Active bilateral lever operating mode, switching method and control signal voting method

Abstract

The application provides an active double lever working mode, which comprises an active synchronization mode, a passive synchronization mode, an asynchronous mode, a stuck mode and a cut-off mode.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of helicopter flight control system, and particularly relates to an active double-side lever working mode, a switching method and a control signal voting method. BACKGROUND

[0002] The active side lever belongs to a control device of a flight control system, and can effectively reduce installation space and realize small stroke and large gain control compared with a central lever. For a helicopter carrying a main pilot and an auxiliary pilot, a traditional central lever realizes linkage between the control levers of the main pilot and the auxiliary pilot through a pull rod assembly and other mechanical devices. When any side pilot control lever or the flight control system drives the lever through a parallel rudder, the control stroke of the main lever and the auxiliary lever is always consistent, so the control amount of the two pilots is always consistent.

[0003] The active side lever realizes synchronization and data interaction between the double-side levers through electrical signals, and the control stroke of the double-side levers may be inconsistent due to pilot control, control system driving, side lever failure and other reasons. Therefore, working modes need to be designed for different use conditions of the side lever.

[0004] In addition, the active side lever is designed with multiple working modes, and when the working modes of the double-side levers are inconsistent, the working modes will be arranged and combined. If the side lever signal redundancy voting algorithm is unreasonable, the pilot's driving experience will be greatly different under different working modes, and the driving burden will be increased. SUMMARY

[0005] The application aims to provide a working mode suitable for an active double-side lever of a helicopter, design working modes for different use conditions of the side lever, design conversion conditions between different modes, and design corresponding redundancy voting algorithms for the combination of different working modes of the double-side levers.

[0006] In a first aspect, the application provides an active double-side lever working mode, which comprises:

[0007] An active synchronization mode can realize linkage between the double-side levers and keep the control stroke of the double-side levers consistent;

[0008] A passive synchronization mode sends the control amount of one side pilot to a flight control computer, calculates a driving instruction by the flight control computer, sends the driving instruction to the other side lever, drives the other side lever to move, and keeps the control stroke of the double-side levers consistent;

[0009] An asynchronous mode corresponds the control stroke of the double-side levers to the control amount of the main / auxiliary pilot respectively, and the double-side levers are no longer linked, that is, the double-side levers are no longer consistent in the control stroke;

[0010] In stuck mode, if one side stick is stuck, the stick on that side will no longer generate control travel. Instead, the control amount is calculated based on 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 further includes:

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

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

[0015] When the synchronization signal or data transmission between the two side rods fails, the two side rods will switch from active synchronization mode to passive synchronization mode at the same time;

[0016] When the difference between the primary and co-pilot control commands exceeds the threshold or the sidestick drive function fails, the linkage between the two sidesticks is exited and the aircraft enters asynchronous mode simultaneously. The asynchronous mode can be directly switched from active synchronous mode to passive synchronous mode. In asynchronous mode, when the control strokes of the two sidesticks are the same and the fault is restored, the two sidesticks can simultaneously enter active synchronous mode.

[0017] When a mechanical jam occurs on one side of the sidestick, the other sidestick is immediately locked at the current control stroke, and both sidesticks enter the jam mode simultaneously. The jam mode can be directly switched from active synchronous mode, passive synchronous mode, or asynchronous mode. When in the jam mode, if the control strokes of both sidesticks are the same and the fault is restored, both sidesticks can simultaneously enter the active synchronous mode.

[0018] When the pilot on one side presses the cutout button on the corresponding sidestick, the sidestick enters asynchronous mode and the other sidestick enters cutout mode. At this time, the control authority of the other sidestick is cut off, and the flight control system no longer responds to the control stroke of the cutout sidestick and no longer drives the sidestick. The cutout mode can be directly switched from active synchronous mode, passive synchronous mode, asynchronous mode, and stuck mode. When in cutout mode, when the control stroke of the sidesticks on both sides is the same and they are working normally, both sidesticks can be switched to 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 be switched to BIT mode at the same time 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 application also provides a method for voting a control signal, comprising:

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

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

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

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

[0027] Preferably, the method further comprises:

[0028] When one side stick is in the asynchronous mode and the other side stick is in the cut-off mode, the voting value of the control amount is the control stroke of the asynchronous side stick.

[0029] Preferably, the method further comprises:

[0030] When one side stick is in the stuck mode and the other side stick is in the cut-off mode, the voting value of the control amount is the control force signal of the stuck side stick.

[0031] Preferably, the method further comprises:

[0032] When the primary and secondary pilots' side sticks are in the BIT mode, the pilots are not allowed to control the side sticks.

[0033] The application has the following beneficial technical effects:

[0034] The application improves the usability of the side sticks in the fault state through the design of the active double-side stick working mode and the conversion condition. The side sticks can collect the pilots' driving instructions in the active synchronization mode, the passive synchronization mode, the asynchronous mode and the stuck mode, and the complete loss of the control right of the pilot on one side will not occur due to the arbitrary failure of the side stick. Meanwhile, when the pilot on one side judges that the control instruction of the pilot on the other side is abnormal or the side stick is faulty, or wants to completely obtain the flight control right, the control right of the pilot on the other side can be manually cut off, thereby improving the safety of the system.

[0035] The application reduces the influence of the working mode switching of the side sticks on the control feeling of the pilots, improves the control comfort, reduces the control burden of the pilots, and improves the safety of the system through the design of the voting algorithm of the double-side sticks in different working mode combinations. BRIEF DESCRIPTION OF DRAWINGS

[0036] Fig. 1is a side stick working mode conversion schematic diagram provided by an embodiment of the present application;

[0037] Fig. 2 is another side stick working mode conversion schematic diagram provided by an embodiment of the present application. DETAILED DESCRIPTION

[0038] The side stick working mode designed by the present application can cover normal, failure, and self-detection working states of the side stick. Through the design of the working mode, the availability and safety are taken into account, the main / assistant pilot control function is ensured, and the conflict of the double-side stick instructions is avoided, thereby affecting the flight safety.

[0039] The redundancy voting algorithm designed by the present application can make the pilot maintain the consistent control response as much as possible under different double-side stick working mode combinations, and avoid the too large difference between the pilot control feelings.

[0040] The side stick working mode includes: active synchronization, passive synchronization, asynchronous, stick-hold, disconnection, and BIT.

[0041] Please refer to Figs. 1-2 In the embodiment of the present application, when the double-side sticks are normally working after being powered on, the side sticks are in the active synchronization mode. At this time, the double-side sticks are linked, and the control amount of one side pilot is directly sent to the other side stick, the driving instruction of the self of the other side stick is calculated, the side stick is driven to move, and the control stroke between the double-side sticks is kept consistent.

[0042] In the embodiment of the present application, when the synchronization signal or data transmission between the double-side sticks is invalid, the double-side sticks are simultaneously converted from the active synchronization mode to the passive synchronization mode. At this time, the control amount of one side pilot is sent to the flight control computer, the driving instruction is calculated by the flight control computer, is sent to the other side stick, the side stick is driven to move, and the control stroke between the double-side sticks is kept consistent.

[0043] In the embodiment of the present application, when the difference between the main / assistant pilot control instructions exceeds the threshold value or the driving function of the side stick is invalid, the linkage between the double-side sticks is exited, and the asynchronous mode is simultaneously entered. At this time, the control strokes of the double-side sticks respectively correspond to the control amounts of the main / assistant pilots, and the double-side sticks are no longer consistent. The asynchronous mode can be directly converted from the active synchronization and passive synchronization modes.

[0044] When the double-side sticks are in the asynchronous mode, when the control strokes of the two sides are the same and the failure is recovered, the pilot can press the "reset" button on the machine, so that the double-side sticks are simultaneously converted into the active synchronization mode.

[0045] In the embodiment of the application, when mechanical jamming failure occurs in one side stick, the other side stick is immediately locked at the current control stroke, and the two sticks are simultaneously switched to the jamming mode. At this time, the stick no longer generates control stroke, but the pilot control force collected by the internal force sensor is used to calculate the control amount. The jamming mode can be directly switched from the active synchronization, passive synchronization and asynchronous modes.

[0046] When the two side sticks have the same control stroke and the failure is recovered, the pilot can press the "reset" button on the aircraft to switch the two side sticks to the active synchronization mode.

[0047] In the embodiment of the application, when one side pilot 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 the active synchronization, passive synchronization, asynchronous and jamming modes.

[0048] When the two side sticks have the same control stroke and are working normally, the pilot can press the "reset" button on the aircraft to switch the two side sticks to the active synchronization mode.

[0049] In the embodiment of the application, when the flight control system enters the BIT (self-detection) mode, the two side sticks are simultaneously switched to the BIT mode to complete self-detection in cooperation with the system.

[0050] When the pilot controls any side stick in the BIT mode, the two side sticks are simultaneously switched out of the BIT mode and switched to the active synchronization mode. The BIT mode can be directly switched from all working modes.

[0051] The working mode of the side stick designed in the application can cover normal, failure and self-detection working states of the side stick. Through the design of the working mode, the usability and safety are taken into account, the control functions of the primary and secondary pilots are ensured, and the conflict of the commands of the two side sticks is avoided to affect the flight safety.

[0052] The redundancy voting algorithm designed in the application can make the pilot maintain the control response as consistent as possible under different combinations of the working modes of the two side sticks, and avoid too large difference in the control feeling of the pilot.

[0053] The application improves the availability of the side stick in the fault state through the design of the active double side stick working mode and the conversion condition. The side stick can collect the pilot's driving instruction in the active synchronization, passive synchronization, asynchronous and stuck working modes, and the pilot's control right will not be completely lost due to the arbitrary failure of the side stick. Meanwhile, when the pilot on one side judges that the control instruction of the pilot on the other side is abnormal or the side stick is faulty, or wants to completely obtain the flight control right, the control right of the pilot on the other side can be manually removed, and the safety of the system is improved.

[0054] The application reduces the influence of the side stick working mode switching on the pilot's control feeling, improves the control comfort, reduces the pilot's control burden, improves the safety of the system through the design of the voting algorithm of the double side stick in different working mode combinations.

[0055] In other embodiments of the application, the voting algorithm of the control amount of the double side stick in different working mode combinations is as shown in Table 1.

[0056] Table 1

[0057]

Claims

1. A method of switching between active bilateral lever operating modes, characterized by, The working modes include: active synchronization mode, capable of realizing linkage between the two side sticks, keeping the operating stroke consistent between the two side sticks; passive synchronization mode, the operating amount of one side pilot being sent to the flight control computer, the driving instruction being calculated by the flight control computer and sent to the other side stick to drive the other side stick to move, keeping the operating stroke consistent between the two side sticks; asynchronous mode, the operating stroke of the two side sticks respectively corresponding to the operating amount of the main / auxiliary pilot, the two side sticks no longer being linked, i.e. the operating stroke between the two side sticks no longer being kept consistent; stuck mode, one side stick having a stuck fault, the side stick no longer generating the operating stroke, but the operating amount being calculated through the pilot operating force collected by the internal force sensor; cut-off mode, cutting off the operating right of one side pilot; BIT mode, capable of self-detection; The method includes: when the synchronization signal or data transmission between the two side sticks fails, the two side sticks simultaneously switching from the active synchronization mode to the passive synchronization mode; when the difference between the operating instructions of the main / auxiliary pilot exceeds the threshold value or the driving function of the side stick fails, the linkage between the two side sticks being exited and simultaneously switching to the asynchronous mode, the asynchronous mode being capable of directly switching from the active synchronization mode and the passive synchronization mode; when the operating strokes of the two side sticks are the same and the fault is recovered, the two side sticks simultaneously switching to the active synchronization mode; when one side stick has a mechanical stuck fault, the other side stick being immediately locked at the current operating stroke, the two side sticks simultaneously switching to the stuck mode, the stuck mode being capable of directly switching from the active synchronization mode, the passive synchronization mode and the asynchronous mode; when the operating strokes of the two side sticks are the same and the fault is recovered, the two side sticks simultaneously switching to the active synchronization mode; when one side pilot presses the cut-off button on the corresponding side stick, the side stick switching to the asynchronous mode and the other side stick switching to the cut-off mode, at this time, the operating right of the other side stick being cut off, the flight control system no longer responding to the operating stroke of the cut-off side stick and no longer driving the side stick; the cut-off mode being capable of directly switching from the active synchronization mode, the passive synchronization mode, the asynchronous mode and the stuck mode; when the operating strokes of the two side sticks are the same and normally work, the two side sticks simultaneously switching to the active synchronization mode.

2. The method of claim 1, wherein, The method further includes: when the flight control system enters the BIT mode, at this time, the two side sticks simultaneously switching to the BIT mode and cooperating with the system to complete self-detection; when the pilot operates any side stick, the two side sticks simultaneously exiting the BIT mode and switching to the active synchronization mode; the BIT mode being capable of directly switching from all other working modes.

3. A method of voting on a control signal for an active bilateral lever operating mode, characterized by, The working modes include: active synchronization mode, capable of realizing linkage between the two side sticks, keeping the operating stroke consistent between the two side sticks; passive synchronization mode, the operating amount of one side pilot being sent to the flight control computer, the driving instruction being calculated by the flight control computer and sent to the other side stick to drive the other side stick to move, keeping the operating stroke consistent between the two side sticks; asynchronous mode, the operating stroke of the two side sticks respectively corresponding to the operating amount of the main / auxiliary pilot, the two side sticks no longer being linked, i.e. the operating stroke between the two side sticks no longer being kept consistent; Stuck mode, one side stick is stuck, the side stick no longer generates a control stroke, but the pilot control force collected by the internal force sensor is used to calculate the control amount; Cut-off mode, cutting off the control authority of one side of the pilot; BIT mode, which can perform self-detection; The method comprises: When both side sticks are in the active synchronization mode, the control amount voting value is the average of the control strokes of the two side sticks; When both side sticks are in the passive synchronization mode, the control amount voting value is the average of the control strokes of the two side sticks; When both side sticks are in the asynchronous mode, the control amount voting value is the sum of the control strokes of the two side sticks; When both side sticks are in the stuck mode, the control amount voting value is the sum of the control force signals of the two side sticks; When one side stick is in the asynchronous mode and the other side stick is in the cut-off mode, the control amount voting value is the control stroke of the asynchronous side stick; When one side stick is in the stuck mode and the other side stick is in the cut-off mode, the control amount voting value is the control force signal of the stuck side stick.

4. The method of claim 3, wherein, The method further comprises: When the main and auxiliary pilot side sticks are in the BIT mode, the pilot is not allowed to control the side stick.

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