Redundancy voting method for airplane wheel bearing signals

Abstract

The invention belongs to the technical field of aviation aircrafts, and relates to a redundancy voting method for aircraft wheel bearing signals. Through a reliable redundancy voting mode, the problem that when a single-side main wheel touches the ground in the landing stage, a classical majority monitoring voting method cannot effectively recognize the single-side airplane wheel touches the ground can be effectively solved, airplane wheel bearing signals can effectively and accurately represent the flight state of an airplane, it is guaranteed that a pilot can accurately control the attitude of the airplane, and the flight safety of the airplane is improved. And the airplane can safely land.

Description

Technical Field

[0001] The invention belongs to the technical field of aviation aircraft and relates to a redundancy voting method for wheel bearing signals. Background Art

[0002] When designing an aircraft, the wheel load signal is used as a status signal indicating the aircraft flight stage (ground taxiing, air), and is usually used as a sign of the on / off of the longitudinal integrator in the control law. Generally, the left main wheel load switch and the right main wheel load switch form a mechanical double redundancy and electrical quadruple redundancy configuration. The signal is monitored and voted using the classic discrete signal monitoring and voting method (majority monitoring and voting method).

[0003] When the aircraft is training for landing or go-around, due to crosswind or lack of pilot experience, it is easy to cause the main wheel on one side to touch the ground. At this time, the classic majority monitoring voting method votes out that the left / right main wheel status is inconsistent, that is, a singular fault, and the fail-safe value is "loaded". The control law disconnects the longitudinal integrator and loses neutral speed stability. If the aircraft goes around, the pilot will need to control according to the positive speed stability, which will increase the pilot's control burden, especially during the landing phase, it is difficult to control the aircraft attitude. Summary of the invention

[0004] Purpose of the Invention

[0005] The present invention designs a redundancy monitoring and voting method for wheel load signal, which can effectively identify the touchdown landing situation of a single main engine wheel load during the landing phase, and can timely vote out a method that can indicate the actual flight phase of the aircraft.

[0006] Technical Solution

[0007] A method for redundancy voting of a wheel bearing signal comprises the following steps:

[0008] Step 1: When the landing gear signal is normal, if the landing gear is retracted, no matter the left / right wheel load collection value is "load" or "no load", the wheel load voting value is "no load";

[0009] Step 2: When the landing gear signal is normal, if the landing gear is lowered:

[0010] When the four redundant wheel load collection values ​​are all valid, add the left / right wheel load collection values, and the possible results are 4, 3, 2, 1, and 0;

[0011] When the sum of the collected values ​​is 4 or 0, the wheel load voting value is determined by the majority vote of the left / right wheel load collected values;

[0012] When the sum of the collected values ​​is 3 or 1, the wheel load voting value is obtained by majority voting of the left / right wheel load collection values. After t time, the channel that is inconsistent with the majority channel collection value is isolated and the judgment of the validity of the three-redundancy collection value is entered;

[0013] When the sum of the collected values ​​is 2, the wheel load voting value is determined by the airspeed. If the airspeed is less than X km / h, the wheel load is taken, otherwise, no load is taken.

[0014] Furthermore, when the triple-redundant wheel load collection values ​​are valid, the left / right wheel load collection values ​​are added together, and the possible results are 3, 2, 1, and 0;

[0015] When the sum of the collected values ​​is 3 or 0, the wheel load voting value is determined by the majority vote of the left / right wheel load collected values;

[0016] When the sum of the collected values ​​is 2, if the left (or right) wheel load voting values ​​corresponding to the normal channels are all 1, the wheel load voting value is "loaded", and after t time, the channels that are inconsistent with the collected values ​​of the majority of channels are isolated, and the judgment of the validity of the two redundant collected values ​​is entered; if the left (or right) wheel load voting value is 2, the wheel load voting value is determined by the airspeed, and the airspeed <X km / h is taken as load, otherwise it is taken as no load;

[0017] When the sum of the collected values ​​is 1, the wheel load voting value is determined by the airspeed. If the airspeed is less than X km / h, the wheel load is taken, otherwise, no load is taken. After t time, the channel corresponding to the collected value of 1 is isolated, and the judgment of the validity of the two redundant collected values ​​is entered;

[0018] Furthermore, when the two redundant wheel load collection values ​​are valid, if the valid wheel load collection value is the signal of the wheel on the same side (left or right wheel), the wheel load voting value is determined by the airspeed, and the airspeed <X km / h is taken as load, otherwise it is taken as no load; if the valid wheel load collection value is the signal of the wheel on different sides, then the valid collection values ​​of the left / right wheels are added, and the possible results are 2, 1, and 0;

[0019] When the sum of the collected values ​​is 2 or 0, the wheel load voting value is determined by the majority vote of the left / right wheel load collected values;

[0020] When the sum of the collected values ​​is 1, the left / right wheel load collection value is set to fault. The wheel load voting value is determined by the airspeed. If the airspeed is less than X km / h, the load is taken, otherwise no load is taken.

[0021] Furthermore, when the landing gear signal fails, it can be assumed that at a specific flight altitude and airspeed, the landing gear is lowered, otherwise the landing gear is retracted, based on the landing gear structural strength and control law parameter tolerance. At this time, the voting method for the wheel load signal is still the same as steps 1 and 2 above.

[0022] Furthermore, the method is applicable to aircraft with a front three-point layout.

[0023] Furthermore, the three-wheel-type aircraft uses left and right main wheels for logical judgment.

[0024] Furthermore, the method is applicable to the landing roll phase of an aircraft.

[0025] Furthermore, the aircraft approach and landing phase specifically refers to the moment when the left and right wheels of the aircraft touch the ground and the front wheel has not yet touched the ground.

[0026] Furthermore, X is specifically 230-280 km / h. The selection principle of X km / h is based on the minimum touchdown speed during landing obtained by the performance calculation of the aircraft aerodynamic platform, combined with the flight evaluation conducted by the pilot on the ground flight quality simulator.

[0027] The beneficial effects of this application are:

[0028] If the wheel load signal adopts the classic majority monitoring voting method during the take-off and landing phases, when the wheel load signal fails, it will cause differences in the aircraft's handling characteristics. If the control mode with the longitudinal integrator is still used after the aircraft's main wheel lands, the aircraft's nose will pitch up during the continuous control of the stick. If it is not corrected in time, it may cause the aircraft to have a tail strike or run off the runway and other flight accidents.

[0029] The invention provides a redundancy voting method for wheel bearing signals, which can effectively solve the problem that the classic majority monitoring voting method cannot effectively identify the single-sided main wheel touching the ground when the single-sided main wheel touches the ground during the landing phase, so that the wheel bearing signal can effectively and accurately represent the flight status of the aircraft, ensuring that the pilot can accurately control the attitude of the aircraft and land the aircraft safely. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the electrical connection between the wheel load switch and the flight control computer;

[0031] Figure 2 Schematic diagram of the redundancy voting method. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the implementation of the present invention clearer, the technical scheme in the embodiment of the present invention will be described in more detail in combination with the embodiment of the present invention. In the example, the same or similar reference numerals throughout represent the same or similar originals or elements with the same or similar functions. The described embodiments are part of the embodiments of the present invention, not all of them. The embodiments described below by reference are exemplary and intended to be used to explain the present invention, and should not be construed as limitations on the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present invention. The following is a detailed description in combination with the embodiments of the present invention.

[0033] When the aircraft encounters a positive crosswind greater than 10m / s during the landing phase, in order to overcome the influence of the crosswind, the aircraft must be aligned with the runway route. At this time, the aircraft lands with a fixed slope, and it is very easy for the left and right main wheels to touch the ground at different times. As a result, the load signals of the left and right main wheels collected by the flight control system at this time are 2:2 singular faults, that is, the left wheel is electrically loaded and the right wheel is electrically unloaded. If based on the classic majority monitoring voting method, the voting value should be the fail-safe value "loaded", the control law disconnects the longitudinal integrator, loses the neutral speed stability, and after t time, isolates the left and right wheel load signals, and judges according to the landing gear signal, that is, it is judged to be loaded when the landing gear is lowered, otherwise it is unloaded. If the aircraft takes off again, the pilot will need to operate according to the positive speed stability, which will increase the pilot's control burden, especially in the landing phase, it is difficult to control the aircraft attitude.

[0034] ① When the landing gear signal is normal, if the landing gear is retracted, no matter the left / right wheel load collection value is "load" or "no load", the wheel load voting value is "no load";

[0035] ② When the landing gear signal is normal, if the landing gear is lowered:

[0036] When the four redundant wheel load collection values ​​are all valid, add the left / right wheel load collection values, and the possible results are 4, 3, 2, 1, and 0;

[0037] When the sum of the collected values ​​is 4, 3, 1 or 0, the wheel load voting value is obtained by majority voting of the left / right wheel load collection values, and the fault channel is isolated at this time;

[0038] When the sum of the collected values ​​is 2, the wheel load voting value is determined by the airspeed. If the airspeed is less than X km / h, the wheel load is taken, otherwise, no load is taken. In this case, channel isolation is not performed;

[0039] When the triple redundant wheel load collection value is valid, add the left / right wheel load collection values, and the possible results are 3, 2, 1, and 0;

[0040] When the sum of the collected values ​​is 3 or 0, the wheel load voting value is determined by the majority vote of the left / right wheel load collected values;

[0041] When the sum of the collected values ​​is 2, if the left (or right) wheel load voting value corresponding to the normal channel is 1, the wheel load voting value is "loaded"; if the left (or right) wheel load voting value is 2, the wheel load voting value is determined by the airspeed, and the airspeed is less than Xkm / h, and the load is taken, otherwise, no load is taken. At this time, the fault channel is isolated according to the left / right wheel load collection value;

[0042] When the sum of the collected values ​​is 1, if the left (or right) wheel load voting value corresponding to the normal channel is 0, the wheel load voting value is "no load"; if the left (or right) wheel load voting value corresponding to the normal channel is 1, the wheel load voting value is determined by the airspeed, and the airspeed is less than X km / h, the wheel load is taken, otherwise, the wheel load is taken;

[0043] When the two redundant wheel load collection values ​​are valid, if the valid wheel load collection value is the signal of the wheel on the same side (left or right wheel), the wheel load voting value is determined by the airspeed. If the airspeed is less than X km / h, load is taken, otherwise no load is taken; if the valid wheel load collection value is the signal of the wheel on different sides, then the valid collection values ​​of the left / right wheels are added together, and the possible results are 2, 1, and 0;

[0044] When the sum of the collected values ​​is 2 or 0, the wheel load voting value is determined by the majority vote of the left / right wheel load collected values;

[0045] When the sum of the collected values ​​is 1, the left / right wheel load collection value is set to fault. The wheel load voting value is determined by the airspeed. If the airspeed is less than X km / h, the load is taken, otherwise no load is taken.

[0046] ③ When the landing gear signal fails, based on the landing gear structural strength and control law parameter tolerance, it can be assumed that at a specific flight altitude and airspeed, the landing gear should be lowered, otherwise the landing gear should be retracted: at this time, the voting algorithm for the wheel load signal is still the same as above ①②.

[0047] Example

[0048] The redundancy voting method of the wheel bearing signal comprises the following steps:

[0049] Step 1: When the landing gear signal is normal, if the landing gear is retracted, no matter the left / right wheel load collection value is "load" or "no load", the wheel load voting value is "no load";

[0050] Step 2: When the landing gear signal is normal, if the landing gear is lowered:

[0051] When the four redundant wheel load collection values ​​are all valid, add the left / right wheel load collection values, and the possible results are 4, 3, 2, 1, and 0;

[0052] When the sum of the collected values ​​is 4 or 0, the wheel load voting value is determined by the majority vote of the left / right wheel load collected values;

[0053] When the sum of the collected values ​​is 3 or 1, the wheel load voting value is obtained by majority voting of the left / right wheel load collection values. After t time, the channel that is inconsistent with the majority channel collection value is isolated and the judgment of the validity of the three-redundancy collection value is entered;

[0054] When the sum of the collected values ​​is 2, the wheel load voting value is determined by the airspeed. If the airspeed is less than X km / h, the wheel load is taken, otherwise, no load is taken.

[0055] Furthermore, when the triple-redundant wheel load collection values ​​are valid, the left / right wheel load collection values ​​are added together, and the possible results are 3, 2, 1, and 0;

[0056] When the sum of the collected values ​​is 3 or 0, the wheel load voting value is determined by the majority vote of the left / right wheel load collected values;

[0057] When the sum of the collected values ​​is 2, if the left (or right) wheel load voting values ​​corresponding to the normal channels are all 1, the wheel load voting value is "loaded", and after t time, the channels that are inconsistent with the collected values ​​of the majority of channels are isolated, and the judgment of the validity of the two redundant collected values ​​is entered; if the left (or right) wheel load voting value is 2, the wheel load voting value is determined by the airspeed, and the airspeed <X km / h is taken as load, otherwise it is taken as no load;

[0058] When the sum of the collected values ​​is 1, the wheel load voting value is determined by the airspeed. If the airspeed is less than X km / h, the wheel load is taken, otherwise, no load is taken. After t time, the channel corresponding to the collected value of 1 is isolated, and the judgment of the validity of the two redundant collected values ​​is entered;

[0059] In a certain implementation case of the present invention, when two redundant wheel load collection values ​​are valid, if the valid wheel load collection value is a signal of the wheel on the same side (left or right wheel), the wheel load voting value is determined by the airspeed, and the airspeed is less than X km / h, and the load is taken, otherwise, no load is taken; if the valid wheel load collection value is a signal of the wheel on different sides, the valid collection values ​​of the left / right wheels are added, and the possible results are 2, 1, and 0;

[0060] When the sum of the collected values ​​is 2 or 0, the wheel load voting value is determined by the majority vote of the left / right wheel load collected values;

[0061] When the sum of the collected values ​​is 1, the left / right wheel load collection value is set to fault. The wheel load voting value is determined by the airspeed. If the airspeed is less than X km / h, the load is taken, otherwise no load is taken.

[0062] In a certain implementation case of the present invention, when the landing gear signal fails, it can be assumed based on the landing gear structural strength and control law parameter tolerance that at a specific flight altitude and airspeed, the landing gear is lowered, otherwise the landing gear is retracted: at this time, the voting method for the wheel load signal is still the same as the above steps 1 and 2.

[0063] In a certain implementation case of the present invention, the method is applicable to an aircraft with a front three-point layout.

[0064] In a certain implementation case of the present invention, the front three-point layout aircraft uses left and right main wheels for logical judgment.

[0065] In a certain implementation case of the present invention, the method is applicable to the landing roll phase of an aircraft.

[0066] In a certain implementation case of the present invention, the aircraft approach and landing phase is specifically the moment when the left and right wheels of the aircraft touch the ground and the front wheel has not yet contacted the ground.

[0067] In a certain implementation case of the present invention, X is specifically 230-280 km / h. The selection principle of X km / h is based on the minimum touchdown speed during landing obtained by the performance calculation of the aircraft aerodynamic platform, combined with the flight evaluation conducted by the pilot on the ground flight quality simulator.

[0068] It is understood by those skilled in the art that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of ordinary technicians in the field to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and unless defined as here, will not be interpreted with idealized or overly formal meanings. The specific implementation methods described above further describe the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the present invention. Within the spirit and principle of the present invention, any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment of equivalent changes for application in other fields, but any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the technical solution content of the present invention, any modification, equivalent replacement, improvement, etc., made according to the technical essence of the present invention, should be included in the protection scope of the present invention.

Claims

1. A redundancy voting method for wheel bearing signals, characterized in that: The steps include: Step 1: When the landing gear signal is normal, if the landing gear is retracted, no matter the left / right wheel load collection value is "load" or "no load", the wheel load voting value is "no load"; Step 2: When the landing gear signal is normal, if the landing gear is lowered: When the four redundant wheel load collection values ​​are all valid, add the left / right wheel load collection values, and the possible results are 4, 3, 2, 1, and 0; When the sum of the collected values ​​is 4 or 0, the wheel load voting value is determined by the majority vote of the left / right wheel load collected values; When the sum of the collected values ​​is 3 or 1, the wheel load voting value is obtained by majority voting of the left / right wheel load collection values. After t time, the channel that is inconsistent with the majority channel collection value is isolated and the judgment of the validity of the three-redundancy collection value is entered; When the sum of the collected values ​​is 2, the wheel load voting value is determined by the airspeed. If the airspeed is less than X km / h, the wheel load is taken, otherwise, no load is taken.

2. The method according to claim 1, characterized in that When the triple redundant wheel load collection value is valid, add the left / right wheel load collection values, and the possible results are 3, 2, 1, and 0; When the sum of the collected values ​​is 3 or 0, the wheel load voting value is determined by the majority vote of the left / right wheel load collected values; When the sum of the collected values ​​is 2, if the left or right wheel load voting values ​​corresponding to the normal channels are both 1, the wheel load voting value is "loaded". After t time, the channels that are inconsistent with the collected values ​​of the majority of channels are isolated, and the judgment of the validity of the two redundant collected values ​​is entered; if the left or right wheel load voting value is 2, the wheel load voting value is determined by the airspeed. If the airspeed is less than Xkm / h, load is taken, otherwise no load is taken; When the sum of the collected values ​​is 1, the wheel load voting value is determined by the airspeed. If the airspeed is less than X km / h, the wheel load is taken, otherwise, no load is taken. After t time, the channel corresponding to the collected value of 1 is isolated, and the judgment of the validity of the two redundant collected values ​​is entered.

3. The method according to claim 2, characterized in that When the two redundant wheel load collection values ​​are valid, if the valid wheel load collection values ​​are signals of the wheel on the same side, the wheel load voting value is determined by the airspeed. If the airspeed is less than X km / h, load is taken, otherwise no load is taken; if the valid wheel load collection values ​​are signals of the wheel on different sides, then the valid collection values ​​of the left / right wheels are added together, and the possible results are 2, 1, and 0; When the sum of the collected values ​​is 2 or 0, the wheel load voting value is determined by the majority vote of the left / right wheel load collected values; When the sum of the collected values ​​is 1, the left / right wheel load collection value is set to fault. The wheel load voting value is determined by the airspeed. If the airspeed is less than X km / h, the load is taken, otherwise no load is taken.

4. The method according to claim 3, characterized in that When the landing gear signal fails, based on the landing gear structural strength and control law parameter tolerance, it can be assumed that at a specific flight altitude and airspeed, the landing gear is lowered, otherwise the landing gear is retracted: at this time, the voting method for the wheel load signal is still the same as steps 1 and 2 above.

5. The method according to claim 4, characterized in that The method is applicable to aircraft with a front three-point layout.

6. The method according to claim 5, characterized in that The three-wheel-type aircraft uses the left and right main wheels for logic determination.

7. The method according to claim 6, characterized in that The method is applicable to the landing roll phase of an aircraft.

8. The method according to claim 7, characterized in that The aircraft approach and landing phase is specifically the moment when the left and right wheels of the aircraft touch the ground and the front wheel has not yet touched the ground.

9. The method according to claim 8, characterized in that X is specifically 230-280km / h; the selection principle of X km / h is based on the minimum touchdown speed during landing obtained by performance calculation of the aircraft aerodynamic platform, combined with the flight evaluation conducted by the pilot on the ground flight quality simulator.

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