Dual-redundancy flap position voting monitoring method

Abstract

The invention provides a dual-redundancy flap position voting monitoring method, and belongs to the technical field of flight control systems.The dual-redundancy flap position voting monitoring method comprises the steps that a dual-redundancy flap control computer is arranged, and when flap position range monitoring and flap position quadratic sum monitoring of one channel of the redundancy flap control computer meet preset requirements at the same time, the dual-redundancy flap control computer is started; if yes, the flap position collected by the channel is effective and reported; when any monitoring does not meet the preset requirement, the flap position of the channel is judged to be invalid, and the flap position of the same channel of another redundancy flap control computer is obtained and reported; when the flap positions of the channels corresponding to the dual-redundancy flap control computer are invalid, directly reporting that the flap positions are invalid; when the two channels of the redundancy flap control computer both report effective flap positions, a left and right flap position difference range monitoring strategy is executed, whether a flap asymmetry fault exists or not is judged, and alarm information is reported. The response capability, the safety and the reliability of the system are enhanced.

Description

Technical Field

[0001] The present application relates to the technical field of flight control systems, and in particular to a dual-redundant flap position voting monitoring method. Background Art

[0002] In the flight control system, the flap position sensor detects the flap deflection angle, converts the flap deflection angle into a voltage signal and transmits it to the flap control computer through hard wires. The computer monitors the position of the left and right flaps and reports the monitoring results to the pilot in real time. The purpose is to form a closed-loop control with the flap control handle sensor to jointly grasp the aircraft's flap status. Therefore, whether the computer can accurately collect flap position information in real time has an important impact on the safety of the flight control system.

[0003] In order to ensure that the computer obtains more accurate flap position information and reports the monitoring status in a timely manner, the present invention focuses on flap position information from three aspects. The current flap position acquisition method lacks consideration of the position sensor output information tolerance and flap position acquisition jitter. This will lead to a lack of accuracy in the flap position acquisition source, which further leads to a low reliability of the acquired flap position information. Summary of the invention

[0004] In view of this, an embodiment of the present application provides a dual-redundancy flap position voting monitoring method, which proposes a highly applicable solution to the problems of inaccurate flap position information collection, lack of redundancy monitoring voting strategy and incomplete fault records that occur in specific applications of flap control computers, thereby further improving system reliability and safety.

[0005] The present application provides a dual-redundancy flap position voting monitoring method, the method comprising:

[0006] A dual-redundant flap control computer is provided, each flap control computer is provided with two channels, one channel is used to collect the left flap position, and the other channel is used to collect the right flap position;

[0007] Execute flap position range monitoring and flap position square sum monitoring strategies. When flap position range monitoring and flap position square sum monitoring of a channel of the redundant flap control computer simultaneously meet preset requirements, the flap position collected by the channel is judged to be valid, and the flap position of the channel is used for reporting;

[0008] When any one of the flap position range monitoring and flap position square sum monitoring of this channel of this redundant flap control computer does not meet the preset requirements, it is judged that the flap position collected by this channel is invalid, and the dual redundant computer flap position voting strategy is executed to obtain the flap position of the same channel of another redundant flap control computer for reporting;

[0009] When the flap positions of the corresponding channels of the dual-redundant flap control computer are all invalid, the flap position failure is directly reported;

[0010] When both channels of the redundant flap control computer report valid flap positions, the left and right flap position difference range monitoring strategy is executed to monitor the left and right flap positions collected by each flap control computer, determine whether there is a flap asymmetry fault through the left and right flap positions, and report the flap asymmetry fault alarm information in a timely manner.

[0011] According to a specific implementation of an embodiment of the present application, the flap position range monitoring and flap position square sum monitoring strategies are executed, and when the flap position range monitoring and flap position square sum monitoring of a channel of the redundant flap control computer simultaneously meet preset requirements, it is judged that the flap position collected by the channel is valid, including:

[0012] A first threshold value is set for a process of monitoring a flap position range, and a second threshold value is set for a process of monitoring a flap position sum of squares;

[0013] Calculating the absolute value of the sine and cosine feedback signal of the flap position sensor collected by the flap control computer hardware circuit, comparing the absolute value with the first threshold value, and determining whether the flap position value collected by the flap control computer hardware circuit is valid;

[0014] Performing square sum calculation on the sine and cosine feedback signals of the flap position sensor input to the flap control computer, comparing the square sum calculation result with the second threshold value, and determining whether the flap position fed back to the computer by the flap position sensor is valid;

[0015] When the absolute value meets the first threshold value requirement and the square sum calculation result meets the second threshold value requirement, it is determined that the flap position collected by the channel is valid.

[0016] According to a specific implementation of the embodiment of the present application, the comparing the absolute value with the first threshold value to determine whether the flap position value collected by the flap control computer hardware circuit is valid includes:

[0017] For each channel, when the absolute value exceeds the first threshold value, flap position over-threshold monitoring fault counting is performed to obtain a first count value;

[0018] When the first count value does not exceed the preset range, it is judged that the flap position value collected by the flap control computer hardware circuit is valid, and the previous valid flap position is used for output; when the first count value exceeds the preset range, it is judged that the flap position value collected by the flap control computer hardware circuit is invalid, and a fault record is made.

[0019] According to a specific implementation of the embodiment of the present application, the step of comparing the square sum calculation result with the second threshold value to determine whether the flap position fed back to the computer by the flap position sensor is valid includes:

[0020] For each channel, when the square sum calculation result exceeds the second threshold value, a square sum monitoring fault count is performed to obtain a second count value;

[0021] When the second count value does not exceed the preset range, it is judged that the flap position fed back to the computer by the flap position sensor is valid, and the valid flap position of the previous beat is used for output; when the second count value exceeds the preset range, it is judged that the flap position fed back to the computer by the flap position sensor is invalid, and a fault record is made.

[0022] According to a specific implementation of an embodiment of the present application, executing a dual-redundancy computer flap position voting strategy to obtain the flap position of the same channel of another redundant flap control computer for reporting includes:

[0023] sequentially determining whether the cross-channel data link between the dual redundant flap control computers is valid, whether the other redundant flap control computer is valid, and whether the flap position of the corresponding channel of the other redundant flap control computer is valid;

[0024] If both are valid, the current redundant flap control computer will obtain the effective flap position of the other redundant flap control computer in real time through the cross-channel data link and report it.

[0025] According to a specific implementation of an embodiment of the present application, the determining whether the cross-channel data link between the dual-redundant flap control computers is valid includes:

[0026] The dual-redundant flap control computer simultaneously sends fixed data to the corresponding channel of the other computer through the cross-channel data link. The dual-redundant flap control computer compares the received data with the fixed data to determine whether the cross-channel data link is valid.

[0027] According to a specific implementation method of an embodiment of the present application, a command channel and a monitoring channel are provided in each flap control computer, and the command channel and the monitoring channel respectively collect the left flap position and the right flap position. A cross-channel data link is provided between the command channel and the monitoring channel, and a cross-channel data link is also provided between the dual-redundant flap control computers, and data is transmitted to each other in real time through the cross-channel data link.

[0028] According to a specific implementation of the embodiment of the present application, the monitoring of the left and right flap positions collected by each flap control computer and determining whether there is a flap asymmetry fault according to the left and right flap positions include:

[0029] For each flap control computer, the command channel and the monitoring channel periodically acquire the left flap position and the right flap position through the cross-channel data link within a fixed period;

[0030] Calculating the angle difference between the left and right flaps according to the left flap position and the right flap position, and determining whether the angle difference exceeds a third threshold value;

[0031] If the angle difference exceeds the third threshold value, fault counting processing is performed, and when the fault count reaches the third count value, it is determined that a flap asymmetry fault exists.

[0032] Beneficial effects:

[0033] The dual-redundancy flap position voting monitoring method in the embodiment of the present application adopts flap position range monitoring and flap position square sum monitoring strategies, which further determine the validity of the flap position output by the sensor on the basis of ensuring that the computer correctly collects the flap position. It not only monitors the validity of the flap position collected by the computer, but also ensures the correctness of the link transmission between the flap position after the flap position is output from the sensor, and avoids flap position information input jitter and position sensor output out of tolerance. And the dual-redundancy computer flap position voting strategy further weakens the computer's dependence on the single-redundancy computer, and enhances the system's responsiveness and reliability. At the same time, based on the current flap position acquisition strategy lacking a monitoring information reporting strategy when the flap position is out of tolerance, the left and right flap position difference range monitoring strategy adopted by the method makes the fault monitoring record of the single-redundancy computer more perfect, helps the computer analyze the left and right flap states, and promptly gives fault warnings to the system.

[0034] Therefore, in terms of function, the present invention adds flap position range monitoring and flap position square sum monitoring strategies, and uses dual means to avoid the influence of position sensor output information out of tolerance and computer flap position acquisition jitter; in terms of design, the present invention introduces a dual-redundancy computer flap position voting strategy to ensure that when the single-channel flap position information of the single-redundancy computer fails, the flap control computer can also output valid flap position information normally, so that the reliability of the flap control computer is improved. At the same time, the left and right flap position difference range monitoring strategy effectively records the flap asymmetric fault of the single-redundancy computer, making the pilot more clear about fault prediction and fault location; in terms of implementation, the present invention realizes cross-comparison of dual redundancy and channel data through cross-channel data links between dual machines and channels, has a higher output rate, and provides fault tolerance for the flap control computer. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 It is a flow chart of a dual-redundancy flap position voting monitoring method according to an embodiment of the present invention;

[0037] Figure 2 A schematic diagram of a cross-channel data link of a dual-redundant flap control computer according to an embodiment of the present invention;

[0038] Figure 3 Schematic diagram of a left and right flap position difference range monitoring strategy according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0040] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0041] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0042] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The illustrations only show the components related to the present application rather than being drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0043] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0044] The present application embodiment provides a dual-redundancy flap position voting monitoring method. Figures 1 to 3 Describe in detail.

[0045] In one embodiment, the dual-redundancy flap position voting monitoring method comprises the following steps:

[0046] Step 1, setting a dual-redundancy flap control computer, each flap control computer is provided with two channels, one channel is used to collect the left flap position, and the other channel is used to collect the right flap position;

[0047] Step 2, executing flap position range monitoring and flap position square sum monitoring strategies, when the flap position range monitoring and flap position square sum monitoring of a channel of the redundant flap control computer simultaneously meet the preset requirements, it is determined that the flap position collected by the channel is valid, and the flap position of the channel is used for reporting;

[0048] Step 3: When any one of the flap position range monitoring and flap position square sum monitoring of the current channel of the current redundant flap control computer does not meet the preset requirements, it is determined that the flap position collected by the current channel is invalid, and the dual redundant computer flap position voting strategy is executed to obtain the flap position of the same channel of another redundant flap control computer for reporting;

[0049] Step 4: When the flap positions of the corresponding channels of the dual-redundant flap control computer are all invalid, the flap position failure is directly reported;

[0050] Step 5. When both channels of the redundant flap control computer report valid flap positions, the left and right flap position difference range monitoring strategy is executed to monitor the left and right flap positions collected by each flap control computer, determine whether there is a flap asymmetry fault through the left and right flap positions, and report the flap asymmetry fault alarm information in time.

[0051] In this embodiment, it is implemented based on the flap control computer to improve the flap control computer to effectively collect flap position information and provide reliable feedback. The strategies adopted include flap position range monitoring and flap position square sum monitoring strategies, dual redundancy computer flap position voting strategies, and left and right flap position difference range monitoring strategies. The flap position range monitoring and flap position square sum monitoring strategies realize that after the single channel of the flap control computer obtains the flap position of this channel, the flap position absolute value range and the square sum result are monitored respectively to vote whether the flap position of the single channel is valid. When the single-channel flap position of the single redundancy computer fails, the dual redundancy computer flap position voting strategy is used to transmit the effective position of the corresponding channel of the other redundancy computer to the failed channel for output. The left and right flap position difference range monitoring strategy realizes real-time monitoring of the left and right flap position difference collected by the dual channels of this redundancy computer to record flap asymmetry faults.

[0052] The flap position range monitoring and flap position square sum monitoring strategies are effective position information only if they meet both flap position acquisition threshold requirements and square sum monitoring threshold requirements. Therefore, the present embodiment adds flap position range monitoring and flap position square sum monitoring strategies, using dual means to avoid the influence of position sensor output information out of tolerance and computer jitter on flap position acquisition.

[0053] The dual-redundancy computer flap position voting strategy is that when the flap position of a channel of a single-redundancy computer fails, the effective flap position of the corresponding channel of another redundancy computer can be obtained through a cross-channel data link. The dual-redundancy computer flap position voting strategy is introduced to ensure that when the flap position information of a single channel of a single-redundancy computer fails, the flap control computer can also output the effective flap position information normally, so that the reliability of the flap control computer is improved. The cross-channel data link between the two machines and the channels is used to realize the cross-comparison of the dual redundancy and the data between the channels, which has a high output rate, ensures the real-time responsiveness of the system, and provides fault tolerance for the flap control computer.

[0054] The left and right flap position difference range monitoring strategy is to set a fixed monitoring cycle through software. When both channels of the redundant flap control computer report effective flap position information, the computer's internal command channel and monitoring channel obtain the left and right flap position information through the cross-channel data link to determine whether there is a flap asymmetry fault in the channel. If so, the flap asymmetry fault is recorded, and the channel computer reports a fault alarm. The left and right flap position difference range monitoring strategy effectively records the flap asymmetry fault of the single redundant computer, making it clearer for pilots to predict and locate faults.

[0055] In one embodiment, referring to Figure 1, the flap position range monitoring and flap position square sum monitoring strategies are executed, when the flap position range monitoring and flap position square sum monitoring of a channel of the redundant flap control computer simultaneously meet the preset requirements, then it is judged that the flap position collected by the channel is valid, including:

[0056] A first threshold value is set for a process of monitoring a flap position range, and a second threshold value is set for a process of monitoring a flap position sum of squares;

[0057] Calculating the absolute value of the sine and cosine feedback signal of the flap position sensor collected by the flap control computer hardware circuit, comparing the absolute value with the first threshold value, and determining whether the flap position value collected by the flap control computer hardware circuit is valid;

[0058] Performing square sum calculation on the sine and cosine feedback signals of the flap position sensor input to the flap control computer, comparing the square sum calculation result with the second threshold value, and determining whether the flap position fed back to the computer by the flap position sensor is valid;

[0059] When the absolute value meets the first threshold value requirement and the square sum calculation result meets the second threshold value requirement, it is determined that the flap position collected by the channel is valid.

[0060] In specific implementation, the flap position sensor responds after receiving the fixed excitation from the computer output, and outputs the flap position to the flap control computer. There are many possibilities such as inaccurate excitation signal, sensor output out of tolerance, and jitter during flap position transmission, which makes the accuracy of the flap position collected by the computer unpredictable. If it is not monitored, it will lead to incorrect flap position collection and reporting. At the same time, the computer collects the wrong flap position and the sensor feedback the wrong flap position, making it difficult to locate the fault. Therefore, the flap position range monitoring and flap position square sum monitoring strategy, when it is determined that the absolute value of the flap position collected by the computer in this channel is within the threshold range, further determines whether the flap position square sum monitoring of this channel is within the threshold. Only when these two points are met will it be determined to use the flap position information of this channel to report.

[0061] In one embodiment, comparing the absolute value with the first threshold value to determine whether the flap position value collected by the flap control computer hardware circuit is valid includes:

[0062] For each channel, when the absolute value exceeds the first threshold value, flap position over-threshold monitoring fault counting is performed to obtain a first count value;

[0063] When the first count value does not exceed the preset range, it is judged that the flap position value collected by the flap control computer hardware circuit is valid, and the previous valid flap position is used for output; when the first count value exceeds the preset range, it is judged that the flap position value collected by the flap control computer hardware circuit is invalid, and a fault record is made.

[0064] In one embodiment, comparing the square sum calculation result with the second threshold value to determine whether the flap position fed back to the computer by the flap position sensor is valid includes:

[0065] For each channel, when the square sum calculation result exceeds the second threshold value, a square sum monitoring fault count is performed to obtain a second count value;

[0066] When the second count value does not exceed the preset range, it is judged that the flap position fed back to the computer by the flap position sensor is valid, and the valid flap position of the previous beat is used for output; when the second count value exceeds the preset range, it is judged that the flap position fed back to the computer by the flap position sensor is invalid, and a fault record is made.

[0067] In the specific implementation, in order to eliminate transient faults, during the flap position range monitoring process, each channel detects the current effective flap position in real time. When the flap position falls within the effective voltage range, it is counted. When the count value does not exceed the threshold range, the effective flap position of the previous shot can be used for output. When the count value exceeds the threshold range, it is determined that the flap position monitoring fault of the computer of this channel. At the same time, the flap position square sum monitoring also performs monitoring voting by counting. When any monitoring is invalid, the dual-redundancy computer flap position voting strategy is adopted to obtain the flap position of another channel for output.

[0068] In one embodiment, the executing of the dual-redundancy computer flap position voting strategy to obtain the flap position of the same channel of another redundant flap control computer for reporting includes:

[0069] sequentially determining whether the cross-channel data link between the dual redundant flap control computers is valid, whether the other redundant flap control computer is valid, and whether the flap position of the corresponding channel of the other redundant flap control computer is valid;

[0070] If both are valid, the current redundant flap control computer will obtain the effective flap position of the other redundant flap control computer in real time through the cross-channel data link and report it.

[0071] Specifically, in the dual-redundancy computer flap position voting strategy, the two redundant computers will obtain the flap position of the other redundant computer in real time through the cross data link. If the flap position collected and monitored by a certain channel of the redundant computer fails, the effective flap position of the same channel of the other redundant computer can be directly reported.

[0072] In this embodiment, the dual-redundancy computer flap position voting strategy is that when the flap position of a channel of a single-redundancy computer fails, the effective flap position of the corresponding channel of another redundancy computer can be obtained through the cross-channel data link, that is, when the flap position monitoring or square sum monitoring of the current redundancy computer fails to report the fault record, it is determined that the single-channel flap position information monitoring of the redundancy is invalid. At this time, in order to ensure the effectiveness, the strategy will first determine whether the cross-channel data link state between the two machines is normal, secondly determine whether the other redundancy computer is in a valid state, and finally determine whether the flap position of the corresponding channel of the other redundancy computer is valid. In the case where the above judgments are all valid, when the flap position of this channel fails, the effective flap position information of the corresponding channel of the other redundancy computer is used. This strategy guarantees the cooperation of the dual-redundancy computers to the greatest extent, and ensures that a single computer reports the effective flap position information in time. Thereby improving the reliability of the flap control computer, and the cross-channel data link has a higher output rate, ensuring the real-time responsiveness of the system. Figure 2 The figure shows the overall structure of the dual-redundancy voting strategy. A single computer contains a command channel and a monitoring channel, which respectively collect the positions of the left and right flaps. There is a cross-channel data link between the command channel and the monitoring channel, and there is also a cross-channel data link between the channels of the dual-redundancy computer, which ensures the real-time mutual transmission of data.

[0073] In one embodiment, determining whether the cross-channel data link between the dual-redundant flap control computers is valid includes:

[0074] The dual-redundant flap control computer simultaneously sends fixed data to the corresponding channel of the other computer through the cross-channel data link. The dual-redundant flap control computer compares the received data with the fixed data to determine whether the cross-channel data link is valid.

[0075] In one embodiment, each flap control computer is provided with a command channel and a monitoring channel, and the command channel and the monitoring channel respectively collect the left flap position and the right flap position. There is a cross-channel data link between the command channel and the monitoring channel, and a cross-channel data link is also provided between the dual-redundant flap control computers, and data is transmitted to each other in real time through the cross-channel data link.

[0076] In one embodiment, monitoring the left and right flap positions collected by each flap control computer and determining whether there is a flap asymmetry fault based on the left and right flap positions includes:

[0077] For each flap control computer, the command channel and the monitoring channel periodically acquire the left flap position and the right flap position through the cross-channel data link within a fixed period;

[0078] Calculating the angle difference between the left and right flaps according to the left flap position and the right flap position, and determining whether the angle difference exceeds a third threshold value;

[0079] If the angle difference exceeds the third threshold value, fault counting processing is performed, and when the fault count reaches the third count value, it is determined that a flap asymmetry fault exists.

[0080] In specific implementation, the left and right flap position difference range monitoring strategy is for single-redundancy computer fault monitoring. When the flap positions of both redundant computers fail, there is no need to continue flap asymmetry monitoring, and flap position failure can be directly reported. Otherwise, the left and right flap position difference range monitoring strategy will be adopted to monitor the left and right flap position information collected by the two computers respectively. The specific process is as follows: Figure 3 As shown. The computer's command channel and monitoring obtain the left and right flap position information through the cross data link at a fixed period, and then calculate the flap angle difference to determine whether the angle difference exceeds the set threshold value. When the angle difference exceeds the threshold value, it is determined that there is a flap asymmetry fault in the channel, and the fault is counted. When the count reaches a certain value, it is identified as a flap asymmetry fault. This strategy also effectively eliminates transient faults and ensures the reliability of reported fault information to the greatest extent. The comparative monitoring strategy of the left and right flaps can effectively make the flap position fault record of the dual-channel of the single-redundancy computer clearer. At the same time, the fault record reports the computer to make a fault alarm, which effectively improves the fault record and fault alarm function of the flap control computer.

[0081] The embodiment provided by the present invention proposes a highly reliable dual-redundancy computer flap position voting monitoring strategy. The strategy is discussed from three aspects: single-redundancy computer flap position range monitoring and flap position square sum monitoring strategy, dual-redundancy computer flap position voting strategy, and left and right flap position difference range monitoring strategy.

[0082] The single-redundancy computer includes a command channel and a monitoring channel, which respectively collect the flap position information on the left and right sides of the aircraft. After obtaining the flap position information, the single channel monitors the flap position range and the fault status of the flap position sum square to determine whether the left / right flap position collected by this channel is valid. If the flap position of this channel is valid, it is output to the system for the left and right flap position difference calculation of this redundancy computer. If the flap position signal of this channel is invalid, the flap position voting strategy of the dual-redundancy computer is used to obtain the flap position of the corresponding channel of the other redundant computer through the cross-channel data link between the two machines for output. If the corresponding channels of the dual-redundancy computers are all invalid, the system is output with a fault alarm of no available flap position.

[0083] After obtaining the flap position results output by two channels, the single-redundancy computer obtains the left / right flap position of the other channel through the cross-channel data link between the computer channels, monitors the left and right flap position difference range of the local redundancy computer, and votes on the asymmetric fault of the local redundancy flap position, reports the fault alarm in time, and further improves the system reliability.

[0084] The present application adds a strategy for monitoring the square sum of flap positions of the redundancy computer, which effectively avoids the influence of flap position signal input jitter, position sensor output tolerance, and transient faults. At the same time, a dual-redundancy computer flap position voting strategy is adopted to effectively enhance the fault tolerance capability, ensuring that in the event of a single-channel failure of the computer, the valid position information of the corresponding channel of another redundancy computer can be used, and the flap position can be reported in a timely and effective manner. The present invention has strong versatility and portability, and can also effectively improve the reliability of the flap control system in terms of method and strategy.

[0085] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A dual-redundancy flap position voting monitoring method, characterized in that: The method comprises: A dual-redundant flap control computer is provided, each flap control computer is provided with two channels, one channel is used to collect the left flap position, and the other channel is used to collect the right flap position; Execute flap position range monitoring and flap position square sum monitoring strategies. When flap position range monitoring and flap position square sum monitoring of a channel of the redundant flap control computer simultaneously meet preset requirements, the flap position collected by the channel is judged to be valid, and the flap position of the channel is used for reporting; When any one of the flap position range monitoring and flap position square sum monitoring of this channel of this redundant flap control computer does not meet the preset requirements, it is judged that the flap position collected by this channel is invalid, and the dual redundant computer flap position voting strategy is executed to obtain the flap position of the same channel of another redundant flap control computer for reporting; When the flap positions of the corresponding channels of the dual-redundant flap control computer are all invalid, the flap position failure is directly reported; When both channels of the redundant flap control computer report valid flap positions, the left and right flap position difference range monitoring strategy is executed to monitor the left and right flap positions collected by each flap control computer, determine whether there is a flap asymmetry fault through the left and right flap positions, and report the flap asymmetry fault alarm information in a timely manner.

2. The dual-redundancy flap position voting monitoring method according to claim 1, characterized in that: The flap position range monitoring and flap position square sum monitoring strategies are executed, and when the flap position range monitoring and flap position square sum monitoring of a channel of the redundant flap control computer simultaneously meet preset requirements, it is determined that the flap position collected by the channel is valid, including: A first threshold value is set for a process of monitoring a flap position range, and a second threshold value is set for a process of monitoring a flap position sum of squares; Calculating the absolute value of the sine and cosine feedback signal of the flap position sensor collected by the flap control computer hardware circuit, comparing the absolute value with the first threshold value, and determining whether the flap position value collected by the flap control computer hardware circuit is valid; Performing square sum calculation on the sine and cosine feedback signals of the flap position sensor input to the flap control computer, comparing the square sum calculation result with the second threshold value, and determining whether the flap position fed back to the computer by the flap position sensor is valid; When the absolute value meets the first threshold value requirement and the square sum calculation result meets the second threshold value requirement, it is determined that the flap position collected by the channel is valid.

3. The dual-redundancy flap position voting monitoring method according to claim 2, characterized in that: The step of comparing the absolute value with the first threshold value to determine whether the flap position value collected by the flap control computer hardware circuit is valid includes: For each channel, when the absolute value exceeds the first threshold value, flap position over-threshold monitoring fault counting is performed to obtain a first count value; When the first count value does not exceed the preset range, it is judged that the flap position value collected by the flap control computer hardware circuit is valid, and the previous valid flap position is used for output; when the first count value exceeds the preset range, it is judged that the flap position value collected by the flap control computer hardware circuit is invalid, and a fault record is made.

4. The dual-redundancy flap position voting monitoring method according to claim 2, characterized in that: The step of comparing the square sum calculation result with the second threshold value to determine whether the flap position fed back to the computer by the flap position sensor is valid includes: For each channel, when the square sum calculation result exceeds the second threshold value, a square sum monitoring fault count is performed to obtain a second count value; When the second count value does not exceed the preset range, it is judged that the flap position fed back to the computer by the flap position sensor is valid, and the valid flap position of the previous beat is used for output; when the second count value exceeds the preset range, it is judged that the flap position fed back to the computer by the flap position sensor is invalid, and a fault record is made.

5. The dual-redundancy flap position voting monitoring method according to claim 1, characterized in that: The executing of the dual-redundancy computer flap position voting strategy to obtain the flap position of the same channel of another redundant flap control computer for reporting includes: sequentially determining whether the cross-channel data link between the dual redundant flap control computers is valid, whether the other redundant flap control computer is valid, and whether the flap position of the corresponding channel of the other redundant flap control computer is valid; If both are valid, the current redundant flap control computer will obtain the effective flap position of the other redundant flap control computer in real time through the cross-channel data link and report it.

6. The dual-redundancy flap position voting monitoring method according to claim 5, characterized in that: The determining whether the cross-channel data link between the dual-redundant flap control computers is effective includes: The dual-redundant flap control computer simultaneously sends fixed data to the corresponding channel of the other computer through the cross-channel data link. The dual-redundant flap control computer compares the received data with the fixed data to determine whether the cross-channel data link is valid.

7. The dual-redundancy flap position voting monitoring method according to claim 1, characterized in that: A command channel and a monitoring channel are provided in each flap control computer. The command channel and the monitoring channel respectively collect the left flap position and the right flap position. A cross-channel data link is provided between the command channel and the monitoring channel. A cross-channel data link is also provided between the dual-redundant flap control computers. Real-time data transmission is performed through the cross-channel data link.

8. The dual-redundant flap position voting monitoring method according to claim 7, characterized in that: The monitoring of the left and right flap positions collected by each flap control computer and judging whether there is a flap asymmetry fault according to the left and right flap positions include: For each flap control computer, the command channel and the monitoring channel periodically acquire the left flap position and the right flap position through the cross-channel data link within a fixed period; Calculating the angle difference between the left and right flaps according to the left flap position and the right flap position, and determining whether the angle difference exceeds a third threshold value; If the angle difference exceeds the third threshold value, fault counting processing is performed, and when the fault count reaches the third count value, it is determined that a flap asymmetry fault exists.

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