual side stick working mode and conversion conditions. The side stick can collect pilot driving instructions in active synchronization, passive synchronization, asynchronous, and stuck working modes, and will not cause the pilot on this side to completely lose control authority due to any side stick failure. At the same time, when the pilot on one side determines that the control instruction of the pilot on the other side is abnormal or the side stick is faulty, or wants to fully obtain flight control authority, the control authority of the pilot on the other side can be manually cut off, which improves the safety of the system.

[0054] This application reduces the impact of the side stick working mode switching on the pilot's control experience through the voting algorithm design of the dual side sticks under different working mode combinations, improves the comfort of control, reduces the pilot's control burden, and improves the safety of the system.

[0055] In other embodiments of the present application, the voting algorithm of the control amount under different working mode combinations of the double-side levers is as shown in Table 1:

[0056] Table 1

[0057]

Claims

1. An active double-side lever working mode, characterized in that: The working modes include: Active synchronization mode can realize linkage between the two side levers and keep the control stroke of the two side levers consistent; In passive synchronization mode, the control amount of the pilot on one side will be sent to the flight control computer, which will calculate the drive command and send it to the other side stick to drive the other side stick to move and keep the control stroke between the two side sticks consistent; In asynchronous mode, the control strokes of the two side sticks correspond to the control amount of the main / co-pilot respectively, and the two side sticks are no longer linked, that is, the control strokes of the two side sticks are no longer kept consistent; In the stuck mode, if one side stick is stuck, the side stick will no longer generate control stroke, but the control amount will be calculated by the pilot's control force collected by the internal force sensor; Cut-off mode cuts off the control authority of the pilot on one side.

2. The working mode according to claim 1, characterized in that: The working mode also includes: BIT mode, capable of self-detection.

3. A switching method, characterized in that: The method comprises: When the synchronization signal or data transmission between the two side poles fails, the two side poles simultaneously switch from the active synchronization mode to the passive synchronization mode; When the difference between the primary and secondary pilot control commands exceeds the threshold value or the driving function of the side stick fails, the linkage between the two side sticks will be withdrawn and the two side sticks will be switched to asynchronous mode at the same time. The asynchronous mode can be switched directly from the active synchronous mode and the passive synchronous mode. In the asynchronous mode, when the control strokes of the two side sticks are the same and the fault is restored, the two side sticks can be switched to the active synchronous mode at the same time. When a mechanical jam occurs on one side of the side stick, the other side stick is immediately locked at the current control stroke, and both side sticks are simultaneously switched to the jam mode, which can be directly switched from the active synchronization mode, the passive synchronization mode, or the asynchronous mode. When in the jam mode, when the control strokes of the side sticks on both sides are the same and the fault is restored, both side sticks can simultaneously switch to the active synchronization mode. When the pilot on one side presses the cut-off button on the corresponding side stick, the side stick enters the asynchronous mode and the side stick on the other side enters the cut-off mode. At this time, the control authority of the side stick on the other side is cut off, and the flight control system no longer responds to the control stroke of the cut-off side stick, and no longer drives the side stick; the cut-off mode can be directly switched from active synchronous mode, passive synchronous mode, asynchronous mode, and stuck mode; in the cut-off mode, when the control stroke of the side sticks on both sides is the same and they work normally, both side sticks can enter the active synchronous mode at the same time.

4. The method according to claim 3, characterized in that The method further comprises: When the flight control system enters BIT mode, both side sticks will simultaneously enter BIT mode to cooperate with the system to complete self-test; When in BIT mode, the pilot operates any side stick and both side sticks exit BIT mode at the same time and enter active synchronization mode; BIT mode can be directly entered from all other working modes.

5. A manipulation signal voting method, characterized in that: The method comprises: When both side sticks are in active synchronization mode, the control amount voting value is the average value of the control stroke of the side sticks on both sides; When both side sticks are in passive synchronization mode, the control amount voting value is the average value of the control stroke of the side sticks on both sides; When both side sticks are in asynchronous mode, the voting value of the control quantity is the sum of the control strokes of the side sticks on both sides. When both side sticks are in the stuck mode, the control variable voting value is the sum of the control force signals of the side sticks on both sides.

6. The method according to claim 5, characterized in that The method further comprises: When the side sticks on one side are in asynchronous mode and the side sticks on the other side are in cut-off mode, the manipulated variable voting value is the manipulated stroke of the side stick on the asynchronous side.

7. The method according to claim 5, characterized in that The method further comprises: When the side sticks on one side are in the stuck mode and the side sticks on the other side are in the cut-off mode, the control force signal of the side stick on the stuck side is taken as the voting value of the control quantity.

8. The method according to claim 5, characterized in that The method further comprises: When both the primary and co-pilot sidesticks are in BIT mode, the pilots are not allowed to operate the sidesticks.

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