Synchronous control method, system and equipment for aircraft wing folding system and medium

Abstract

The invention belongs to a wing folding system control technology, and discloses an aircraft wing folding system synchronous control method, system and device and a medium, and the method comprises the steps: collecting the current folding angles of a left wing and a right wing and the current rotating speed of a folding hydraulic motor in real time; according to the current folding angle and the control mode switching angle, selecting a position-rotating speed double closed-loop cooperative control mode or a rotating speed single closed-loop control mode to carry out closed-loop control on a left wing folding hydraulic motor and a right wing folding hydraulic motor; and calculating the deviation of the current folding angle between the left wing and the right wing, and performing cross coupling control on the left wing folding hydraulic motor and the right wing folding hydraulic motor according to the deviation. The control method and the control system are simple in structure, the operation process is simple, convenient and effective, and rapid, synchronous and high-reliability operation of the wing aircraft folding / flattening process is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the field of wing folding system control, relates to electromechanical hydraulic servo drive and control technology, and specifically relates to a synchronous control method, system, equipment and medium for an aircraft wing folding system. Background Art

[0002] The folding wing structure of the aircraft can facilitate the storage and transportation of the aircraft. When the wings are folded, the aircraft can significantly reduce the area occupied by the aircraft on the apron, warships and hangars, saving 20% ​​to 50% of the occupied space. Before the aircraft takes off, the wings will be quickly flattened from the folded state to the straight state, so foldable wing aircraft will become the trend of future aircraft development.

[0003] The folding and unfolding of the wings on both sides of the aircraft are achieved through a hydraulic system, which uses a hydraulic motor as the actuator of the hydraulic system energy output, and has the advantages of good low-speed stability, high power density, and convenient speed regulation. At present, the folding / flattening of the wings on both sides of the aircraft is usually controlled separately, which makes it difficult to fold / flatten the left and right wings of the aircraft at the same time. It may also cause the wings to be folded and flattened inadequately, which will affect the timely take-off of the aircraft and even affect flight safety. Furthermore, when the aircraft is flying in harsh environments such as high altitude, low temperature, and vibration, the air gap of the rotary transformer of the hydraulic motor position sensor in the hydraulic system is small and prone to failure. Appropriate fault handling methods need to be taken to ensure the reliability of wing folding and flattening. Summary of the invention

[0004] In order to solve the technical problem that the folding / unfolding of the wings on both sides of the aircraft is difficult to achieve synchronization and is not in place, thereby affecting flight safety, the present invention discloses a synchronous control method for an aircraft wing folding system, the method comprising the following steps:

[0005] S1, collecting the current folding angles of the left wing and the right wing and the current speed of the folding hydraulic motor in real time;

[0006] S2, selecting a position-speed dual closed-loop coordinated control mode or a speed single closed-loop control mode to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor according to the current folding angle and the control mode switching angle;

[0007] S3. Calculate the deviation of the current folding angle between the left wing and the right wing, and perform cross-coupling control on the left wing folding hydraulic motor and the right wing folding hydraulic motor according to the deviation.

[0008] Further, in step S1, according to the current folding angle and the control mode switching angle, a position-speed dual closed-loop coordinated control mode or a speed single closed-loop control mode is selected to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor, including:

[0009] S11, respectively designing a control mode switching angle and a corresponding closed-loop control method for the folding operation and the flattening operation, wherein the closed-loop control method includes a position-speed dual closed-loop coordinated control method and a speed single closed-loop control method, and the control mode switching angle includes a folding control mode switching angle and a flattening control mode switching angle;

[0010] S12, for the folding operation, according to the current folding angle and the folding control mode switching angle, selecting the position-speed dual closed-loop coordinated control mode or the speed single closed-loop control mode to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor;

[0011] S13. For the flattening operation, according to the current folding angle and the flattening control mode switching angle, select the position-speed dual closed-loop collaborative control mode or the speed single closed-loop control mode to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor.

[0012] Furthermore, in step S12, for the folding operation, according to the current folding angle and the folding control mode switching angle, the position-speed dual closed-loop coordinated control mode or the speed single closed-loop control mode is selected to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor, including:

[0013] S121, when the current folding angle is less than the folding control mode switching angle, performing closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor through the position-speed dual closed-loop coordinated control mode;

[0014] S122: When the current folding angle is ≥ the folding control mode switching angle, the left wing folding hydraulic motor and the right wing folding hydraulic motor are closed-loop controlled by a speed single closed-loop control method.

[0015] Further, in step S13, for the flattening operation, according to the current folding angle and the flattening control mode switching angle, the position-speed dual closed-loop coordinated control mode or the speed single closed-loop control mode is selected to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor, including:

[0016] S131, when the current folding angle is greater than or equal to the flattening control mode switching angle, performing closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor through the position-speed dual closed-loop coordinated control mode;

[0017] S131. When the current folding angle is less than the flattening control mode switching angle, the left wing folding hydraulic motor and the right wing folding hydraulic motor are closed-loop controlled by a speed single closed-loop control method.

[0018] Preferably, the switching angle of the folding control mode is 90°, and the switching angle of the flattening control mode is 5°.

[0019] In an improved embodiment of the above-mentioned aircraft wing folding system synchronous control method, the method further includes:

[0020] S4, when the speed sensor is a rotary transformer, collect the current sine voltage signal and the current cosine voltage signal, use the set fault judgment condition to judge the current sine voltage signal, the current cosine voltage signal and the current speed of the folding hydraulic motor, and obtain the fault result of the speed sensor;

[0021] S5. When it is determined that the rotation speed sensor fails, closed-loop control is performed on the left wing folding hydraulic motor and the right wing folding hydraulic motor through a position single closed-loop control method.

[0022] Further, in step S4, the fault judgment condition includes:

[0023] A given voltage range is set for the speed sensor, and when the sum of the square of the sine voltage signal and the cosine voltage signal is outside the given voltage range, it is determined that a fault occurs;

[0024] The control mode switches the angle range, and the angle of the folding hydraulic motor is calculated by the current rotation speed of the folding hydraulic motor. When the angle of the folding hydraulic motor is outside the given angle range, it is determined that a fault occurs.

[0025] An embodiment of the present invention further provides a synchronous control system for an aircraft wing folding system, comprising a collection module, a control mode selection module and a collaborative control module.

[0026] Wherein, the acquisition module is used to acquire the current folding angle of the left wing and the right wing and the current speed of the folding hydraulic motor in real time;

[0027] The control mode selection module is used to select a position-speed dual closed-loop coordinated control mode or a speed single closed-loop control mode to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor according to the current folding angle and the control mode switching angle;

[0028] The collaborative control module is used to calculate the deviation of the current folding angle between the left wing and the right wing, and to perform cross-coupling control on the left wing folding hydraulic motor and the right wing folding hydraulic motor according to the deviation.

[0029] An embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the above-mentioned methods for synchronous control of an aircraft wing folding system when executing the computer program, so as to solve the technical problem that the folding / unfolding of the wings on both sides of the aircraft is difficult to achieve synchronization and is not in place, thereby affecting flight safety.

[0030] An embodiment of the present invention also provides a computer-readable storage medium, which stores a computer program for executing any of the above-mentioned aircraft wing folding system synchronization control methods to solve the technical problem of difficulty in achieving synchronization and misalignment caused by separately controlling the folding / unfolding of the wings on both sides of the aircraft, thereby affecting flight safety.

[0031] Compared with the prior art, the beneficial effects that can be achieved by at least one of the above technical solutions adopted in the embodiments of this specification include at least: the synchronous control method and system of the present invention have a simple control system structure, a simple and effective control method, and ensure the rapidity, effectiveness and reliability of the wing folding / flattening process, and have the following advantages:

[0032] 1. The position-speed dual PID closed-loop system control is adopted to ensure the rapidity, stability and steady-state accuracy of the wing folding position;

[0033] 2. By adopting cross-coupling control on the left and right wings, the deviation of the angle position of the left and right wings is collected as a feedback signal to achieve synchronous folding and flattening of the left and right wings of the aircraft;

[0034] 3. When the wing is about to fold or unfold to a given angle, a single closed-loop speed control is used, which ensures that the wing runs at a slower speed when it is about to fold or unfold to the desired angle, so as not to exceed the stroke and damage the mechanism; at the same time, it can prevent the wing from running in place even in the case of load fluctuations such as strong winds;

[0035] 4. When the hydraulic motor speed sensor fails, it switches to position single closed-loop collaborative control to ensure the reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 It is a flow chart of a synchronous control method of an aircraft wing folding system disclosed in an embodiment of the present invention;

[0038] Figure 2 A flow chart of folding a folding wing by an aircraft wing folding system disclosed in an embodiment of the present invention;

[0039] Figure 3 A flow chart of flattening a folded wing by an aircraft wing folding system disclosed in an embodiment of the present invention;

[0040] Figure 4 It is a block diagram of the position-speed dual closed-loop coordinated control disclosed in an embodiment of the present invention;

[0041] Figure 5 This is a block diagram of a single closed-loop speed control disclosed in an embodiment of the present invention;

[0042] Figure 6 A block diagram of a position single closed-loop collaborative control disclosed in an embodiment of the present invention;

[0043] Figure 7 It is a structural diagram of a synchronous control system of an aircraft wing folding system disclosed in an embodiment of the present invention;

[0044] Among them, 701 is a collection module; 702 is a control mode selection module; 703 is a collaborative control module; 704 is a fault judgment module. DETAILED DESCRIPTION

[0045] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0046] The following describes the implementation methods of the present application through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and the features of the embodiments can be combined with each other in the absence of conflict. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0047] The present invention discloses a synchronous control method for an aircraft wing folding system, see Figure 1 As shown, the method comprises the following steps:

[0048] S1, collecting the current folding angles of the left wing and the right wing and the current speed of the folding hydraulic motor in real time;

[0049] S2, selecting a position-speed dual closed-loop coordinated control mode or a speed single closed-loop control mode to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor according to the current folding angle and the control mode switching angle;

[0050] S3. Calculate the deviation of the current folding angle between the left wing and the right wing, and perform cross-coupling control on the left wing folding hydraulic motor and the right wing folding hydraulic motor according to the deviation.

[0051] Further, in step S1, according to the current folding angle and the control mode switching angle, a position-speed dual closed-loop coordinated control mode or a speed single closed-loop control mode is selected to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor, including:

[0052] S11. Design control mode switching angles and their corresponding closed-loop control methods for the folding operation and the flattening operation, respectively. The closed-loop control methods include a position-speed dual closed-loop coordinated control method and a speed single closed-loop control method. The control mode switching angles include a folding control mode switching angle and a flattening control mode switching angle. Preferably, the folding control mode switching angle is 90°, and the flattening control mode switching angle is 5°.

[0053] S12, for the folding operation, according to the current folding angle and the folding control mode switching angle, the position-speed dual closed-loop coordinated control mode or the speed single closed-loop control mode is selected to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor, and the process of performing the folding operation on the folding wing is as follows: Figure 2 shown.

[0054] S13, for the flattening operation, according to the current folding angle and the flattening control mode switching angle, the position-speed dual closed-loop coordinated control mode or the speed single closed-loop control mode is selected to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor, and the process of flattening the folding wing is as follows: Figure 3 shown.

[0055] Furthermore, in step S12, for the folding operation, according to the current folding angle and the folding control mode switching angle, the position-speed dual closed-loop coordinated control mode or the speed single closed-loop control mode is selected to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor, including:

[0056] S121, when the current folding angle is less than the folding control mode switching angle, performing closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor through the position-speed dual closed-loop coordinated control mode;

[0057] S122: When the current folding angle is ≥ the folding control mode switching angle, the left wing folding hydraulic motor and the right wing folding hydraulic motor are closed-loop controlled by a speed single closed-loop control method.

[0058] For specific implementation, see Figure 2 , Figure 4 and Figure 5 As shown in the figure, when the wing folding operation is performed, the wing flattening lock is first unlocked, the brake solenoid valve is energized, and the braking state is released; then the hydraulic lock is energized and unlocked, and the servo valve is connected to the hydraulic pipeline. Then, the wing folding angle is set to 95°, and the rotation of the hydraulic motor is controlled by the position-speed double closed loop. After the reducer decelerates and increases the torque, the wing begins to fold. When the wing folding reaches between 94° and 96°, the brake solenoid valve is de-energized, the hydraulic lock is closed, and the wing brake maintains the folded position. When the wing folding reaches 90°, the double closed loop control is exited and changed to the speed single closed loop control, and the hydraulic motor speed is set to 180rpm, and the hydraulic motor is controlled to rotate at a low speed. When the wing folding reaches between 94° and 96°, the brake solenoid valve is de-energized, the hydraulic lock is closed, and the wing brake maintains the folded position. If it is detected that the wing folding angle exceeds 96°, it will stop immediately.

[0059] Further, in step S13, for the flattening operation, according to the current folding angle and the flattening control mode switching angle, the position-speed dual closed-loop coordinated control mode or the speed single closed-loop control mode is selected to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor, including:

[0060] S131, when the current folding angle is greater than or equal to the flattening control mode switching angle, the left wing folding hydraulic motor and the right wing folding hydraulic motor are closed-loop controlled by the position-speed dual closed-loop coordinated control method;

[0061] S132: When the current folding angle is less than the flattening control mode switching angle, the left wing folding hydraulic motor and the right wing folding hydraulic motor are closed-loop controlled by a speed single closed-loop control method.

[0062] For specific implementation, see Figure 3 , Figure 4 and Figure 5 As shown, when the wings are flattened, the brake solenoid valve is energized to release the brake state. Then the hydraulic lock is energized to unlock, and the servo valve is connected to the hydraulic pipeline. Then, the wing flattening angle is given to 0°, and the hydraulic motor is controlled to rotate through the position-speed dual closed-loop coordinated control. After the reducer decelerates and increases the torque, the wing begins to flatten. When the wing folding reaches 5°, the dual closed-loop control is exited and switched to single closed-loop speed control. The speed is given to 180rpm, and the hydraulic motor is controlled to rotate at a low speed. When the wing is flattened to near 0°, the flattening proximity switch is enabled to send a flattening in place signal, the wing flattening lock is locked, the brake solenoid valve is de-energized, the hydraulic lock is closed, and the wing remains in the flattened position.

[0063] in, Figure 4 In, θ * ,θ,θ m They are the control mode switching angle, the current folding angle and the folding angle after control; ω * ,ω,ω m They are the given speed, actual speed and calculated speed of the hydraulic motor. Based on the position-speed dual closed-loop cooperative controller, the cross-coupling of the left and right wings through the angle position is added to realize the coordinated control of the wings, including position feedback and position difference feedback, forming a closed-loop structure. Through the position difference feedback, the position deviation of the left and right wings can be effectively reduced, and the synchronization ability and anti-interference ability can be enhanced. Even if the load disturbances of the two motors are different, they can recover quickly and maintain synchronous position operation.

[0064] In specific implementation, when the wing is folded or flattened to the required angle, in order to prevent the overshoot from causing the wing to run out of range and damage the mechanism. Moreover, when the wing is folded or flattened to a given angle, due to the small angle deviation, if under severe conditions such as strong winds, the strong wind blows towards the wing surface, causing a large fluctuation in the torque load. If double closed-loop control is still used, it may affect the smooth operation of the hydraulic motor. Therefore, when the wing is about to be folded / flattened, the position-speed dual closed-loop coordinated control is exited and replaced with speed single closed-loop control, and the operation continues to run to the specified position at a lower speed. According to actual tests, the present invention adopts a speed single closed-loop control with a given speed of 180rpm, which can ensure that the overshoot is prevented from damaging the mechanism, and can also ensure that it rotates into place under severe conditions such as strong winds.

[0065] In an improved embodiment of the above-mentioned aircraft wing folding system synchronous control method, see Figure 1 As shown, the method also includes:

[0066] S4, when the speed sensor is a rotary transformer, collect the current sine voltage signal and the current cosine voltage signal, use the set fault judgment condition to judge the current sine voltage signal, the current cosine voltage signal and the current speed of the folding hydraulic motor, and obtain the fault result of the speed sensor;

[0067] S5. When it is determined that the rotation speed sensor fails, closed-loop control is performed on the left wing folding hydraulic motor and the right wing folding hydraulic motor through a position single closed-loop control method.

[0068] Furthermore, in step S4, the fault judgment conditions include:

[0069] A given voltage range is set for the speed sensor, and when the sum of the square of the sine voltage signal and the cosine voltage signal is outside the given voltage range, it is determined that a fault occurs;

[0070] The range of the control mode switching angle can be used to calculate the folding hydraulic motor angle through the current rotation speed of the folding hydraulic motor. When the folding hydraulic motor angle is outside the given angle range, it is determined that a fault has occurred.

[0071] In specific implementation, since the square sum of the sine and cosine output voltages of the rotary transformer is a fixed value, it is set to 10V in the present invention, plus the deviation, so the present invention sets the fault judgment condition to a given voltage range of (10±2)V, and if it is outside the range, a fault is reported. When the angle calculated by the rotary transformer is outside the given angle range (such as outside 0 to 360°), a fault is reported. When it is determined that the hydraulic motor sensor has a fault, it is switched to position single closed-loop control. The control process is shown in Figure 6 shown.

[0072] Based on the same inventive concept, an embodiment of the present invention also provides a synchronous control system for an aircraft wing folding system, as described in the following embodiments. Since the principle of solving the problem by the synchronous control system for an aircraft wing folding system is similar to that of the synchronous control method for an aircraft wing folding system, the implementation of the synchronous control system for an aircraft wing folding system can refer to the implementation of the synchronous control method for an aircraft wing folding system, and the repeated parts will not be repeated. As used below, the term "unit" or "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0073] Figure 7 is a structural block diagram of a synchronous control system of an aircraft wing folding system disclosed in an embodiment of the present invention, such as Figure 7As shown, the synchronous control system includes an acquisition module 701, a control mode selection module 702 and a collaborative control module 703, and the structure is described below.

[0074] Wherein, the acquisition module 701 is used to acquire the current folding angle of the left wing and the right wing and the current speed of the folding hydraulic motor in real time;

[0075] The control mode selection module 702 is used to select a position-speed dual closed-loop coordinated control mode or a speed single closed-loop control mode to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor according to the current folding angle and the control mode switching angle;

[0076] The collaborative control module 703 is used to calculate the deviation of the current folding angle between the left wing and the right wing, and perform cross-coupling control on the left wing folding hydraulic motor and the right wing folding hydraulic motor according to the deviation.

[0077] In an improved embodiment, see Figure 7 As shown, the synchronous control system further includes a fault judgment module 704, which is used for collecting the current sine voltage signal and the current cosine voltage signal when the speed sensor is a rotary transformer, and using the set fault judgment conditions to judge the current sine voltage signal, the current cosine voltage signal and the current speed of the folding hydraulic motor to obtain the fault result of the speed sensor;

[0078] The control mode selection module 702 is also used to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor through a position single closed-loop control method when it is determined that the speed sensor fails.

[0079] The synchronous control method and system of the present invention have a simple control system structure and a simple and effective control method, which ensures the rapidity, effectiveness and reliability of the wing folding / unfolding process and has the following advantages:

[0080] 1. The position-speed dual PID closed-loop system control is adopted to ensure the rapidity, stability and steady-state accuracy of the wing folding position;

[0081] 2. By adopting cross-coupling control on the left and right wings, the deviation of the angle position of the left and right wings is collected as a feedback signal to achieve synchronous folding and flattening of the left and right wings of the aircraft;

[0082] 3. When the wing is about to fold or unfold to a given angle, a single closed-loop speed control is used, which ensures that the wing runs at a slower speed when it is about to fold or unfold to the desired angle, so as not to exceed the stroke and damage the mechanism; at the same time, it can prevent the wing from running in place even in the case of load fluctuations such as strong winds;

[0083] 4. When the hydraulic motor speed sensor fails, it switches to position single closed-loop collaborative control to ensure the reliability of the system.

[0084] In this embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, any of the above-mentioned methods for synchronous control of an aircraft wing folding system is implemented.

[0085] Specifically, the computer device may be a computer terminal, a server or a similar computing device.

[0086] In this embodiment, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program for executing any of the above-mentioned methods for synchronous control of an aircraft wing folding system.

[0087] Specifically, computer-readable storage media include permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer-readable storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable storage media does not include transitory media such as modulated data signals and carrier waves.

[0088] Obviously, those skilled in the art should understand that the modules or steps of the above-mentioned embodiments of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. In this way, the embodiments of the present invention are not limited to any specific combination of hardware and software.

[0089] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the embodiments of the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A synchronous control method for an aircraft wing folding system, characterized in that: include: Real-time acquisition of the current folding angle of the left wing and the right wing and the current speed of the folding hydraulic motor; According to the current folding angle and the control mode switching angle, a position-speed dual closed-loop coordinated control mode or a speed single closed-loop control mode is selected to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor; The deviation of the current folding angle between the left wing and the right wing is calculated, and the left wing folding hydraulic motor and the right wing folding hydraulic motor are cross-coupled and controlled according to the deviation.

2. The synchronous control method of an aircraft wing folding system according to claim 1, characterized in that: According to the current folding angle and the control mode switching angle, a position-speed dual closed-loop coordinated control mode or a speed single closed-loop control mode is selected to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor, including: A control mode switching angle and a corresponding closed-loop control method are designed for the folding operation and the flattening operation respectively. The closed-loop control method includes a position-speed dual closed-loop coordinated control method and a speed single closed-loop control method. The control mode switching angle includes a folding control mode switching angle and a flattening control mode switching angle. For the folding operation, according to the current folding angle and the folding control mode switching angle, the position-speed dual closed-loop coordinated control mode or the speed single closed-loop control mode is selected to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor; For the flattening operation, according to the current folding angle and the flattening control mode switching angle, the position-speed dual closed-loop coordinated control mode or the speed single closed-loop control mode is selected to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor.

3. The synchronous control method of an aircraft wing folding system according to claim 2, characterized in that: For the folding operation, according to the current folding angle and the folding control mode switching angle, the position-speed dual closed-loop coordinated control mode or the speed single closed-loop control mode is selected to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor, including: When the current folding angle is less than the folding control mode switching angle, the left wing folding hydraulic motor and the right wing folding hydraulic motor are closed-loop controlled by the position-speed dual closed-loop coordinated control method; When the current folding angle is greater than or equal to the folding control mode switching angle, the left wing folding hydraulic motor and the right wing folding hydraulic motor are closed-loop controlled by a speed single closed-loop control method.

4. The synchronous control method of an aircraft wing folding system according to claim 2, characterized in that: For the flattening operation, according to the current folding angle and the flattening control mode switching angle, the position-speed dual closed-loop coordinated control mode or the speed single closed-loop control mode is selected to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor, including: When the current folding angle is greater than or equal to the flattening control mode switching angle, the left wing folding hydraulic motor and the right wing folding hydraulic motor are closed-loop controlled by the position-speed dual closed-loop coordinated control method; When the current folding angle is less than the flattening control mode switching angle, the left wing folding hydraulic motor and the right wing folding hydraulic motor are closed-loop controlled by a speed single closed-loop control method.

5. The synchronous control method of an aircraft wing folding system according to claim 3 or 4, characterized in that: The switching angle of the folding control mode is 90°, and the switching angle of the flattening control mode is 5°.

6. The synchronous control method of an aircraft wing folding system according to claim 1, characterized in that: Also includes: When the speed sensor is a rotary transformer, the current sine voltage signal and the current cosine voltage signal are collected, and the current sine voltage signal, the current cosine voltage signal and the current speed of the folding hydraulic motor are judged using the set fault judgment conditions to obtain the fault result of the speed sensor; When it is determined that the rotation speed sensor fails, closed-loop control is performed on the left wing folding hydraulic motor and the right wing folding hydraulic motor through a position single closed-loop control method.

7. The synchronous control method of an aircraft wing folding system according to claim 6, characterized in that: The fault judgment conditions include: A given voltage range is set for the speed sensor, and when the sum of the square of the sine voltage signal and the cosine voltage signal is outside the given voltage range, it is determined that a fault occurs; The control mode switches the angle range, and the angle of the folding hydraulic motor is calculated by the current rotation speed of the folding hydraulic motor. When the angle of the folding hydraulic motor is outside the given angle range, it is determined that a fault occurs.

8. A synchronous control system for an aircraft wing folding system, characterized in that: include: A collection module, the collection module is used to collect the current folding angles of the left wing and the right wing and the current rotation speed of the folding hydraulic motor in real time; A control mode selection module, the control mode selection module is used to select a position-speed dual closed-loop coordinated control mode or a speed single closed-loop control mode to perform closed-loop control on the left wing folding hydraulic motor and the right wing folding hydraulic motor according to the current folding angle and the control mode switching angle; A collaborative control module is used to calculate the deviation of the current folding angle between the left wing and the right wing, and to perform cross-coupling control on the left wing folding hydraulic motor and the right wing folding hydraulic motor according to the deviation.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the aircraft wing folding system synchronization control method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program for executing the aircraft wing folding system synchronization control method according to any one of claims 1 to 7.

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