A master-slave mode stability augmentation control device

Abstract

The application provides a kind of main backup mode's stability augmentation control device, comprising: two groups of stability augmentation control module, wherein, one group of stability augmentation control module in two groups of stability augmentation control module is stability augmentation control main channel, another group of stability augmentation control module in two groups of stability augmentation control module is stability augmentation control standby channel;Stability augmentation control main channel and stability augmentation control standby channel realize the mutual switching of working channel by data interaction;Stability augmentation control main channel and stability augmentation control standby channel all include instruction branch and monitoring branch;Instruction branch is used to receive sensor signal, and first switch instruction is output through instruction branch, monitoring branch is used to receive sensor signal, and second switch instruction is generated through monitoring branch, when first switch instruction and switch instruction are consistent, output EHSV drive current. Through the main backup mode's stability augmentation control device, the security of stability augmentation control system is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of avionics equipment, and in particular to a stabilization control device in a primary-standby mode. Background Art

[0002] When the fly-by-wire flight control system and analog backup fail on special aircraft, mechanical backup alone cannot provide directional control. Therefore, a stability augmentation control (STAC) device is used to assist the pilot in directional control in mechanical backup mode. This STA is incorporated into the lower rudder control loop, introducing lateral acceleration and yaw rate to improve Dutch roll damping and enhance static directional stability.

[0003] The STA device uses a fiber-optic gyroscope to measure the aircraft's yaw rate and an accelerometer to measure its lateral acceleration. After calculating the control law, it outputs the corresponding control instructions, which are amplified by the servo drive and converted into drive current for the electro-hydraulic servo valve, completing stabilization control of the lower rudder. The STA device also serves as the management component of the STA system, responsible for overall system redundancy management, logical judgment, operating mode switching, system status reporting, fault alarms, and BIT functions for the entire STA system.

[0004] As a core component of the mechanical backup flight control system, the stability augmentation control device is of vital importance. If the stability augmentation control system fails during the mechanical backup control process, the aircraft will experience Dutch roll divergence, making the aircraft uncontrollable. Summary of the Invention

[0005] In view of this, the embodiments of this specification provide a stabilization control device in a primary-backup mode to achieve the purpose of enhancing the safety of the stabilization control system.

[0006] The embodiments of this specification provide the following technical solutions:

[0007] A stabilization control device in a primary / standby mode, comprising:

[0008] Two groups of stabilization control modules, wherein one of the two groups of stabilization control modules is a main stabilization control channel, and the other group of the two groups of stabilization control modules is a backup stabilization control channel;

[0009] The main channel of the stability augmentation control and the backup channel of the stability augmentation control realize the mutual switching of the working channels through data interaction;

[0010] The stability augmentation control main channel and the stability augmentation control backup channel both include a command branch and a monitoring branch;

[0011] The command branch is used to receive the sensor signal and output a first switch indication through the command branch. The monitoring branch is used to receive the sensor signal and generate a second switch indication through the monitoring branch. When the first switch indication and the second switch indication are consistent, the EHSV driving current is output.

[0012] Furthermore, the instruction branch and the monitoring branch both include:

[0013] Sensor acquisition unit, control law calculation unit, fault monitoring unit and cross-channel monitoring unit;

[0014] Collecting a plurality of sensor data through a sensor acquisition unit and inputting the plurality of sensor data into a control law calculation unit;

[0015] The control law calculation unit calculates the sensor data and generates a digital control command signal;

[0016] The cross-channel monitoring unit is used to monitor the consistency of the digital control command signal of the command branch and the digital control command signal of the monitoring branch;

[0017] The fault monitoring unit is used to monitor various faults in the branch where the fault monitoring unit is located.

[0018] Furthermore, the monitoring branch also includes:

[0019] Servo drive unit;

[0020] The servo drive unit is used to convert the digital control command signal into an EHSV drive current and output the EHSV drive current to the electro-hydraulic servo valve.

[0021] Furthermore, the monitoring branch also includes:

[0022] integrated warning unit;

[0023] The integrated warning unit is used to output an alarm signal when the digital control command signal of the command branch is inconsistent with the digital control command signal of the monitoring branch.

[0024] Furthermore, the cross-channel monitoring unit is also used to notify the integrated warning unit when the digital control command signal of the command branch is inconsistent with the digital control command signal of the monitoring branch.

[0025] Furthermore, the fault monitoring unit includes:

[0026] Sum value monitoring, model monitoring and self-monitoring;

[0027] The sum value monitoring is used to monitor the validity of the sensor signal of the branch where the sum value monitoring is located;

[0028] Model monitoring is used to determine whether the sensor signal after AD conversion meets the requirements or demands of the predetermined model;

[0029] Self-monitoring is used to monitor faults in the branch where the self-monitoring is located.

[0030] Furthermore, the fault monitoring unit further includes:

[0031] comparative monitoring;

[0032] Comparative monitoring is used to compare the sensor signals of the command branch and the monitoring branch;

[0033] If the sensor signal of the command branch is consistent with the sensor signal of the comparison monitoring, the sensor signal is transmitted to the control law.

[0034] Furthermore, the instruction branch and the monitoring branch also include:

[0035] Channel fault logic;

[0036] Channel fault logic is used to control the output switching indication via fault logic.

[0037] Compared with the prior art, the at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects:

[0038] The single channel of the active / standby mode stability augmentation control device adopts the working mode of command / monitoring branch comparison monitoring, thereby improving the fault detection coverage, enhancing the fault tolerance capability of the whole machine and achieving high integrity. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] 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.

[0040] Figure 1 This is a system structure block diagram of a stabilization control device in active / standby mode according to an embodiment of the present invention;

[0041] Figure 2 Schematic diagram of the working principle of the active-standby mode stabilization control device system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0043] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0044] like Figure 1 and Figure 2 As shown, a stabilization control device in a primary-standby mode includes:

[0045] Two sets of stabilization control modules, one of which serves as the primary stabilization control channel, and the other serves as the backup stabilization control channel. The primary and backup stabilization control channels exchange data to switch between active channels.

[0046] Both the main and backup STA channels include a command branch and a monitoring branch. The command branch receives sensor signals and outputs a first switching indication. The monitoring branch receives sensor signals and generates a second switching indication. When the first and second switching indications match, the EHSV drive current is output.

[0047] Both the command branch and the monitoring branch include:

[0048] The sensor acquisition unit, control law calculation unit, fault monitoring unit, and cross-channel monitoring unit are used to collect multiple sensor data and input them into the control law calculation unit. The control law calculation unit calculates the sensor data and generates a digital control command signal. The cross-channel monitoring unit is used to monitor the consistency of the digital control command signal of the command branch and the digital control command signal of the monitoring branch.

[0049] The fault monitoring unit is used to monitor various faults in the branch where the fault monitoring unit is located.

[0050] The monitoring branch also includes: a servo drive unit;

[0051] The servo drive unit is used to convert the digital control command signal into an EHSV drive current and output the EHSV drive current to the electro-hydraulic servo valve. Furthermore, the monitoring branch also includes a comprehensive warning unit. This comprehensive warning unit is used to output an alarm signal when the digital control command signal of the command branch and the digital control command signal of the monitoring branch are inconsistent.

[0052] The cross-channel monitoring unit is further used to notify the integrated warning unit when the digital control command signal of the command branch and the digital control command signal of the monitoring branch are inconsistent.

[0053] The fault monitoring unit includes:

[0054] Sum monitoring, model monitoring, and self-monitoring. Sum monitoring is used to check the validity of sensor signals in the branch where sum monitoring is performed. Model monitoring is used to determine whether the sensor signals after AD conversion meet the requirements or demands of the predetermined model. Self-monitoring is used to detect faults in the branch where self-monitoring is performed.

[0055] The fault monitoring unit also includes a comparison monitoring system. The comparison monitoring system is used to compare sensor signals from the command branch and the monitoring branch. If the sensor signal from the command branch matches the sensor signal from the comparison monitoring system, the sensor signal is transmitted to the control law.

[0056] The instruction branch and the monitoring branch also include: channel fault logic, which is used to control the output switch indication through fault logic.

[0057] Specifically, the main and standby modes of the stability augmentation control device use two channels: the main stability augmentation control channel and the standby stability augmentation control channel ( Figure 1 The left and right parts of the diagram (left and right) determine the operating status of each channel (primary and backup) based on the monitoring logic (self-monitoring and comparative monitoring) within each channel. If the primary channel is normal, it becomes the operating channel. If the primary channel is abnormal and the backup channel is normal, it automatically switches to the backup channel. The primary and backup channels communicate their respective operating statuses through data exchange.

[0058] A command branch / monitoring branch comparison monitoring working mode is adopted within a single channel, thereby improving the fault detection coverage and enhancing the fault tolerance capability of the entire machine.

[0059] As a core component of the mechanical backup flight control system, the stability augmentation control system (SAC) with both active and standby modes is crucial for its availability. If the SAC fails during mechanical backup, the aircraft will experience a roll divergence, rendering it uncontrollable. Therefore, even in mechanical backup mode, the SAC system utilizes a dual-dual redundant configuration. This employs a command / monitor branch comparison monitoring method within a single channel, improving fault detection coverage and enhancing the overall aircraft's fault tolerance, achieving high integrity.

[0060] The present invention's active / standby mode stabilization control device uses a fiber optic gyroscope (sensor) to collect the aircraft's yaw rate (sensor signal) and an accelerometer to collect the aircraft's lateral acceleration (sensor signal). After calculations based on the control law, the device outputs a corresponding digital control command signal. This signal is then monitored for consistency by a cross-channel monitoring unit before outputting the digital control command signal. The digital control command signal is amplified by a servo drive unit, converted into an EHSV drive current, and then electro-hydraulically output to the servo valve, completing stabilization control of the lower rudder.

[0061] At the same time, the stability augmentation control device is also the management component of the stability augmentation system, responsible for the redundancy management and logical judgment of the entire system, working mode conversion, and realizing system status reporting, fault alarm and BIT functions of the entire control system.

[0062] The command branch and monitoring branch of the stabilization control device with active and standby modes both collect (sensor signals). Both the command branch and the monitoring branch calculate the control law, and the two branches adopt a synchronous working mode. Both the command branch and the monitoring branch perform sensor ( Figure 2 Fault monitoring unit) and value monitoring, comparison monitoring, model monitoring and self-monitoring. Sum value monitoring is used for the validity detection of the sensor signal of this channel (sensor signal before AD conversion). Model monitoring is used to check whether the sensor signal after AD conversion meets the requirements or needs of the predetermined model. Self-monitoring is used for faults of this branch itself. The command branch and the monitoring branch cross-transmit the digital control command signals of the monitoring surfaces at each level after calculation by the control law calculation unit, and monitor the consistency of the digital control command signals calculated by the control law calculation unit through the cross-channel monitoring unit. When the vote is unanimous, the digital control command signals after the sensor signal calculation are output as EHSV drive current through the servo drive unit. The command branch outputs the switch indication through the channel fault logic control of this channel, and the monitoring branch outputs the switch indication through the channel fault logic control of this channel. When the vote is unanimous, the drive current is output. Comparison monitoring is used to compare whether the sensor signals after AD conversion of the command branch and the monitoring branch are consistent. If the two are consistent, the sensor signal is transmitted to the control law calculation unit for processing. If they are inconsistent, an alarm signal is output through the comprehensive alarm unit.

[0063] Beneficial effects of the embodiments of the present invention:

[0064] The embodiment of the present invention adopts a command / monitoring branch comparison monitoring working mode in a single channel of the active-standby mode stabilization control device, thereby improving the fault detection coverage, enhancing the fault tolerance capability of the entire machine, and achieving high integrity; the active-standby mode stabilization control device adopts two channels, active and standby, and adopts a command / monitoring branch comparison monitoring working mode in a single channel, thereby improving the fault detection coverage and enhancing the fault tolerance capability of the entire machine; the stabilization control device adopting a 2×2 redundancy configuration has strong electrical and physical isolation, a simple system structure, and a high fault detection rate. A single stabilization control device can achieve fault-safe fault tolerance.

[0065] The above description is merely a specific embodiment of the present invention and should not be construed as limiting the scope of the invention. Therefore, substitutions of equivalent components, or equivalent changes and modifications made within the scope of patent protection, should still fall within the scope of this patent. Furthermore, the technical features of the present invention may be freely combined with one another, with other technical solutions, and with other technical solutions.

Claims

1. A stabilization control device in active / standby mode, characterized in that: include: Two groups of stabilization control modules, wherein one of the two groups of stabilization control modules is a main stabilization control channel, and the other group of the two groups of stabilization control modules is a backup stabilization control channel; The main stabilization control channel and the backup stabilization control channel implement mutual switching of working channels through data interaction; The stability augmentation control main channel and the stability augmentation control backup channel both include a command branch and a monitoring branch; The command branch is used to receive a sensor signal and output a first switch indication through the command branch. The monitoring branch is used to receive a sensor signal and generate a second switch indication through the monitoring branch. When the first switch indication and the second switch indication are consistent, an EHSV drive current is output; Both the command branch and the monitoring branch include: Sensor acquisition unit, control law calculation unit, fault monitoring unit and cross-channel monitoring unit; Collecting a plurality of sensor data through the sensor acquisition unit and inputting the plurality of sensor data into the control law calculation unit; The control law calculation unit calculates the sensor data and generates a digital control command signal; The cross-channel monitoring unit is used to monitor the consistency of the digital control command signal of the command branch and the digital control command signal of the monitoring branch; The fault monitoring unit is used to monitor various faults of the branch where the fault monitoring unit is located; The fault monitoring unit includes: Sum value monitoring, model monitoring and self-monitoring; The sum value monitoring is used to monitor the validity of the sensor signal of the branch where the sum value monitoring is located; The model monitoring is used to determine whether the sensor signal after AD conversion meets the requirements or demands of a predetermined model; Self-monitoring is used to monitor faults in the branch where the self-monitoring is located; The fault monitoring unit further includes: comparative monitoring; The comparison monitoring is used to compare the sensor signal of the command branch and the sensor signal of the monitoring branch; If the sensor signal of the command branch is consistent with the sensor signal of the comparison monitoring, transmitting the sensor signal to the control law calculation unit; The instruction branch and the monitoring branch also include: Channel fault logic; The channel fault logic is used to output the switch indication through fault logic control.

2. The active / standby mode stabilization control device according to claim 1, characterized in that: The monitoring branch also includes: Servo drive unit; The servo drive unit is used to convert the digital control command signal into the EHSV drive current and output the EHSV drive current to the electro-hydraulic servo valve.

3. The active / standby mode stabilization control device according to claim 1, characterized in that: The monitoring branch also includes: integrated warning unit; The integrated warning unit is used to output an alarm signal when the digital control command signal of the command branch is inconsistent with the digital control command signal of the monitoring branch.

4. The active / standby mode stabilization control device according to claim 3, characterized in that: The cross-channel monitoring unit is further configured to notify the integrated warning unit when the digital control command signal of the command branch and the digital control command signal of the monitoring branch are inconsistent.

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