A method, device, equipment and medium for monitoring the state of an aircraft nose wheel turning system

Abstract

The present invention discloses a method, device, equipment and medium for monitoring the state of a front wheel turning system of an aircraft. The method first samples the parameters of the front wheel turning system of the aircraft; wherein the parameters of the front wheel turning system include zero-position parameters of the front wheel turning system closed state and zero-position parameters of the front wheel turning system connected state, and then obtains the parameters of the front wheel turning system through a quick access recorder. Finally, according to the obtained parameters of the front wheel turning system, the deviation of the front wheel turning servo valve, the deviation of the front wheel turning angle feedback sensor and the front wheel turning control handle are respectively monitored to obtain the monitoring result of the state of the front wheel turning system, and a warning message is sent according to the monitoring result of the state of the front wheel turning system. The present invention can improve the convenience of obtaining the parameters of the front wheel turning system, can continuously monitor the state of the front wheel turning system, and timely and effectively discover the defects of the front wheel turning system, thereby improving the safety of flight.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft component monitoring, and in particular to a method, device, equipment and medium for monitoring the state of an aircraft front wheel turning system. Background Art

[0002] The nose steering system (NWS) is a key system of modern civil aircraft, and its working condition is directly related to whether the aircraft can operate safely. If the nose steering system is seriously deviated during takeoff, landing, or ground taxiing, it may cause the aircraft to run off or deviate from the runway, endangering flight safety.

[0003] However, currently, the monitoring of the front wheel turning offset status is passively carried out by maintenance personnel only after the flight crew reports the front wheel sliding offset fault. First, it is necessary to read the specific parameters of the front wheel turning through complex ground tests, and then compare the parameters read by the ground test with the standard values ​​specified in the aircraft troubleshooting manual, and perform troubleshooting on the parameters that exceed the standard.

[0004] Therefore, the existing monitoring methods cannot detect defects in the front wheel steering system in advance, and are more of a post-event disposal method with a certain lag. In addition, the method for maintenance personnel to obtain the front wheel steering parameters through ground testing is complicated, the parameter accuracy is low, and the workload is large. At the same time, the test can only reflect the status of the test at the time, and continuous monitoring cannot be performed, resulting in low efficiency in aircraft troubleshooting and affecting flight safety. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a method, device, equipment and medium for monitoring the status of an aircraft nose wheel turning system, which can improve the convenience of obtaining parameters of the nose wheel turning system, continuously monitor the status of the nose wheel turning system, and promptly and effectively discover defects in the nose wheel turning system, thereby improving flight safety.

[0006] In order to solve the above technical problems, an embodiment of the present invention provides a method for monitoring the state of an aircraft front wheel turning system, comprising:

[0007] Sampling the front wheel turning system parameters of the aircraft; wherein the front wheel turning system parameters include the zero position parameters of the front wheel turning system closed state and the zero position parameters of the front wheel turning system connected state;

[0008] Acquiring the front wheel turning system parameters through a quick access recorder;

[0009] According to the obtained front wheel turning system parameters, the front wheel turning servo valve deviation, the front wheel turning angle feedback sensor deviation and the front wheel turning control handle are monitored respectively to obtain the front wheel turning system status monitoring result, and a warning message is sent according to the front wheel turning system status monitoring result.

[0010] As an improvement of the above solution, the sampling of the front wheel turning system parameters of the aircraft includes:

[0011] During a period when the front landing gear of the aircraft is lowered and the front wheel steering system is in a closed state, sampling the parameters of the front wheel steering system to obtain the zero position parameters when the front wheel steering system is in a closed state;

[0012] During the nose wheel steering system test phase, after the front landing gear is lowered, and during the period between the aircraft landing and touching the ground, the nose wheel steering system parameters are sampled to obtain the zero position parameters when the nose wheel steering system is in the on state.

[0013] As an improvement of the above scheme, the zero-position parameter of the front wheel turning system closed state includes the zero-position parameter of the first channel of the control component and the zero-position parameter of the second channel of the control component when the front wheel turning system is closed; the zero-position parameter of the front wheel turning system connected state includes the zero-position parameter of the first channel of the control component and the zero-position parameter of the second channel of the control component when the front wheel turning system is connected;

[0014] The zero position parameters of the first channel of each control component include the zero position servo current, the zero position angle and the zero position angle of the operating hand wheel of the first channel of the control component;

[0015] The zero position parameters of the second channel of each control component include the zero position servo current, the zero position angle and the zero position angle of the operating hand wheel of the second channel of the control component.

[0016] As an improvement of the above scheme, the front wheel turning servo valve deviation, the front wheel turning angle feedback sensor deviation and the front wheel turning control handle are monitored respectively according to the acquired front wheel turning system parameters to obtain the front wheel turning system state monitoring result, and the early warning message is sent according to the front wheel turning system state monitoring result, including:

[0017] Monitoring the deviation of the front wheel turning servo valve according to the zero position servo current and the zero position angle of the first channel of the control component and the zero position servo current and the zero position angle of the second channel of the control component when the front wheel turning system is turned on, obtaining a monitoring result of the deviation of the front wheel turning servo valve, and sending a first early warning message according to the monitoring result of the deviation of the front wheel turning servo valve;

[0018] According to the zero angle of the first channel of the control component and the zero angle of the second channel of the control component when the front wheel turning system is turned off, and the zero angle of the first channel of the control component and the zero angle of the second channel of the control component when the front wheel turning system is turned on, the deviation of the front wheel turning angle feedback sensor is monitored to obtain a monitoring result of the deviation of the front wheel turning angle feedback sensor, and a second early warning message is sent according to the monitoring result of the deviation of the front wheel turning angle feedback sensor;

[0019] According to the zero position angle of the steering hand wheel of the first channel of the control component and the zero position angle of the steering hand wheel of the second channel of the control component when the front wheel turning system is connected, the front wheel turning steering hand wheel is monitored to obtain the front wheel turning steering hand wheel monitoring result, and a third early warning message is sent according to the front wheel turning steering hand wheel monitoring result.

[0020] As an improvement of the above scheme, the front wheel turning servo valve deviation is monitored according to the zero position servo current and zero position angle of the first channel of the control component and the zero position servo current and zero position angle of the second channel of the control component when the front wheel turning system is turned on, and the front wheel turning servo valve deviation monitoring result is obtained, and the first early warning message is sent according to the front wheel turning servo valve deviation monitoring result, including:

[0021] Identify the current front wheel turning servo valve deviation level according to the zero position servo current and zero position angle of the first channel of the control component and the zero position servo current and zero position angle of the second channel of the control component when the front wheel turning system is turned on; wherein the deviation level includes severe deviation and moderate deviation;

[0022] If the current deviation level of the front wheel steering servo valve is a serious deviation, a warning message is sent to prompt the replacement of the servo valve;

[0023] If the current front wheel steering servo valve deviation level is a moderate deviation, the front wheel steering servo valve deviation continues to be monitored;

[0024] If the current front wheel cornering servo valve deviation level is not detected as any deviation level, the front wheel cornering servo valve deviation monitoring is terminated.

[0025] As an improvement of the above scheme, the front wheel turning angle feedback sensor deviation is monitored according to the zero angle of the first channel of the control component and the zero angle of the second channel of the control component when the front wheel turning system is turned off, and the zero angle of the first channel of the control component and the zero angle of the second channel of the control component when the front wheel turning system is turned on, to obtain the front wheel turning angle feedback sensor deviation monitoring result, and the second early warning message is sent according to the front wheel turning angle feedback sensor deviation monitoring result, including:

[0026] If the difference between the zero angle of the first channel of the control component and the zero angle of the second channel of the control component exceeds a first preset standard when the front wheel turning system is turned off, a warning message is sent to prompt the replacement of the front wheel turning angle feedback sensor;

[0027] If the absolute value of the zero position angle of the first channel of the control component or the absolute value of the zero position angle of the second channel of the control component exceeds a second preset standard when the front wheel turning system is turned off, a warning message is sent to prompt the front wheel turning angle feedback sensor to be adjusted to zero position;

[0028] If the difference between the zero position angle when the front-wheel turning system is on and the zero position angle when the front-wheel turning system is off exceeds the third preset standard, and the absolute value of the zero position angle when the front-wheel turning system is on exceeds the fourth preset standard, a warning message is sent to prompt the adjustment of the zero position of the front-wheel turning angle feedback sensor.

[0029] As an improvement of the above scheme, the front wheel turning control hand wheel is monitored according to the control hand wheel zero position angle of the first channel of the control component and the control hand wheel zero position angle of the second channel of the control component when the front wheel turning system is turned on, and the front wheel turning control hand wheel monitoring result is obtained, and the third early warning message is sent according to the front wheel turning control hand wheel monitoring result, including:

[0030] If the absolute value of the difference between the zero angle of the control hand wheel of the first channel of the control component and the zero angle of the control hand wheel of the second channel of the control component exceeds the fifth preset standard when the front wheel turning system is turned on, a warning message is sent to prompt the replacement of the control hand wheel sensor;

[0031] If the absolute value of the zero angle of the control hand wheel of the first channel of the control component and the absolute value of the zero angle of the control hand wheel of the second channel of the control component both exceed the sixth preset standard when the front wheel turning system is turned on, a warning message is sent to prompt the control hand wheel sensor to be checked or the front wheel turning control hand wheel to continue to be monitored;

[0032] Otherwise, the monitoring of the front wheel steering hand wheel is terminated.

[0033] In order to solve the above technical problems, an embodiment of the present invention further provides a device for monitoring the state of a front wheel turning system of an aircraft, comprising:

[0034] A parameter sampling module, used for sampling the parameters of the front wheel turning system of the aircraft; wherein the parameters of the front wheel turning system include a zero-position parameter when the front wheel turning system is in a closed state and a zero-position parameter when the front wheel turning system is in an on state;

[0035] A parameter acquisition module, used for acquiring the front wheel turning system parameters through a quick access recorder;

[0036] The status monitoring module is used to monitor the front wheel turning servo valve deviation, the front wheel turning angle feedback sensor deviation and the front wheel turning control handle according to the obtained front wheel turning system parameters, obtain the front wheel turning system status monitoring result, and send a warning message according to the front wheel turning system status monitoring result.

[0037] To solve the above technical problems, an embodiment of the present invention further provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the aircraft nose wheel turning system status monitoring method as described in any one of the above items is implemented.

[0038] To solve the above technical problems, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the aircraft front wheel turning system status monitoring method as described in any one of the above.

[0039] Compared with the prior art, the embodiment of the present invention provides a method, device, equipment and medium for monitoring the state of the front wheel turning system of an aircraft. The method first samples the parameters of the front wheel turning system of the aircraft; wherein the parameters of the front wheel turning system include the zero-position parameters of the front wheel turning system closed state and the zero-position parameters of the front wheel turning system connected state, and then obtains the parameters of the front wheel turning system through a quick access recorder. Finally, according to the obtained parameters of the front wheel turning system, the deviation of the front wheel turning servo valve, the deviation of the front wheel turning angle feedback sensor and the front wheel turning control handle are monitored respectively to obtain the monitoring results of the state of the front wheel turning system, and a warning message is sent according to the monitoring results of the state of the front wheel turning system. The present invention can improve the convenience of obtaining the parameters of the front wheel turning system, can continuously monitor the state of the front wheel turning system, and timely and effectively discover the defects of the front wheel turning system, thereby improving the safety of flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solution of the present invention, the drawings used in the implementation mode will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 is a flow chart of a method for monitoring the state of an aircraft nose wheel turning system provided by an embodiment of the present invention;

[0042] Figure 2 1 is a schematic diagram of the working phases of the front wheel turning system of an aircraft before landing provided by an embodiment of the present invention;

[0043] Figure 3 It is a schematic diagram of the front wheel turning servo valve deviation monitoring process provided by an embodiment of the present invention;

[0044] Figure 4 It is a schematic diagram of the deviation monitoring process of the front wheel turning angle feedback sensor provided by an embodiment of the present invention;

[0045] Figure 5 It is a schematic diagram of the deviation monitoring process of the front wheel turning angle feedback sensor provided by an embodiment of the present invention;

[0046] Figure 6 It is a structural block diagram of a system for monitoring the state of an aircraft nose wheel turning system provided by an embodiment of the present invention;

[0047] Figure 7 It is a structural block diagram of a terminal device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] It should be noted that the nose wheel steering system of an aircraft (taking the A320 series aircraft as an example) is an electronically controlled hydraulic closed-loop control system, which is mainly composed of the following components:

[0050] (1) Input components include the captain's side turning control wheel, the co-pilot's side turning control wheel, and the rudder pedals;

[0051] (2) The control components include a braking and steering control unit (BSCU), wherein the BSCU includes BSCU channel 1 and BSCU channel 2. It should be noted that when designing the aircraft, the manufacturer designed a control monitoring computer in the braking and steering system as the central control device of the entire braking and steering system, namely, the braking and steering control unit BSCU. As a redundant design, it consists of two identical channels. Under normal circumstances, only one channel is used for control at the same time, and the other channel is used for monitoring. The two channels are switched under certain conditions, but each channel can realize complete functions. Each channel is connected to other turning system equipment, such as a turning hand wheel.

[0052] (3) The actuator includes a front wheel turning selection valve, a front wheel turning servo valve and a front wheel turning actuator;

[0053] (4) The feedback component includes two front wheel turning angle feedback sensors.

[0054] Among them, the control methods of the front wheel turning system include the following two categories:

[0055] 1. Working status control: BSCU controls the front wheel turning selection valve to be turned on or off, so that the front wheel turning system can be put into operation or stopped, and when the front wheel turning system fails, the front wheel turning system can be cut off for protection.

[0056] 2. Turning angle control: that is, the BSCU integrated computer receives turning commands from the long-side turning control wheel, the co-pilot side turning control wheel and the rudder pedals, calculates the difference between the command angle and the actual angle, outputs the command servo current, adjusts the position of the slide valve in the servo control component (servo valve), and adjusts the hydraulic pressure at both ends of the turning actuator to achieve the front wheel turning function.

[0057] According to the control method of the front wheel turning system, the inventor believes that there are three possible reasons for the front wheel turning offset:

[0058] (1) Deviation of input turn command: This is caused by deviation of components such as the captain's side turn control wheel, the co-pilot's side turn control wheel input or the rudder pedal input. For example, the turn wheel is stuck and does not return to the zero position, or the potentiometer inside the wheel is worn out, resulting in deviation of the turn command input.

[0059] (2) Deviation of actuator: refers to the internal deviation of the front wheel steering servo valve. According to the feedback from the aircraft manufacturer, the spherical head of the actuating slide valve inside the servo valve is prone to wear due to long-term operation. When the wear reaches a certain extent, the slide valve inside the servo valve no longer stays in the neutral position, and hydraulic leakage will occur, causing the servo valve to deflect in a fixed direction; in order to correct this deviation, the BSCU will output a reverse servo current to pull the slide valve back to the neutral position. Under the combined action of the internal leakage force and the corrective electromagnetic force, the servo valve will reach balance at a specific angle; this specific angle is the offset of the servo valve. According to the inventor's research on the causes of the A320 aircraft's front wheel taxiing deflection failure, it was found that the front wheel steering offset caused by this reason accounts for 80% of the total offset. If it is not monitored in time, it is likely to deteriorate and develop into a serious offset, affecting flight safety, so it is very important to monitor it. Therefore, in specific implementation, the monitoring can mainly focus on the front wheel steering offset caused by the degradation of the servo valve performance.

[0060] (3) Turning angle feedback deviation: This is caused by the zero position of the front wheel turning angle feedback sensor deviating from the true centerline of the aircraft. The aircraft controls the straight-line sliding direction based on the zero position of the angle feedback sensor. If the reference is incorrect, the aircraft will slide naturally and the direction will deviate.

[0061] See also Figure 1 , Figure 1 1 is a flow chart of a method for monitoring the state of a front wheel turning system of an aircraft provided by an embodiment of the present invention. The method for monitoring the state of a front wheel turning system of an aircraft comprises steps S1 to S3:

[0062] S1. Sampling the front wheel turning system parameters of the aircraft; wherein the front wheel turning system parameters include zero position parameters when the front wheel turning system is in an off state and zero position parameters when the front wheel turning system is in an on state;

[0063] Specifically, the zero position parameter of the front wheel turning system in the off state includes the zero position parameter of the first channel of the control component and the zero position parameter of the second channel of the control component in the off state of the front wheel turning system; the zero position parameter of the front wheel turning system in the on state includes the zero position parameter of the first channel of the control component and the zero position parameter of the second channel of the control component in the on state of the front wheel turning system;

[0064] The zero position parameters of the first channel of each control component include the zero position servo current, the zero position angle and the zero position angle of the operating hand wheel of the first channel of the control component;

[0065] The zero position parameters of the second channel of each control component include the zero position servo current, the zero position angle and the zero position angle of the operating hand wheel of the second channel of the control component.

[0066] It should be noted that the embodiment of the present invention provides a method for monitoring the state of the front wheel turning system of an aircraft, and designs the monitoring logic of the state of the front wheel turning system based on the flight data automatically recorded by the QAR. However, since the original Quick Access Recorder (QAR) of the aircraft manufacturer contains fewer parameters about the front wheel turning system, such as the QAR flight data of the A320 series aircraft only has 4 front wheel turning parameters, and no relevant parameters of the turning servo valve, and the servo valve failure causes the sliding deflection to be characterized by the servo current of the servo valve, but there is no current parameter of the turning servo valve in the QAR, and there are only parameters of BSCU channel 1 (the first channel of the control component) in the QAR, and the BSCU channel 2 (the second channel of the control component) parameters are missing, resulting in the lack of the front wheel turning system parameters when the BSCU channel 2 controls the front wheel turning system. Therefore, based on the front wheel turning system parameters currently recorded by the QAR, it is not enough to establish logic to monitor the state of the front wheel turning system.

[0067] In summary, without the turning parameters and the current parameters of the servo valve when the BSCU channel 2 is controlled, there is no way to monitor the front wheel turning system. Therefore, the embodiment of the present invention innovatively explores 6 hidden unused parameters between BSCU and QAR, that is, the turning parameters and the current parameters of the servo valve when the BSCU channel 2 is controlled are supplemented in QAR, so that the monitoring of the front wheel turning system status becomes feasible. In specific implementation, the QAR parameters of the front wheel turning system can be expanded to 10 by upgrading the aircraft flight status monitoring system software (ACMS), thereby meeting the monitoring requirements for the aircraft front wheel turning status.

[0068] Specifically, the six parameters added by the embodiment of the present invention include turn command No. 2, turn angle No. 2, captain handwheel No. 2, co-pilot handwheel No. 2, turn servo current No. 1, and turn servo current No. 2. For the comparison of QAR parameters before and after the expansion of the front wheel turning system, please refer to Table 1.

[0069] Table 1 Comparison table of QAR parameters before and after expansion of front wheel turning system

[0070] Parameter name QAR Parameters Before expansion After expansion Turn 1 instruction NWS_ORDER_ANG √ √ Turn 2 instruction NWS_ORDER_ANG2 × √ Turn 1 Angle NWS_WHEEL_ANG √ √ Turn 2 Angle NWS_WHEEL_ANG2 × √ No. 1 Captain's Handwheel NWS_ORDER_CA √ √ No. 2 Captain's Handwheel NWS_ORDER_CA2 × √ No. 1 co-pilot hand wheel NWS_ORDER_FO √ √ No. 2 co-pilot hand wheel NWS_ORDER_FO2 × √ Turn 1 Servo Current NWS_ISTR_SV1 × √ Turn 2 Servo Current NWS_ISTR_SV2 × √

[0071] It should be noted that No. 1 in Table 1 represents BSCU channel 1, turn command No. 1 represents the turn command input when BSCU channel 1 is controlled, and turn angle No. 1, captain handwheel No. 1, co-pilot handwheel No. 1 and turn servo current No. 1 are the turning command parameters output when BSCU channel 1 is controlled; No. 1 in Table 1 represents BSCU channel 2, turn command No. 2 represents the turn command input when BSCU channel 2 is controlled, and turn angle No. 2, captain handwheel No. 2, co-pilot handwheel No. 2 and turn servo current No. 2 are the turning command parameters output when BSCU channel 2 is controlled.

[0072] Specifically, the first channel of the control component is BSCU channel 1, and the zero servo current, zero angle and zero angle of the control hand wheel of the first channel of the control component can be obtained from the No. 1 turn servo current, No. 1 turn angle, No. 1 captain hand wheel or No. 1 co-pilot hand wheel QAR parameters in Table 1. Similarly, the second channel of each control component is BSCU channel 2, and the zero servo current, zero angle and zero angle of the control hand wheel of the second channel of the control component can be obtained from the No. 2 turn servo current, No. 2 turn angle, No. 2 captain hand wheel or No. 2 co-pilot hand wheel QAR parameters in Table 1.

[0073] In a preferred embodiment, the sampling of the aircraft's front wheel turning system parameters includes:

[0074] During a period when the front landing gear of the aircraft is lowered and the front wheel steering system is in a closed state, sampling the parameters of the front wheel steering system to obtain zero position parameters of the closed state of the front wheel steering system;

[0075] During the nose wheel steering system test phase, after the front landing gear is lowered, and during the period between the aircraft landing and touching the ground, the nose wheel steering system parameters are sampled to obtain the zero position parameters of the nose wheel steering system on state.

[0076] It should be noted that the nose wheel steering system is a system that must be used on every flight, and the parameters of the nose wheel steering system are easily affected by the following external factors:

[0077] 1. The influence of ground slope. If the aircraft taxiway surface has a slope, the front wheel may deviate during taxiing. At this time, the front wheel turning system parameters cannot be used as the basis for judging the performance of the front wheel turning system.

[0078] 2. The front tire pressure of the aircraft. When the pressure difference between the two front tires of the aircraft reaches a certain value, the two tires of the front landing gear will also deform differently. The front wheels may deviate during taxiing, affecting the front wheel turning parameter value.

[0079] 3. Crosswind: Since the crosswind causes the aircraft to deviate when taxiing in a straight line, the front wheel turning system parameters at this time cannot be used as the basis for judging the performance of the front wheel turning system.

[0080] In summary, there are many external factors that affect the parameters of the front wheel turning system, and they change greatly during the entire aircraft flight phase. Therefore, it is necessary to find a parameter sampling point that is not affected by the above factors so that the trend of the front wheel turning state change can be objectively characterized.

[0081] It should be noted that, taking the A320 series aircraft as an example, during a flight, the aircraft will automatically perform a pre-landing nose wheel turning system test after lowering the landing gear before landing. After the test, the nose wheel turning system will remain connected to prepare for the upcoming landing. Therefore, the inventor believes that by selecting the nose wheel turning parameters at this stage for analysis and calculation, the influence of most of the above external factors on the nose wheel turning system can be avoided.

[0082] See also Figure 2 , Figure 2 1 is a schematic diagram of the working phase of the front wheel turning system of an aircraft before landing provided by an embodiment of the present invention. For example, Figure 2 The following is a diagram showing the changes in servo current and turning angle when BSCU channel 1 is controlled. Assuming that the aircraft landing gear begins to be lowered at time 0, the time from the landing gear lowering to the aircraft landing (0 seconds to 193 seconds) can be divided into three stages:

[0083] It should be noted that after the front landing gear is lowered and locked in the air, the front wheel is in full gravity position (zero position) under the action of the landing gear centering cam. Before the front wheel steering system test begins, the front wheel steering selection valve is closed and the system has no hydraulic pressure. Figure 2 As shown in the figure, the first stage is from 0 to 23 seconds, that is, the stage when the front landing gear of the aircraft is lowered and the front wheel steering system is closed. The parameters in this stage are selected for sampling to obtain the zero position parameters of the front wheel steering system closed state. The zero position parameters of the front wheel steering system closed state actually reflect the deviation between the front wheel steering angle feedback sensor and the aircraft centerline when the front landing gear is in the cam mechanical centering.

[0084] Specifically, Figure 2 The second stage is the nose wheel steering system test stage, which is from 23 to 71 seconds. During the nose wheel steering system test stage, after the nose gear is lowered, until the aircraft touches down, the nose wheel steering system remains connected, and the nose gear is in the hydraulically connected neutral zero position under the action of the nose wheel steering servo valve. Specifically, Figure 2 The 71 to 195 seconds in the third stage is the nose wheel turning system test stage. The nose wheel turning system is connected to the ground after the front landing gear is lowered. The nose wheel turning system parameters in this stage are sampled and the average value of each parameter is taken to obtain the zero position parameters of the nose wheel turning system connection state. For example, the zero position angle and zero position servo current of the connection state reflect the deviation of the nose wheel turning servo valve; for example, the zero position angle of the captain and co-pilot's control hand wheel in the connection state reflects the deviation of the nose wheel turning control hand wheel.

[0085] S2. Acquiring the front wheel turning system parameters through a quick access recorder;

[0086] It should be noted that the sampling of "front wheel turning off state zero position parameter" and "front wheel turning system on state zero position parameter" is to obtain the 10 QAR parameters in Table 1, but these are QAR parameters in specific states. In specific implementation, after the aircraft is upgraded and modified to increase the parameters, the QAR will record the 10 QAR parameters in Table 1 during the entire flight phase. After the aircraft lands, WQAR (Wireless Quick Access Recorder) automatically transmits the QAR data to the decoding platform, and all QAR data can be obtained through the decoding platform, including the 10 QAR parameters in Table 1 here. Referring to the front wheel turning deflection troubleshooting standards, combined with the fleet's front wheel turning historical fault QAR review, a front wheel turning monitoring plan based on QAR flight data is formulated to clarify the working thresholds of each parameter.

[0087] It is worth mentioning that relying on the flight data automatically recorded by the aircraft and subsequently automatically calculated through logical algorithms can ensure the quality of the monitoring data and significantly reduce the errors or impacts that may be caused by human factors. After the QAR flight data is automatically transmitted at the end of the flight, it can quickly identify abnormal front wheel turning deviations and ensure that the aircraft takes off again without any safety hazards, greatly improving the timeliness of monitoring.

[0088] S3. Based on the acquired front wheel turning system parameters, the front wheel turning servo valve deviation, the front wheel turning angle feedback sensor deviation and the front wheel turning control handle are monitored respectively to obtain the front wheel turning system status monitoring result, and a warning message is sent based on the front wheel turning system status monitoring result.

[0089] Specifically, the front wheel turning system parameters obtained are respectively monitored for the front wheel turning servo valve deviation, the front wheel turning angle feedback sensor deviation and the front wheel turning control handle wheel to obtain the front wheel turning system state monitoring result, and the early warning message is sent according to the front wheel turning system state monitoring result, including:

[0090] Monitoring the deviation of the front wheel turning servo valve according to the zero position servo current and the zero position angle of the first channel of the control component and the zero position servo current and the zero position angle of the second channel of the control component when the front wheel turning system is turned on, obtaining a monitoring result of the deviation of the front wheel turning servo valve, and sending a first early warning message according to the monitoring result of the deviation of the front wheel turning servo valve;

[0091] According to the zero angle of the first channel of the control component and the zero angle of the second channel of the control component when the front wheel turning system is turned off, and the zero angle of the first channel of the control component and the zero angle of the second channel of the control component when the front wheel turning system is turned on, the deviation of the front wheel turning angle feedback sensor is monitored to obtain a monitoring result of the deviation of the front wheel turning angle feedback sensor, and a second early warning message is sent according to the monitoring result of the deviation of the front wheel turning angle feedback sensor;

[0092] According to the zero position angle of the steering hand wheel of the first channel of the control component and the zero position angle of the steering hand wheel of the second channel of the control component when the front wheel turning system is connected, the front wheel turning steering hand wheel is monitored to obtain the front wheel turning steering hand wheel monitoring result, and a third early warning message is sent according to the front wheel turning steering hand wheel monitoring result.

[0093] In an optional embodiment, the front wheel turning servo valve deviation is monitored according to the zero position servo current and the zero position angle of the first channel of the control component and the zero position servo current and the zero position angle of the second channel of the control component when the front wheel turning system is turned on, and a front wheel turning servo valve deviation monitoring result is obtained, and a first early warning message is sent according to the front wheel turning servo valve deviation monitoring result, including:

[0094] Identify the current front wheel turning servo valve deviation level according to the zero position servo current and zero position angle of the first channel of the control component and the zero position servo current and zero position angle of the second channel of the control component when the front wheel turning system is turned on; wherein the deviation level includes severe deviation and moderate deviation;

[0095] If the current deviation level of the front wheel steering servo valve is a serious deviation, a warning message is sent to prompt the replacement of the servo valve;

[0096] If the current front wheel steering servo valve deviation level is a moderate deviation, the front wheel steering servo valve deviation continues to be monitored;

[0097] If the current front wheel cornering servo valve deviation level is not detected as any deviation level, the front wheel cornering servo valve deviation monitoring is terminated.

[0098] In an optional embodiment, the front wheel turning angle feedback sensor deviation is monitored according to the zero angle of the first channel of the control component and the zero angle of the second channel of the control component when the front wheel turning system is turned off, and the zero angle of the first channel of the control component and the zero angle of the second channel of the control component when the front wheel turning system is turned on, to obtain the front wheel turning angle feedback sensor deviation monitoring result, and the second early warning message is sent according to the front wheel turning angle feedback sensor deviation monitoring result, including:

[0099] If the difference between the zero angle of the first channel of the control component and the zero angle of the second channel of the control component exceeds a first preset standard when the front wheel turning system is turned off, a warning message is sent to prompt the replacement of the front wheel turning angle feedback sensor;

[0100] If the absolute value of the zero position angle of the first channel of the control component or the absolute value of the zero position angle of the second channel of the control component exceeds a second preset standard when the front wheel turning system is turned off, a warning message is sent to prompt the front wheel turning angle feedback sensor to be adjusted to zero position;

[0101] If the difference between the zero position angle when the front-wheel turning system is on and the zero position angle when the front-wheel turning system is off exceeds the third preset standard, and the absolute value of the zero position angle when the front-wheel turning system is on exceeds the fourth preset standard, a warning message is sent to prompt the adjustment of the zero position of the front-wheel turning angle feedback sensor.

[0102] In an optional embodiment, the front wheel turning control hand wheel is monitored according to the control hand wheel zero position angle of the first channel of the control component and the control hand wheel zero position angle of the second channel of the control component when the front wheel turning system is turned on, and a front wheel turning control hand wheel monitoring result is obtained, and a third early warning message is sent according to the front wheel turning control hand wheel monitoring result, including:

[0103] If the absolute value of the difference between the zero angle of the control hand wheel of the first channel of the control component and the zero angle of the control hand wheel of the second channel of the control component exceeds the fifth preset standard when the front wheel turning system is turned on, a warning message is sent to prompt the replacement of the control hand wheel sensor;

[0104] If the absolute value of the zero angle of the control hand wheel of the first channel of the control component and the absolute value of the zero angle of the control hand wheel of the second channel of the control component both exceed the sixth preset standard when the front wheel turning system is turned on, a warning message is sent to prompt the control hand wheel sensor to be checked or the front wheel turning control hand wheel to continue to be monitored;

[0105] Otherwise, the monitoring of the front wheel steering hand wheel is terminated.

[0106] For example, for the front wheel turning servo valve deviation monitoring, the zero position servo current in the front wheel turning system on state and the zero position angle in the front wheel turning system on state are mainly used as monitoring indicators.

[0107] Specifically, according to the nose wheel steering system parameter standard in the aircraft troubleshooting manual, the nose wheel steering servo valve deviation is divided into 4 levels according to the zero-position servo current and zero-position angle of the nose wheel steering system in the on state. The judgment indicators of each level are as follows:

[0108] Level 1: The absolute value of the zero-position servo current in the on state is greater than 0.6 mA;

[0109] Level 2: The absolute value of the zero angle in the on state is greater than or equal to 0.5 degrees;

[0110] Level 3: The absolute value of the zero-position servo current in the on state is greater than 0.4 and less than 0.6 mA;

[0111] Level 4: The absolute value of the zero angle in the on state is greater than 0.3 degrees.

[0112] See also Figure 3 , Figure 3 FIG. 1 is a schematic diagram of the front wheel turning servo valve deviation monitoring process provided by an embodiment of the present invention. Figure 3 As shown, the front wheel steering servo valve deviation monitoring is judged from level 1 to level 4 in sequence. If the conditions are met, it is determined as the current level; if the conditions are not met, it will enter the next level of judgment; at the same time, the servo valve deviations of levels 1 and 2 are defined as severe deviations, and the servo valve deviations of levels 3 and 4 are defined as moderate deviations. If it is identified as a severe deviation, a warning message will be automatically sent, and the servo valve with severe deviation will be replaced; if it is identified as a moderate deviation, the change trend, mutation and data drift of the front wheel steering servo valve deviation will be continuously monitored. If none of them are included in any deviation level, it means that the aircraft on this flight is a normal aircraft and the monitoring ends.

[0113] In the specific implementation, the zero angle of the nose wheel turning system in the on state was -0.625 degrees, and the zero servo current was 0.75mA. This zero servo current value was a serious deviation of the servo valve. Based on this, it was judged that the main cause of this deviation was the 6GC servo valve. After replacing the 6GC servo valve, the zero angle of the on state was 0 degrees, and the zero servo current was -0.0625. It was comprehensively judged that the aircraft's nose wheel turning state was restored and there was no risk of deflection.

[0114] Exemplarily, for the front wheel turning angle feedback sensor deviation, the zero angle of the front wheel turning system (including BSCU channel 1 and BSCU channel 2) in the closed state can be used as the zero angle of the front wheel turning angle feedback sensor, and then used to monitor the front wheel turning angle feedback sensor deviation.

[0115] See also Figure 4 , Figure 4 FIG. 1 is a schematic diagram of the front wheel turning angle feedback sensor deviation monitoring process provided by an embodiment of the present invention. Figure 4 As shown, when the difference between the zero angles of the BSCU channel 1 and BSCU channel 2 in the closed state exceeds the preset standard (such as 0.2 degrees), a warning message is automatically sent to prompt the maintenance personnel to predictively replace the angle feedback sensor; when the absolute value of the zero angle of the front wheel turning system (including BSCU channel 1 and BSCU channel 2) in the closed state is greater than 0.5 degrees, a warning message is automatically sent to prompt the adjustment of the angle feedback sensor to zero position; when the difference between the zero angle of the front wheel turning system in the connected state and the zero angle of the front wheel turning system in the closed state is greater than 0.6 degrees, and the absolute value of the zero angle of the front wheel turning system in the closed state is greater than 0.3 degrees, a warning message is automatically sent to prompt the adjustment of the angle feedback sensor to zero position.

[0116] It should be noted that each "front wheel turning system on state zero angle" here includes the BSCU channel 1 on state zero angle and the BSCU channel 2 on state zero angle, and each "front wheel turning system off state zero angle" includes the BSCU channel 1 off state zero angle and the BSCU channel 2 off state zero angle.

[0117] Then "when the difference between the zero angle of the front wheel turning system in the on state and the zero angle of the front wheel turning system in the off state is greater than 0.6 degrees, and the absolute value of the zero angle of the front wheel turning system in the off state is greater than 0.3 degrees, a warning message is automatically sent to prompt the adjustment of the angle feedback sensor to zero position", including when the difference between the zero angle of the BSCU channel 1 in the on state and the zero angle of the BSCU channel 1 in the off state is greater than 0.6 degrees, and the absolute value of the zero angle of the BSCU channel 1 in the off state is greater than 0.3 degrees, a warning message is automatically sent to prompt the adjustment of the angle feedback sensor to zero position; and when the difference between the zero angle of the BSCU channel 2 in the on state and the zero angle of the BSCU channel 2 in the off state is greater than 0.6 degrees, and the absolute value of the zero angle of the BSCU channel 2 in the off state is greater than 0.3 degrees, a warning message is automatically sent to prompt the adjustment of the angle feedback sensor to zero position.

[0118] For example, for monitoring the abnormality of the front wheel turning control wheel, the zero angle of the front wheel turning control wheel may be used as a monitoring indicator of the abnormality of the front wheel turning control wheel.

[0119] See also Figure 5 , Figure 5 1 is a schematic diagram of the front wheel turning angle feedback sensor deviation monitoring process provided by an embodiment of the present invention. Figure 5 As shown, when the absolute value of the difference between the zero angle of the BSCU channel 1 operating handwheel (including the operating handwheels on the captain's side and the co-pilot's side) and the zero angle of the BSCU channel 2 operating handwheel is greater than 0.5 degrees, a warning message is automatically sent, indicating that the single-channel data of the operating handwheel sensor exceeds the standard, prompting a predictive replacement of the operating handwheel sensor; when the absolute value of the zero angle of the BSCU channel 1 operating handwheel and the absolute value of the zero angle of the BSCU channel 2 operating handwheel are both greater than 1 degree, a warning message is automatically sent, indicating that the operating handwheel sensor is stuck and has not returned to zero, and further determining whether it is the first time it occurs. If so, the maintenance personnel are prompted to check whether the operating handwheel is blocked by foreign objects, and further remove the blocking foreign objects; if it is not the first time, or it is found after inspection that the operating handwheel is not blocked by foreign objects, the operating handwheel is continuously monitored with the operating handwheel zero angle as an indicator, and the number of times the warning occurs is recorded. If the number of warnings exceeds the specified value, the operating handwheel sensor also needs to be replaced. If the BSCU channel 1 handwheel zero angle and the BSCU channel 2 handwheel zero angle are both in the above situation, it means that there is no abnormality in the aircraft of the flight and monitoring is not required. It should be noted that this process monitoring is applicable to both the captain side and the co-pilot side control handwheel.

[0120] In summary, the embodiment of the present invention provides a method for monitoring the state of an aircraft nose wheel turning system. The embodiment of the present invention first expands and improves the QAR parameters of the nose wheel turning system by innovatively discovering hidden unused parameters between the brake and turning control unit (BSCU) and the quick access recorder (QAR), thereby providing a prerequisite for the subsequent monitoring of the nose wheel turning system state based on QAR flight data; greatly reducing the manpower and material resources of ground testing, saving the time for aircraft parking inspection and troubleshooting; enabling all-weather, uninterrupted and continuous monitoring of each flight; and fully considering various factors that affect the nose wheel turning offset, selecting the most appropriate sampling time, setting corresponding logic for sampling, ensuring that the most accurate nose wheel turning system zero position parameters are obtained, thereby improving the accuracy of monitoring; finally, by monitoring the nose wheel turning system parameters, judging the abnormality and performing graded processing, especially setting up different levels of severe offset and moderate offset for the nose wheel turning servo valve for control, an effective nose wheel turning system monitoring logic is established, which can timely and effectively discover the nose wheel turning offset problem, thereby improving flight safety.

[0121] On the basis of the above-mentioned method items, the present invention provides corresponding embodiments of the system items.

[0122] See also Figure 6 , Figure 6 The following is a structural block diagram of a system for monitoring the state of a front wheel turning system of an aircraft provided by an embodiment of the present invention. The system for monitoring the state of a front wheel turning system of an aircraft comprises:

[0123] The parameter sampling module 21 is used to sample the parameters of the front wheel turning system of the aircraft; wherein the parameters of the front wheel turning system include the zero position parameters when the front wheel turning system is in the off state and the zero position parameters when the front wheel turning system is in the on state;

[0124] A parameter acquisition module 22, used for acquiring the front wheel turning system parameters through a quick access recorder;

[0125] The status monitoring module 23 is used to monitor the front wheel turning servo valve deviation, the front wheel turning angle feedback sensor deviation and the front wheel turning control handle according to the obtained front wheel turning system parameters, obtain the front wheel turning system status monitoring result, and send a warning message according to the front wheel turning system status monitoring result.

[0126] In a feasible implementation manner, the parameter sampling module 21 is specifically used for:

[0127] During a period when the front landing gear of the aircraft is lowered and the front wheel steering system is in a closed state, sampling the parameters of the front wheel steering system to obtain the zero position parameters when the front wheel steering system is in a closed state;

[0128] During the nose wheel steering system test phase, after the front landing gear is lowered, and during the period between the aircraft landing and touching the ground, the nose wheel steering system parameters are sampled to obtain the zero position parameters when the nose wheel steering system is in the on state.

[0129] Specifically, the zero-position parameter of the front wheel turning system closed state includes the zero-position parameter of the first channel of the control component and the zero-position parameter of the second channel of the control component when the front wheel turning system is closed; the zero-position parameter of the front wheel turning system connected state includes the zero-position parameter of the first channel of the control component and the zero-position parameter of the second channel of the control component when the front wheel turning system is connected;

[0130] The zero position parameters of the first channel of each control component include the zero position servo current, the zero position angle and the zero position angle of the operating hand wheel of the first channel of the control component;

[0131] The zero position parameters of the second channel of each control component include the zero position servo current, the zero position angle and the zero position angle of the operating hand wheel of the second channel of the control component.

[0132] In an optional embodiment, the status monitoring module 23 includes:

[0133] a first monitoring unit, for monitoring the deviation of a front wheel turning servo valve according to the zero position servo current and the zero position angle of the first channel of the control component and the zero position servo current and the zero position angle of the second channel of the control component when the front wheel turning system is turned on, obtaining a monitoring result of the deviation of the front wheel turning servo valve, and sending a first early warning message according to the monitoring result of the deviation of the front wheel turning servo valve;

[0134] a second monitoring unit, for monitoring the deviation of the front wheel turning angle feedback sensor according to the zero angle of the first channel of the control component and the zero angle of the second channel of the control component when the front wheel turning system is turned off, and the zero angle of the first channel of the control component and the zero angle of the second channel of the control component when the front wheel turning system is turned on, to obtain a monitoring result of the deviation of the front wheel turning angle feedback sensor, and to send a second early warning message according to the monitoring result of the deviation of the front wheel turning angle feedback sensor;

[0135] The third monitoring unit is used to monitor the front wheel turning control hand wheel according to the control hand wheel zero position angle of the first channel of the control component and the control hand wheel zero position angle of the second channel of the control component when the front wheel turning system is connected, obtain the front wheel turning control hand wheel monitoring result, and send a third early warning message according to the front wheel turning control hand wheel monitoring result.

[0136] Specifically, the first monitoring unit is specifically used to:

[0137] Identify the current front wheel turning servo valve deviation level according to the zero position servo current and zero position angle of the first channel of the control component and the zero position servo current and zero position angle of the second channel of the control component when the front wheel turning system is turned on; wherein the deviation level includes severe deviation and moderate deviation;

[0138] If the current deviation level of the front wheel steering servo valve is a serious deviation, a warning message is sent to prompt the replacement of the servo valve;

[0139] If the current front wheel steering servo valve deviation level is a moderate deviation, the front wheel steering servo valve deviation continues to be monitored;

[0140] If the current front wheel cornering servo valve deviation level is not detected as any deviation level, the front wheel cornering servo valve deviation monitoring is terminated.

[0141] Specifically, the second monitoring unit is specifically used to:

[0142] If the difference between the zero angle of the first channel of the control component and the zero angle of the second channel of the control component exceeds a first preset standard when the front wheel turning system is turned off, a warning message is sent to prompt the replacement of the front wheel turning angle feedback sensor;

[0143] If the absolute value of the zero position angle of the first channel of the control component or the absolute value of the zero position angle of the second channel of the control component exceeds a second preset standard when the front wheel turning system is turned off, a warning message is sent to prompt the front wheel turning angle feedback sensor to be adjusted to zero position;

[0144] If the difference between the zero angle when the front wheel turning system is on and the zero angle when the front wheel turning system is off exceeds the third preset standard, and the absolute value of the zero angle when the front wheel turning system is on exceeds the fourth preset standard, a warning message is sent to prompt the adjustment of the front wheel turning angle feedback sensor zero position. If the difference between the zero angle of the first channel of the control component and the zero angle of the second channel of the control component when the front wheel turning system is off exceeds the first preset standard, a warning message is sent to prompt the replacement of the front wheel turning angle feedback sensor.

[0145] If the absolute value of the zero position angle of the first channel of the control component or the absolute value of the zero position angle of the second channel of the control component exceeds a second preset standard when the front wheel turning system is turned off, a warning message is sent to prompt the front wheel turning angle feedback sensor to be adjusted to zero position;

[0146] If the difference between the zero position angle when the front-wheel turning system is on and the zero position angle when the front-wheel turning system is off exceeds the third preset standard, and the absolute value of the zero position angle when the front-wheel turning system is on exceeds the fourth preset standard, a warning message is sent to prompt the adjustment of the zero position of the front-wheel turning angle feedback sensor.

[0147] Specifically, the third monitoring unit is specifically used to:

[0148] If the absolute value of the difference between the zero angle of the control hand wheel of the first channel of the control component and the zero angle of the control hand wheel of the second channel of the control component exceeds the fifth preset standard when the front wheel turning system is turned on, a warning message is sent to prompt the replacement of the control hand wheel sensor;

[0149] If the absolute value of the zero angle of the control hand wheel of the first channel of the control component and the absolute value of the zero angle of the control hand wheel of the second channel of the control component both exceed the sixth preset standard when the front wheel turning system is turned on, a warning message is sent to prompt the control hand wheel sensor to be checked or the front wheel turning control hand wheel to continue to be monitored;

[0150] Otherwise, the monitoring of the front wheel steering hand wheel is terminated.

[0151] It should be noted that an aircraft nose wheel turning system status system provided in an embodiment of the present invention is used to execute all process steps of an aircraft nose wheel turning system status method in the above embodiment. The working principles and beneficial effects of the two correspond one to one, and thus will not be described in detail.

[0152] The embodiment of the present invention also provides a terminal device, such as Figure 7 , which is a block diagram of a terminal device provided by an embodiment of the present invention. The terminal device includes a processor 31, a memory 32, and a computer program stored in the memory 32 and configured to be executed by the processor 31. When the processor 31 executes the computer program, the aircraft nose wheel turning system state method described in any of the above embodiments is implemented.

[0153] In addition, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the aircraft front wheel turning system status method as described in any of the above embodiments.

[0154] When the processor 31 executes the computer program, the steps in the above-mentioned aircraft nose wheel turning system state method embodiment are implemented, for example Figure 1 Alternatively, when the processor 31 executes the computer program, the functions of each module in the above-mentioned aircraft nose wheel turning system state system embodiment are realized, for example Figure 6 The functions of each module of the aircraft nose wheel turning system status system are shown.

[0155] Preferably, the computer program can be divided into one or more modules / units, which are stored in the memory 32 and executed by the processor 31 to implement the present invention. The one or more modules / units can be a series of computer program instruction segments that can implement specific functions, and the instruction segments are used to describe the execution process of the computer program in the terminal device.

[0156] The processor 31 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor, or the processor 31 can be any conventional processor. The processor 31 is the control center of the terminal device, and various parts of the terminal device are connected using various interfaces and lines.

[0157] The memory 32 mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function, etc., and the data storage area can store related data, etc. In addition, the memory 32 can be a high-speed random access memory, or a non-volatile memory, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, and a flash card (Flash Card), etc., or the memory 32 can also be other volatile solid-state storage devices.

[0158] It should be noted that the above terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art will understand that Figure 7 The structural block diagram shown is only a structural example of the above-mentioned terminal device and does not constitute a structural limitation of the above-mentioned terminal device. The above-mentioned terminal device may include more or fewer components than shown in the figure, or combine certain components, or different components.

[0159] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for monitoring the state of an aircraft nose wheel turning system, characterized in that: include: Sampling the front wheel turning system parameters of the aircraft; wherein the front wheel turning system parameters include the zero position parameters of the front wheel turning system closed state and the zero position parameters of the front wheel turning system connected state; Acquiring the front wheel turning system parameters through a quick access recorder; According to the obtained front wheel turning system parameters, the front wheel turning servo valve deviation, the front wheel turning angle feedback sensor deviation and the front wheel turning control handle are monitored respectively to obtain the front wheel turning system status monitoring result, and a warning message is sent according to the front wheel turning system status monitoring result.

2. The aircraft nose wheel turning system state monitoring method according to claim 1, characterized in that: The sampling of the front wheel turning system parameters of the aircraft includes: During a period when the front landing gear of the aircraft is lowered and the front wheel steering system is in a closed state, sampling the parameters of the front wheel steering system to obtain the zero position parameters when the front wheel steering system is in a closed state; During the nose wheel steering system test phase, after the front landing gear is lowered, and during the period between the aircraft landing and touching the ground, the nose wheel steering system parameters are sampled to obtain the zero position parameters when the nose wheel steering system is in the on state.

3. The aircraft nose wheel turning system state monitoring method according to claim 1, characterized in that: The zero-position parameter of the front wheel turning system closed state includes the zero-position parameter of the first channel of the control component and the zero-position parameter of the second channel of the control component when the front wheel turning system is closed; the zero-position parameter of the front wheel turning system connected state includes the zero-position parameter of the first channel of the control component and the zero-position parameter of the second channel of the control component when the front wheel turning system is connected; The zero position parameters of the first channel of each control component include the zero position servo current, the zero position angle and the zero position angle of the operating hand wheel of the first channel of the control component; The zero position parameters of the second channel of each control component include the zero position servo current, the zero position angle and the zero position angle of the operating hand wheel of the second channel of the control component.

4. The aircraft nose wheel turning system state monitoring method according to claim 3, characterized in that: The method of monitoring the front wheel turning servo valve deviation, the front wheel turning angle feedback sensor deviation and the front wheel turning control handle wheel according to the acquired front wheel turning system parameters to obtain the front wheel turning system state monitoring result, and sending a warning message according to the front wheel turning system state monitoring result includes: Monitoring the deviation of the front wheel turning servo valve according to the zero position servo current and the zero position angle of the first channel of the control component and the zero position servo current and the zero position angle of the second channel of the control component when the front wheel turning system is turned on, obtaining a monitoring result of the deviation of the front wheel turning servo valve, and sending a first early warning message according to the monitoring result of the deviation of the front wheel turning servo valve; According to the zero angle of the first channel of the control component and the zero angle of the second channel of the control component when the front wheel turning system is turned off, and the zero angle of the first channel of the control component and the zero angle of the second channel of the control component when the front wheel turning system is turned on, the deviation of the front wheel turning angle feedback sensor is monitored to obtain a monitoring result of the deviation of the front wheel turning angle feedback sensor, and a second early warning message is sent according to the monitoring result of the deviation of the front wheel turning angle feedback sensor; According to the zero position angle of the steering hand wheel of the first channel of the control component and the zero position angle of the steering hand wheel of the second channel of the control component when the front wheel turning system is connected, the front wheel turning steering hand wheel is monitored to obtain the front wheel turning steering hand wheel monitoring result, and a third early warning message is sent according to the front wheel turning steering hand wheel monitoring result.

5. The aircraft nose wheel turning system state monitoring method according to claim 4, characterized in that: The method monitors the deviation of the front wheel turning servo valve according to the zero position servo current and the zero position angle of the first channel of the control component and the zero position servo current and the zero position angle of the second channel of the control component when the front wheel turning system is turned on, obtains the monitoring result of the deviation of the front wheel turning servo valve, and sends the first early warning message according to the monitoring result of the deviation of the front wheel turning servo valve, including: Identify the current front wheel turning servo valve deviation level according to the zero position servo current and zero position angle of the first channel of the control component and the zero position servo current and zero position angle of the second channel of the control component when the front wheel turning system is turned on; wherein the deviation level includes severe deviation and moderate deviation; If the current deviation level of the front wheel steering servo valve is a serious deviation, a warning message is sent to prompt the replacement of the servo valve; If the current front wheel steering servo valve deviation level is a moderate deviation, the front wheel steering servo valve deviation continues to be monitored; If the current front wheel cornering servo valve deviation level is not detected as any deviation level, the front wheel cornering servo valve deviation monitoring is terminated.

6. The aircraft nose wheel turning system state monitoring method according to claim 4, characterized in that: The method includes monitoring the deviation of the front wheel turning angle feedback sensor according to the zero angle of the first channel of the control component and the zero angle of the second channel of the control component when the front wheel turning system is turned off, and the zero angle of the first channel of the control component and the zero angle of the second channel of the control component when the front wheel turning system is turned on, obtaining a monitoring result of the deviation of the front wheel turning angle feedback sensor, and sending a second early warning message according to the monitoring result of the deviation of the front wheel turning angle feedback sensor, including: If the difference between the zero angle of the first channel of the control component and the zero angle of the second channel of the control component exceeds a first preset standard when the front wheel turning system is turned off, a warning message is sent to prompt the replacement of the front wheel turning angle feedback sensor; If the absolute value of the zero position angle of the first channel of the control component or the absolute value of the zero position angle of the second channel of the control component exceeds a second preset standard when the front wheel turning system is turned off, a warning message is sent to prompt the front wheel turning angle feedback sensor to be adjusted to zero position; If the difference between the zero position angle when the front-wheel turning system is on and the zero position angle when the front-wheel turning system is off exceeds the third preset standard, and the absolute value of the zero position angle when the front-wheel turning system is on exceeds the fourth preset standard, a warning message is sent to prompt the adjustment of the zero position of the front-wheel turning angle feedback sensor.

7. The aircraft nose wheel turning system state monitoring method according to claim 4, characterized in that: The method includes monitoring the front wheel turning control hand wheel according to the control hand wheel zero position angle of the first channel of the control component and the control hand wheel zero position angle of the second channel of the control component when the front wheel turning system is turned on, obtaining the front wheel turning control hand wheel monitoring result, and sending the third early warning message according to the front wheel turning control hand wheel monitoring result, including: If the absolute value of the difference between the zero angle of the control hand wheel of the first channel of the control component and the zero angle of the control hand wheel of the second channel of the control component exceeds the fifth preset standard when the front wheel turning system is turned on, a warning message is sent to prompt the replacement of the control hand wheel sensor; If the absolute value of the zero angle of the control hand wheel of the first channel of the control component and the absolute value of the zero angle of the control hand wheel of the second channel of the control component both exceed the sixth preset standard when the front wheel turning system is turned on, a warning message is sent to prompt the control hand wheel sensor to be checked or the front wheel turning control hand wheel to continue to be monitored; Otherwise, the monitoring of the front wheel steering hand wheel is terminated.

8. A device for monitoring the state of an aircraft nose wheel turning system, characterized in that: include: A parameter sampling module, used for sampling the parameters of the front wheel turning system of the aircraft; wherein the parameters of the front wheel turning system include a zero-position parameter when the front wheel turning system is in a closed state and a zero-position parameter when the front wheel turning system is in an on state; A parameter acquisition module, used for acquiring the front wheel turning system parameters through a quick access recorder; The status monitoring module is used to monitor the front wheel turning servo valve deviation, the front wheel turning angle feedback sensor deviation and the front wheel turning control handle according to the obtained front wheel turning system parameters, obtain the front wheel turning system status monitoring result, and send a warning message according to the front wheel turning system status monitoring result.

9. A terminal device, characterized in that: The invention comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the aircraft nose wheel turning system state monitoring method as claimed in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the aircraft nose wheel turning system status monitoring method according to any one of claims 1 to 7.

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