Water counterweight system control method based on liquid level and flow

Abstract

A water counterweight system control method based on liquid level and flow comprises the steps that 1, the gravity center of a target aircraft is input, a target gravity center difference threshold value is set, and an adjusting program is started; 2, acquiring the flow of the transmitted liquid counterweight medium through a flow sensor, calculating the current gravity center position of the aircraft based on the flow, acquiring the liquid level of each water tank through a liquid level sensor, and calculating the current gravity center position of the aircraft based on the liquid level; 3, the center-of-gravity position of the aircraft obtained based on the flow and the center-of-gravity position of the aircraft obtained based on the liquid level are monitored in real time; and 4, under the condition that at least one of the difference value between the aircraft gravity center position obtained based on the flow and the target gravity center position and the difference value between the aircraft gravity center position obtained based on the liquid level and the target gravity center position is smaller than a target gravity center difference value threshold value, it is determined that the target gravity center is adjusted. By means of the dual-redundancy control method, the gravity center adjusting result can be reliably guaranteed.

Description

Technical Field

[0001] The present invention relates to a liquid level and flow-based water counterweight system control method, and more particularly to a liquid level and flow-based water counterweight system control method suitable for adjusting the center of gravity position of an aircraft. Background Art

[0002] During the flight of an aircraft, the position of its center of gravity will directly affect its maneuverability and stability. Newly developed aircraft need to carry out test flight subjects such as center of gravity envelope expansion and critical center of gravity during the test flight phase to verify the aircraft's handling characteristics at different center of gravity positions, especially at the extreme center of gravity position.

[0003] Usually, the center of gravity of the aircraft is adjusted during flight through a water ballast system to meet the requirements of the aircraft's flight test subjects. The water ballast system is a key system to improve flight test efficiency and ensure flight test safety. Its principle is to set up several water tanks at the front and rear sections of the aircraft cabin, and use a pump to adjust the ballast medium to transfer between the water tank group at the front and the water tank group at the rear, so as to adjust the overall center of gravity position of the aircraft.

[0004] In order to adjust the center of gravity of the aircraft, the water ballast system first needs to calculate the weight center of gravity of the ballast medium, and then calculate the weight center of gravity of the aircraft. The calculation method of the weight center of gravity of the ballast medium is the core of the water ballast system control, which directly determines the adjustment accuracy of the system and even affects the safety of flight.

[0005] Chinese patents CN112849430A and CN112882379A respectively propose a liquid level-based center of gravity adjustment control method, which measures the liquid level of each water tank, calculates the weight of each water tank according to the liquid level of the weight medium in the water tank, and then calculates the weight center of gravity of all weight media.

[0006] The advantage of the liquid level-based control method is that it is a result measurement method with high reliability, but its disadvantage is that it is affected by factors such as aircraft attitude and overload, the measurement results fluctuate greatly, and the calculation results of the center of gravity are unstable.

[0007] In addition to the liquid level-based control method, measurement can also be performed using a flow-based control method, which uses a flow sensor to measure the flow rate during adjustment, obtains the adjustment amount by integrating the flow rate over time, and combines it with the reference weight at the previous moment to calculate the weight center of gravity of the counterweight medium.

[0008] The advantage of the flow-based control method is that its measurement results are less affected by the aircraft's attitude, and the center of gravity calculation results are relatively stable. However, the disadvantage is that each center of gravity calculation is based on the previous moment, resulting in cumulative errors. In addition, flow measurement is a process measurement method and an open-loop control method. The system cannot identify errors that may occur during the calculation process, which poses a major safety hazard to test flights.

[0009] Therefore, how to provide a water weight system control method with reliable results becomes a technical problem that needs to be solved urgently. Summary of the invention

[0010] The present disclosure is made to solve the above technical problems, and its purpose is to provide a water counterweight system control method based on liquid level and flow rate, which can reliably adjust the center of gravity position of the aircraft by adopting a dual redundant control method combining two different control methods.

[0011] In order to achieve the purpose of the present disclosure, a water balancing weight system control method based on liquid level and flow is provided, which is suitable for adjusting the center of gravity position of an aircraft during a test flight phase. The water balancing weight system control method based on liquid level and flow includes the following steps: step 1, inputting a target center of gravity of the aircraft, setting a target center of gravity difference threshold, and starting a center of gravity adjustment program; step 2, obtaining the flow rate of the transmitted liquid balancing weight medium through a flow sensor, and calculating the current center of gravity position of the aircraft based on the flow rate, obtaining the liquid level of each water tank through a liquid level sensor, and calculating the current center of gravity position of the aircraft based on the liquid level; step 3, real-time monitoring of the center of gravity position of the aircraft calculated based on the flow rate and the center of gravity position of the aircraft calculated based on the liquid level; step 4, when at least one of the difference between the center of gravity position of the aircraft calculated based on the flow rate and the target center of gravity position and the difference between the center of gravity position of the aircraft calculated based on the liquid level and the target center of gravity position is less than the target center of gravity difference threshold, determining that the center of gravity of the aircraft at this time has been adjusted to the target center of gravity, and terminating the center of gravity adjustment program.

[0012] According to the above-described structure, by combining the two control methods, the liquid level-based center of gravity control method and the flow-based center of gravity control method, the adjustment result of the aircraft center of gravity can be more reliably controlled, so that the aircraft center of gravity can be accurately adjusted to the desired position, thereby improving the reliability of the result.

[0013] Preferably, in step 2, before adjusting the center of gravity of the aircraft, the reference weight of each water tank of the aircraft before the center of gravity is adjusted is obtained; then, the flow sensor obtains the transmission flow of the liquid balancing medium, and the transmission weight of the liquid balancing medium is calculated by integrating the transmission flow over time, and the current weight of each water tank is calculated in combination with the reference weight, thereby calculating the current center of gravity position of the aircraft.

[0014] Preferably, in step 2, the liquid level sensor obtains the current liquid level of each water tank, and calculates the current weight of each water tank according to the relationship between the liquid level and the weight, thereby calculating the current center of gravity position of the aircraft.

[0015] According to the structure as described above, the flow-based center of gravity control method obtains the weight of the water tank by acquiring the flow of the liquid level configuration medium transmitted when adjusting the center of gravity, and the liquid level-based center of gravity control method obtains the weight of the water tank by acquiring the liquid level data of each water tank when adjusting the center of gravity, and then obtains the center of gravity position of the aircraft. Through these two control methods with completely different principles, the center of gravity position of the aircraft can be adjusted more reliably.

[0016] Preferably, in step four, first, it is judged whether the difference between the aircraft center of gravity position calculated based on the flow rate and the target center of gravity position is less than the above-mentioned target center of gravity difference threshold value. When it is judged that it is less than, it is determined that the aircraft center of gravity position has been adjusted to the target center of gravity position; when it is judged that it is not less than, it is judged whether the difference between the aircraft center of gravity position calculated based on the liquid level and the target center of gravity position is less than the above-mentioned target center of gravity difference threshold value. When at least one of the difference between the aircraft center of gravity position calculated based on the flow rate and the target center of gravity position and the difference between the aircraft center of gravity position calculated based on the liquid level and the target center of gravity position is less than the above-mentioned target center of gravity difference threshold value, it is determined that the aircraft center of gravity position has been adjusted to the target center of gravity position.

[0017] According to the structure as described above, since the flow-based control method is less affected by the aircraft's attitude, in the process of adjusting the aircraft's center of gravity, the center of gravity data calculated based on the flow rate is first used as the basis for judging whether to adjust the aircraft's center of gravity to the target center of gravity, thereby being able to more accurately adjust the aircraft's center of gravity; when there is a problem with the flow-based control method, the liquid level-based control method continues to be used, and through dual redundant control, the aircraft's center of gravity position can be reliably adjusted.

[0018] Preferably, step three also includes: setting a relative center of gravity difference threshold and a relative weight difference threshold, and monitoring in real time the aircraft center of gravity difference between the aircraft center of gravity calculated based on the flow rate and the aircraft center of gravity calculated based on the liquid level, and the water tank weight difference between the water tank weight calculated based on the flow rate and the water tank weight calculated based on the liquid level.

[0019] Preferably, when the aircraft center of gravity difference exceeds the relative center of gravity difference threshold or the water tank weight difference exceeds the relative weight difference threshold, an alarm message is issued.

[0020] According to the structure as described above, while adjusting the center of gravity position of the aircraft through two control methods, the water tank weight and the center of gravity of the aircraft calculated by the two methods are compared. When the difference between the two exceeds a preset threshold, an alarm message is issued, which can timely discover possible fault problems and thus ensure the reliability of the adjustment result of the center of gravity of the aircraft.

[0021] Preferably, when the operator receives the above-mentioned warning information, the operator suspends the aircraft center of gravity adjustment program and conducts cause investigation; when it is determined that the system fails, the adjustment program is terminated; when it is determined that the system has not failed, the operator waits for the aircraft attitude to return to normal, and updates the water tank reference weight by measuring the water tank weight using the liquid level, and restarts the above-mentioned adjustment program.

[0022] According to the above-mentioned structure, when receiving the warning information, the operator will promptly eliminate the cause, which can effectively ensure that the adjustment procedure of the center of gravity of the aircraft proceeds smoothly.

[0023] Preferably, the liquid level sensor is individually provided for each of the water tanks, and collects liquid level data of each of the water tanks.

[0024] By separately providing a liquid level sensor for each water tank and collecting the liquid level change, it is possible to avoid the occurrence of inaccurate collection results due to failure or measurement error of a single liquid level sensor, thereby improving the accuracy of adjusting the weight center of gravity of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] With reference to the above purposes, the technical features of the present invention are clearly described in the following technical scheme, and its advantages are obvious from the following detailed description with reference to the accompanying drawings, which show preferred embodiments of the present invention by way of example without limiting the scope of the inventive concept.

[0026] Figure 1 It is a schematic diagram showing the overall structure of the water counterweight system based on liquid level and flow rate of the present invention.

[0027] Figure 2 1 is a control flow chart showing a method for controlling a water counterweight system based on liquid level and flow rate according to the present invention. Explanation of symbols

[0028] 1 Water weight system; 10 front water tank unit; 11 front water tank; 12 forward water outlet control valve; 13 front liquid level sensor; 20 rear water tank unit; 21 rear water tank; 22 Rear inlet and outlet water control valve; 23 rear level sensor; 30 flow monitoring unit; 31 pumps; 32 flow sensor; 33 reversing valve; PT medium pipeline. DETAILED DESCRIPTION

[0029] Reference will now be made in detail to various embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

[0030] Although the present invention is described in conjunction with exemplary embodiments, it should be appreciated that this description is not intended to limit the present invention to the exemplary embodiments described below. On the contrary, the present invention is intended to cover not only these exemplary embodiments, but also various alternative forms, modifications, equivalent forms and other embodiments that may be included within the spirit and scope of the present invention as defined by the appended claims.

[0031] Below, refer to Figure 1 , the overall structure of the water balancing system 1 based on liquid level and flow rate of the present invention is described. Figure 1 It is a schematic diagram showing the overall structure of the water balancing system 1 based on liquid level and flow rate of the present invention.

[0032] like Figure 1 As shown, the water balancing system 1 based on liquid level and flow rate of the present invention mainly includes a front water tank unit 10 , a rear water tank unit 20 and a flow rate monitoring unit 30 .

[0033] The front water tank unit 10 is disposed in the front section of the aircraft cabin and mainly includes a plurality of front water tanks 11 , a plurality of forward and backward water control valves 12 and a plurality of front liquid level sensors 13 .

[0034] The plurality of front water tanks 11 store liquid medium for adjusting the center of gravity of the aircraft and are evenly spaced in a front section of the aircraft cabin in a plurality of rows and columns, and the plurality of front water tanks 11 are connected to each other through a medium pipeline PT.

[0035] The front water discharge control valve 12 and the front liquid level sensor 13 are provided separately for each of the plurality of front water tanks 11 .

[0036] The forward and inlet water control valve 12 is arranged between the front water tank 11 and the medium pipeline PT, and is used to control the inflow and outflow of the liquid medium used for counterweight relative to the front water tank 11. The front liquid level sensor 13 is installed in the front water tank 11, and is used to measure the liquid level height of the liquid medium in the front water tank 11.

[0037] The rear water tank unit 20 is disposed in the rear section of the aircraft cabin, and mainly includes a plurality of rear water tanks 21 , a plurality of rear inlet and outlet water control valves 22 and a plurality of rear liquid level sensors 23 .

[0038] The above-mentioned rear water tank unit 20 is arranged symmetrically with respect to the front water tank unit 10 in the aircraft cabin, and the functions and structures of the various components are the same as those of the various components in the front water tank unit 10, which will not be described in detail here.

[0039] When the center of gravity of the aircraft needs to be adjusted forward, the transmission of the ballast medium from the rear water tank 21 in the rear water tank unit 20 to the front water tank 11 in the front water tank unit 10 is controlled. When the center of gravity of the aircraft needs to be adjusted backward, the transmission of the ballast medium from the front water tank 11 in the front water tank unit 10 to the rear water tank 21 in the rear water tank unit 20 is controlled.

[0040] By separately setting up front liquid level sensors 13 and rear liquid level sensors 23 in the above-mentioned multiple front water tanks 11 and the above-mentioned multiple rear water tanks 21, the multiple front liquid level sensors 13 and the multiple rear liquid level sensors 23 are used to respectively collect the liquid level change of each of the multiple front water tanks 11 and the multiple rear water tanks 21, so as to calculate the current weight of each water tank, and further calculate the current center of gravity position of the aircraft.

[0041] By separately collecting the liquid level changes for each front water tank 11 and each rear water tank 21, it is possible to avoid the occurrence of inaccurate collection results due to failure or measurement error of a single liquid level sensor, thereby improving the collection accuracy of the liquid level sensor and further improving the accuracy of adjusting the weight center of gravity of the aircraft.

[0042] In addition, a flow monitoring unit 30 is disposed between the front water tank unit 10 and the rear water tank unit 20 . The flow monitoring unit 30 mainly includes a pump 31 , a flow sensor 32 and a reversing valve 33 .

[0043] The pump 31 is used to control the flow of the liquid weight medium in the medium pipeline PT, the flow sensor 32 is used to measure the flow of the transmitted liquid weight medium, and the reversing valve 33 is used to control the flow direction of the liquid weight medium in the medium pipeline PT.

[0044] The above-mentioned flow sensor 32 can realize bidirectional measurement of the liquid configuration medium, that is, when the center of gravity position of the aircraft is adjusted forward, the flow sensor 32 can measure the liquid balancing medium transmitted from the rear water tank unit 20 to the front water tank unit 10, and when the center of gravity position of the aircraft is adjusted backward, the flow sensor 32 can measure the liquid balancing medium transmitted from the front water tank unit 10 to the rear water tank unit 20.

[0045] The flow rate of the transmitted liquid weight medium is monitored by the flow sensor 32 in the flow monitoring unit 30 and converted into a change in the center of gravity position of the aircraft by the computer system until the center of gravity position of the aircraft changes to a desired position.

[0046] Below, refer to Figure 2 , the water balancing weight system control method based on liquid level and flow rate of the present invention is explained. Figure 2 is a system schematic diagram showing a water counterweight system control method based on liquid level and flow rate.

[0047] like Figure 2 As shown, when the center of gravity of the aircraft needs to be adjusted, first, the target center of gravity is input, and the adjustment procedure of the center of gravity of the aircraft is started.

[0048] Driven by the pump assembly, the weight medium in the water weight system is transmitted between the front water tank unit 10 and the rear water tank unit 10. The liquid level of the water tank on the side where the weight medium flows out decreases, and the liquid level of the water tank on the side where the weight medium flows in increases. The liquid level data of each water tank is collected in real time through the liquid level sensor, and the weight of the weight medium in each water tank is calculated based on the liquid level-weight relationship in the water tank, thereby calculating the current center of gravity of the aircraft.

[0049] At the same time, the flow sensor in the flow monitoring unit 30 collects the flow data of the ballast medium in real time, and the adjusted weight of the ballast medium is calculated by integrating the flow with respect to time. Then, the current weight of each water tank is calculated based on the adjusted weight of the ballast medium and the reference weight before adjustment, and then the current center of gravity of the aircraft is calculated.

[0050] After calculating the aircraft center of gravity based on flow and the aircraft center of gravity based on liquid level, the difference between the aircraft center of gravity based on flow and the input target center of gravity and the difference between the aircraft center of gravity based on liquid level and the input target center of gravity are monitored in real time by a computer system. When one of the difference between the aircraft center of gravity based on flow and the input target center of gravity and the difference between the aircraft center of gravity based on liquid level and the input target center of gravity is less than a preset target center of gravity difference threshold, the aircraft center of gravity adjustment procedure is stopped, and it is assumed that the aircraft center of gravity at this time has reached the target center of gravity.

[0051] Before starting the aircraft center of gravity adjustment procedure, it is necessary to pre-set a target center of gravity difference threshold. When the difference between the calculated aircraft center of gravity based on flow and the input target center of gravity or the difference between the calculated aircraft center of gravity based on liquid level and the input target center of gravity is less than the target center of gravity difference threshold, it can be determined that the aircraft center of gravity has been adjusted to the desired target center of gravity.

[0052] In addition, although the water balancing system of the present invention supports the selection of one between the calculated aircraft center of gravity based on flow and the aircraft center of gravity based on liquid level as the criterion for adjusting the aircraft center of gravity, as mentioned above, since the aircraft center of gravity calculation method based on flow is not easily affected by the aircraft posture during the adjustment of the aircraft center of gravity, it is preferred to compare the aircraft center of gravity calculated based on flow with the target center of gravity, and use this as the basis for judging whether the aircraft center of gravity is adjusted in place. In the event that the center of gravity adjustment method based on flow fails, the center of gravity adjustment method based on liquid level can be used to judge whether the aircraft center of gravity has been adjusted to the target center of gravity.

[0053] In addition, if Figure 2 As shown, the water balancing system control method based on liquid level and flow of the present invention is also provided with a negative feedback control process. When the difference between the calculated aircraft center of gravity based on flow and the input target center of gravity or the difference between the calculated aircraft center of gravity based on liquid level and the input target center of gravity is greater than the target center of gravity difference threshold, the valve opening of the front water tank unit 10 and the rear water tank unit 20 can be adjusted to increase the flow rate of the transmitted liquid balancing medium, so that the weight center of gravity of the aircraft reaches the target weight center of gravity faster.

[0054] However, if Figure 2 As shown, no matter whether the center of gravity adjustment method based on flow or the center of gravity adjustment method based on liquid level is selected, the water balancing system of the present invention always monitors in real time during the process of adjusting the center of gravity of the aircraft, the difference between the center of gravity of the aircraft calculated based on flow and the center of gravity of the aircraft calculated based on liquid level, and the difference between the water tank weight calculated based on flow and the water tank weight calculated based on liquid level.

[0055] When the water tank weight difference calculated by these two methods exceeds the preset relative weight difference threshold or the aircraft center of gravity difference exceeds the preset relative center of gravity difference threshold, the water balancing system of the present invention will issue an alarm message. After discovering the alarm message, the monitoring personnel will choose whether to suspend the adjustment based on their own judgment, and then investigate the reasons for exceeding the difference threshold.

[0056] If it is determined that it is caused by leakage or other fault reasons, the adjustment procedure will be terminated and fault handling will be carried out. If it is determined that it is caused by the aircraft attitude or other non-fault reasons, wait for the aircraft to enter a normal attitude, and then re-update the reference weight of each water tank by using the water tank weight measured by the liquid level as the basis for flow measurement. After that, the aircraft center of gravity adjustment procedure will be carried out again as needed.

[0057] The advantage of the water counterweight system control method based on liquid level and flow rate of the present invention is that, by comprehensively utilizing the dual redundant control method consisting of the center of gravity control method based on liquid level and the center of gravity control method based on flow rate, it can fully utilize the advantages of these two control methods, effectively solve the problems existing in the previous single control method, and can improve the center of gravity adjustment accuracy of the water counterweight system and the stability of the center of gravity adjustment process, thereby ensuring the safety and reliability of the water counterweight system.

[0058] In addition, through the negative feedback adjustment method, when the difference between the aircraft center of gravity based on flow and the target center of gravity or the difference between the aircraft center of gravity based on liquid level and the target center of gravity is greater than the target center of gravity difference threshold, the transmission flow of the liquid balancing medium is increased by increasing the valve opening of the inlet and outlet water control valves, so that the aircraft center of gravity can be quickly adjusted to the target center of gravity position.

[0059] In addition, during the adjustment of the center of gravity of the aircraft, the water balancing system of the present invention always monitors the difference between the water tank weight calculated based on the flow rate and the water tank weight calculated based on the liquid level, as well as the difference between the aircraft center of gravity calculated based on the flow rate and the aircraft center of gravity calculated based on the liquid level. When the difference calculated by these two methods exceeds a preset threshold, the water balancing system of the present invention will issue an alarm message to investigate the cause of the abnormality.

[0060] In this way, possible faults in the center of gravity adjustment process can be discovered in time, so that the cause of the abnormality can be promptly checked, the system safety can be guaranteed, and the reliability of the center of gravity adjustment can be significantly improved.

[0061] Although the structure and working principle of the present invention are described above in combination with the preferred embodiments, those skilled in the art should recognize that the above examples are only for illustration and do not constitute a limitation of the present invention. The present invention can be modified and varied within the spirit of the claims, and these modifications and variations will fall within the protection scope of the present invention.

Claims

1. A water counterweight system control method based on liquid level and flow rate, suitable for adjusting the center of gravity position of an aircraft during the flight test phase, characterized in that: The water balancing weight system control method based on liquid level and flow rate comprises the following steps: Step 1: Input the target aircraft center of gravity, set the target center of gravity difference threshold, and start the center of gravity adjustment program; Step 2: Obtain the flow rate of the transmitted liquid weight medium through a flow sensor, and calculate the current center of gravity position of the aircraft based on the flow rate; obtain the liquid level of each water tank through a liquid level sensor, and calculate the current center of gravity position of the aircraft based on the liquid level; Step 3: real-time monitoring of the aircraft center of gravity position calculated based on the flow rate and the aircraft center of gravity position calculated based on the liquid level; Step 4: When at least one of the difference between the aircraft center of gravity position calculated based on the flow rate and the target center of gravity position and the difference between the aircraft center of gravity position calculated based on the liquid level and the target center of gravity position is less than the target center of gravity difference threshold, it is determined that the aircraft center of gravity has been adjusted to the target center of gravity at this time, and the center of gravity adjustment procedure is terminated.

2. The water counterweight system control method based on liquid level and flow rate according to claim 1, characterized in that: In step 2, before adjusting the center of gravity of the aircraft, the reference weight of each water tank of the aircraft before the center of gravity adjustment is obtained; then, the flow sensor obtains the transmission flow of the liquid balancing medium, and calculates the transmission weight of the liquid balancing medium by integrating the transmission flow over time, and calculates the current weight of each water tank in combination with the reference weight, thereby calculating the current center of gravity position of the aircraft.

3. The water counterweight system control method based on liquid level and flow rate according to claim 1, characterized in that: In step 2, the liquid level sensor acquires the current liquid level of each water tank, and calculates the current weight of each water tank according to the relationship between the liquid level and the weight, thereby calculating the current center of gravity position of the aircraft.

4. The water counterweight system control method based on liquid level and flow rate according to any one of claims 1 to 3, characterized in that: In step 4, first, it is determined whether the difference between the aircraft center of gravity position calculated based on the flow rate and the target center of gravity position is less than the target center of gravity difference threshold. If it is determined to be less than the target center of gravity difference threshold, it is determined that the aircraft center of gravity position has been adjusted to the target center of gravity position. When it is judged to be not less than, a judgment is made as to whether the difference between the aircraft center of gravity position calculated based on the liquid level and the target center of gravity position is less than the target center of gravity difference threshold; when at least one of the difference between the aircraft center of gravity position calculated based on the flow rate and the target center of gravity position and the difference between the aircraft center of gravity position calculated based on the liquid level and the target center of gravity position is less than the target center of gravity difference threshold, it is determined that the aircraft center of gravity position has been adjusted to the target center of gravity position.

5. The water counterweight system control method based on liquid level and flow rate according to claim 1, characterized in that: In step three, it also includes: setting a relative center of gravity difference threshold and a relative weight difference threshold, and monitoring in real time the aircraft center of gravity difference between the aircraft center of gravity calculated based on the flow rate and the aircraft center of gravity calculated based on the liquid level, and the water tank weight difference between the water tank weight calculated based on the flow rate and the water tank weight calculated based on the liquid level.

6. The water counterweight system control method based on liquid level and flow rate according to claim 5, characterized in that: When the aircraft center of gravity difference exceeds the relative center of gravity difference threshold or the water tank weight difference exceeds the relative weight difference threshold, a warning message is issued.

7. The water counterweight system control method based on liquid level and flow rate according to claim 6, characterized in that: When receiving the warning information, the operator suspends the aircraft center of gravity adjustment procedure and conducts cause investigation; If it is determined that the system fails, the adjustment procedure is terminated; if it is determined that the system does not fail, the aircraft attitude is waited for to return to normal, and the water tank reference weight is updated by using the water tank weight measured by the liquid level, and the adjustment procedure is restarted.

8. The water counterweight system control method based on liquid level and flow rate according to claim 1, characterized in that: The liquid level sensor is individually provided for each of the water tanks, and collects liquid level data of each of the water tanks.

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