A dual-redundant flap position voting monitoring method

Abstract

The present application provides a dual-redundant flap position voting monitoring method, belonging to the technical field of flight control systems, including setting up a dual-redundant flap control computer. 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, the flap position collected by the channel is valid and reported; when any monitoring does not meet the preset requirements, the flap position of the channel is judged to be invalid, and the flap position of the same channel of the other redundant flap control computer is obtained and reported; when the flap positions of the corresponding channels of the dual-redundant flap control computer are both invalid, the flap position is directly reported as invalid; 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 determine whether there is a flap asymmetry fault and report an alarm information. The present application enhances the responsiveness, safety and reliability of the system.

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 and monitoring method. Background Art

[0002] In the flight control system, flap position sensors detect flap deflection angles, convert them into voltage signals, and transmit them via hardwired wires to the flap control computer. The computer then monitors the position of the left and right flaps and reports the results to the pilot in real time. This forms a closed-loop control loop with the flap control handle sensors to monitor the aircraft's flap status. Therefore, the computer's ability to accurately collect flap position information in real time has a significant impact on the safety of the flight control system.

[0003] To ensure the computer acquires more accurate flap position information and reports monitoring status promptly, the present invention addresses flap position information from three perspectives. Current flap position acquisition methods fail to account for position sensor output deviations and flap position acquisition jitter. This results in a lack of accuracy in the flap position acquisition source, further reducing the 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 security.

[0005] The present application provides a dual-redundant 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 acquire the left flap position, and the other channel is used to acquire the right flap position;

[0007] Execute 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, the flap position collected by the channel is determined to be valid, and the flap position of the channel is used for reporting.

[0008] When either the flap position range monitoring or the flap position square sum monitoring of this channel of the redundant flap control computer fails to meet the preset requirements, the flap position collected by this channel is judged to be invalid, and the dual-redundant computer flap position voting strategy is executed to obtain the flap position of the same channel of the other 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. The left and right flap positions are used to determine whether there is a flap asymmetry fault, and the flap asymmetry fault alarm information is reported in a timely manner.

[0011] According to a specific implementation of an embodiment of the present application, executing the 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 preset requirements, then determining that the flap position collected by the channel is valid includes:

[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 signals of the flap position sensor acquired by the flap control computer hardware circuit, comparing the absolute value with the first threshold value, and determining whether the flap position value acquired by the flap control computer hardware circuit is valid;

[0014] performing a square sum calculation on the sine and cosine feedback signals of the flap position sensor input to the flap control computer, and 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;

[0015] When the absolute value meets the first threshold requirement and the square sum calculation result meets the second threshold 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, 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 determined that the flap position value collected by the flap control computer hardware circuit is valid, and the last valid flap position is used for output; when the first count value exceeds the preset range, it is determined that the flap position value collected by the flap control computer hardware circuit is invalid, and a fault record is performed.

[0019] According to a specific implementation of the embodiment of the present application, 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, performing square sum monitoring fault counting to obtain a second count value;

[0021] When the second count value does not exceed the preset range, it is determined that the flap position fed back to the computer by the flap position sensor is valid, and the last valid flap position is used for output; when the second count value exceeds the preset range, it is determined 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 the dual-redundant computer flap position voting strategy to obtain the flap position of the same channel of another redundant flap control computer for reporting includes:

[0023] determining in sequence 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 redundancy flap control computer will obtain the valid flap position of the other redundancy 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, 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. 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.

[0028] According to a specific implementation of an embodiment of the present application, monitoring the left and right flap positions collected by each flap control computer and determining whether a flap asymmetry fault exists based on the left and right flap positions includes:

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

[0030] Calculating an 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. 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. On the basis of ensuring that the computer correctly acquires the flap position, the validity of the flap position output by the sensor is further determined. This not only monitors the validity of the flap position acquisition by the monitoring computer, but also ensures the correctness of the link transmission between the flap position and the computer after the flap position is output from the sensor, thereby avoiding flap position information input jitter and position sensor output out-of-tolerance. In addition, the dual-redundancy computer flap position voting strategy further weakens the computer's dependence on the single-redundancy computer, enhancing the system's responsiveness and reliability. Simultaneously, based on the lack of a monitoring information reporting strategy for flap position out-of-tolerance based on the current flap position acquisition strategy, the left and right flap position difference range monitoring strategy adopted by this method makes the fault monitoring record of the single-redundancy computer more complete, helps the computer analyze the left and right flap states, and promptly generates fault warnings to the system.

[0034] Therefore, the present invention has added flap position range monitoring and flap position square sum monitoring strategies in terms of function, using dual means to avoid the influence of position sensor output information deviation and computer flap position acquisition jitter; the present invention has introduced 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 normally output valid flap position information, 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 asymmetry fault of the single-redundancy computer, making it clearer for the pilot to predict and locate the fault; the present invention has a high 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 following briefly introduces the drawings required for use in the embodiments. 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 any creative work.

[0036] Figure 1 Flowchart of a dual-redundant flap position voting monitoring method according to an embodiment of the present invention;

[0037] Figure 2 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 embodiments 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 embodiments, 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 features in the following embodiments and embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of this 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 this 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 an apparatus and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this apparatus 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 components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0043] Additionally, in the following description, specific details are provided to provide a thorough understanding of the examples. However, one skilled in the art will appreciate that the aspects described can be practiced without these specific details.

[0044] The embodiment of the present application provides a dual-redundant flap position voting monitoring method. Figures 1 to 3 Provide a detailed description.

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

[0046] Step 1: Set up a dual-redundant flap control computer. Each flap control computer has two channels, one for collecting the left flap position and the other for collecting the right flap position.

[0047] Step 2: Execute 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 preset requirements, the flap position collected by the channel is determined to be valid, and the flap position of the channel is used for reporting.

[0048] Step 3: When either the flap position range monitoring or the flap position square sum monitoring of the current channel of the current redundant flap control computer fails to meet preset requirements, the flap position acquired by the current channel is determined to be invalid, and the dual-redundant computer flap position voting strategy is executed to obtain the flap position of the same channel of the other 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. The left and right flap positions are used to determine whether there is a flap asymmetry fault, and the flap asymmetry fault alarm information is reported in a timely manner.

[0051] In this embodiment, the flap control computer is implemented to improve the flap control computer's ability 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 enable a single channel of the flap control computer to monitor the flap position absolute value range and square sum results after obtaining the flap position of this channel, respectively, to vote on whether the flap position of the single channel is valid. When the flap position of a single channel of the single-redundancy computer fails, the dual-redundancy computer flap position voting strategy transmits the valid 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 enables real-time monitoring of the left and right flap position difference values ​​collected by the dual channels of this redundancy computer to record flap asymmetry faults.

[0052] The flap position range monitoring and flap position sum-of-squares monitoring strategies are described as valid only when they simultaneously meet both the flap position acquisition threshold and the sum-of-squares monitoring threshold. Therefore, this embodiment incorporates both flap position range monitoring and the sum-of-squares monitoring strategies, employing dual measures to mitigate the effects of position sensor output errors and computer jitter during flap position acquisition.

[0053] The dual-redundant computer flap position voting strategy utilizes a cross-channel data link to obtain the valid flap position of the corresponding channel of the other redundant computer when the flap position of one channel of the single redundant computer fails. This strategy ensures that even if the flap position information of a single channel of the single redundant computer fails, the flap control computer can still output valid flap position information, thereby improving the reliability of the flap control computer. The cross-channel data links between the two computers and between the channels enable cross-comparison of dual-redundant and inter-channel data, resulting in a high output rate, ensuring real-time responsiveness of the system and providing fault tolerance for the flap control computer.

[0054] The described left and right flap position difference range monitoring strategy uses software to set a fixed monitoring cycle. When both channels of the redundant flap control computer report valid flap position information, the computer's internal command channel and monitoring channel obtain the left and right flap position information via a cross-channel data link to determine whether a flap asymmetry fault exists in that channel. If so, a 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 flap asymmetry faults in a single redundant computer, making it easier for pilots to predict and locate faults.

[0055] In one embodiment, referring to Figure 1The 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, then the flap position collected by the channel is determined to be 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 signals of the flap position sensor acquired by the flap control computer hardware circuit, comparing the absolute value with the first threshold value, and determining whether the flap position value acquired by the flap control computer hardware circuit is valid;

[0058] performing a square sum calculation on the sine and cosine feedback signals of the flap position sensor input to the flap control computer, and 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;

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

[0060] In specific implementations, the flap position sensor responds after receiving a fixed excitation from the computer output, outputting the flap position to the flap control computer. There are multiple possibilities, such as inaccurate excitation signals, out-of-tolerance sensor outputs, and jitter during flap position transmission, resulting in unpredictable accuracy of the flap position collected by the computer. If not monitored, this will lead to incorrect flap position collection and reporting. At the same time, various possibilities, such as errors in the flap position collected by the computer and errors in the flap position reported by the sensor, make fault location difficult. Therefore, the flap position range monitoring and flap position square sum monitoring strategies, when it is determined that the absolute value of the flap position collected by the computer on this channel is within the threshold range, further determine whether the flap position square sum monitoring of this channel is within the threshold. Only when these two points are met will the flap position information of this channel be determined to be reported.

[0061] In one embodiment, comparing the absolute value with the first threshold value to determine whether the flap position value acquired 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 determined that the flap position value collected by the flap control computer hardware circuit is valid, and the last valid flap position is used for output; when the first count value exceeds the preset range, it is determined that the flap position value collected by the flap control computer hardware circuit is invalid, and a fault record is performed.

[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, performing square sum monitoring fault counting to obtain a second count value;

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

[0067] In practice, to eliminate transient faults, each channel monitors the current valid flap position in real time during flap position range monitoring. When the flap position falls within the valid voltage range, a count is performed. If the count value does not exceed the threshold, the valid flap position from the previous cycle is used for output. Only when the count value exceeds the threshold is the flap position monitoring fault determined for that channel's computer. Simultaneously, flap position sum-of-squares monitoring also uses counting to perform monitoring voting. If any monitoring function fails, a dual-redundant computer flap position voting strategy is employed to obtain the flap position of the other channel for output.

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

[0069] determining in sequence 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 redundancy flap control computer will obtain the valid flap position of the other redundancy 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 a cross data link. If the flap position collected and monitored by a certain channel of the current redundant computer fails, the valid flap position of the same channel of the other redundant computer can be directly reported.

[0072] In this embodiment, the dual-redundant computer flap position voting strategy utilizes a cross-channel data link to obtain the valid flap position of the corresponding channel of the other redundant computer when the flap position of one channel on a single redundant computer fails. Specifically, if the flap position monitoring or sum-of-squares monitoring of the current redundant computer fails and a fault record is reported, the flap position monitoring of the single redundant computer channel is determined to be invalid. To ensure effectiveness, the strategy first determines whether the cross-channel data link between the two computers is normal, then whether the other redundant computer is valid, and finally whether the flap position of the corresponding channel on the other redundant computer is valid. If all of these determinations are valid, the valid flap position information of the corresponding channel on the other redundant computer is used when the flap position of the current channel fails. This strategy maximizes the cooperation of the dual-redundant computers, ensuring that each computer reports valid flap position information in a timely manner. This improves the reliability of the flap control computer. Furthermore, the cross-channel data link provides a high 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, ensuring real-time data transmission.

[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 a flap asymmetry fault exists based on the left and right flap positions includes:

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

[0078] Calculating an 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. 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 regular intervals within 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 and processed. When the count reaches a certain value, it is determined to be 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 issue a fault alarm, effectively improving the fault record and fault alarm function of the flap control computer.

[0081] The present invention provides a highly reliable dual-redundant computer flap position voting monitoring strategy. This strategy is discussed from three perspectives: a single-redundant computer flap position range monitoring and flap position sum-of-squares monitoring strategy; a dual-redundant computer flap position voting strategy; and a left-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 of 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 redundancy 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, a fault alarm of no available flap position is output to the system.

[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 this redundancy computer, and votes on the asymmetric fault of the flap position of this redundancy computer, reporting the fault alarm in time, and further improving system reliability.

[0084] This application adds a strategy for monitoring the square sum of flap positions in the redundancy computer, effectively avoiding the impact of flap position signal input jitter, position sensor output tolerance, and transient faults. It also adopts a dual-redundancy computer flap position voting strategy, effectively enhancing fault tolerance and ensuring that in the event of a single computer channel failure, the valid position information of the corresponding channel of the other redundancy computer can be used, enabling the flap position to be reported promptly and effectively. The present invention has strong versatility and portability, and can effectively improve the reliability of the flap control system in terms of method and strategy.

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

Claims

1. A dual-redundant 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 acquire the left flap position, and the other channel is used to acquire the right flap position; Execute 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, the flap position collected by the channel is determined to be valid, and the flap position of the channel is used for reporting. When either the flap position range monitoring or the flap position square sum monitoring of this channel of the redundant flap control computer fails to meet the preset requirements, the flap position collected by this channel is judged to be invalid, and the dual-redundant computer flap position voting strategy is executed to obtain the flap position of the same channel of the other 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. The left and right flap positions are used to determine whether there is a flap asymmetry fault, and the flap asymmetry fault alarm information is reported in a timely manner.

2. The dual-redundant 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, then 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 signals of the flap position sensor acquired by the flap control computer hardware circuit, comparing the absolute value with the first threshold value, and determining whether the flap position value acquired by the flap control computer hardware circuit is valid; performing a square sum calculation on the sine and cosine feedback signals of the flap position sensor input to the flap control computer, and 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; When the absolute value meets the first threshold requirement and the square sum calculation result meets the second threshold requirement, it is determined that the flap position collected by the channel is valid.

3. The dual-redundant flap position voting monitoring method according to claim 2, characterized in that: The comparing the absolute value with the first threshold value to determine whether the flap position value acquired 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 determined that the flap position value collected by the flap control computer hardware circuit is valid, and the last valid flap position is used for output; when the first count value exceeds the preset range, it is determined that the flap position value collected by the flap control computer hardware circuit is invalid, and a fault record is performed.

4. The dual-redundant 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, performing square sum monitoring fault counting to obtain a second count value; When the second count value does not exceed the preset range, it is determined that the flap position fed back to the computer by the flap position sensor is valid, and the last valid flap position is used for output; when the second count value exceeds the preset range, it is determined 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-redundant flap position voting monitoring method according to claim 1, characterized in that: The step of executing the dual-redundant computer flap position voting strategy to obtain the flap position of the same channel of another redundant flap control computer for reporting includes: determining in sequence 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 redundancy flap control computer will obtain the valid flap position of the other redundancy flap control computer in real time through the cross-channel data link and report it.

6. The dual-redundant flap position voting monitoring method according to claim 5, characterized in that: Determining whether the cross-channel data link between the dual-redundant flap control computers is valid 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-redundant flap position voting monitoring method according to claim 1, characterized in that: Each flap control computer is provided with a command channel and a monitoring channel, which 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.

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 determining whether a flap asymmetry fault exists based on the left and right flap positions include: For each flap control computer, the command channel and the monitoring channel periodically obtain the left flap position and the right flap position through the cross-channel data link within a fixed period; Calculating an 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. When the fault count reaches the third count value, it is determined that a flap asymmetry fault exists.

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