A redundant flight control actuating system and a redundant flight control actuating control method

Abstract

The application provides a kind of redundancy flight control actuating system and redundancy flight control actuating control method, belongs to flight control system technical field, in the system, LVDT displacement demodulation module converts the LVDT alternating current feedback signal output by actuator into the first direct current signal proportional to the displacement output by actuator;LVDT and value demodulation module converts the LVDT alternating current feedback signal output by actuator into fixed direct current signal;The electric signal is converted into the LVDT digital signal of this servo channel that can be processed by FPGA module after passing through A / D module, FPGA module processes the LVDT digital signal of this servo channel and the same type of LVDT digital signal from external multiple servo channels, and outputs the LVDT digital signal after voting, D / A module converts the signal into the analog signal of the LVDT after voting, subtracter outputs the corresponding voltage signal after difference between analog signal and servo command from FCC, and U / I current drive module converts the voltage signal into the current signal required for driving actuator to work.The application realizes the voting processing and channel fault logic of multiple signals through FPGA, and other links of position servo control are realized through analog circuit, the high reliability and high response characteristics of analog circuit are retained, and the control hardware complex drawbacks brought by pure analog circuit to realize redundancy servo control are reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of flight control system, and particularly relates to a multi-redundancy flight control actuation system and a multi-redundancy flight control actuation control method. BACKGROUND

[0002] Since the flight control system adopts fly-by-wire control technology, a multi-redundancy fly-by-wire flight control system is usually used to ensure the safety of the flight control system. The reliability and safety of the flight control actuation system, as an important component of the flight control system, are crucial.

[0003] The current fly-by-wire flight control actuation system mostly adopts analog servo control technology or digital servo control technology. Each of the two technologies has advantages and disadvantages. When the analog servo control technology is adopted, the system has the advantages of reliable operation, high frequency response, and good verifiability, but it is difficult to debug or modify the control algorithm, and when the system is electrically three-redundant or four-redundant, the control circuit is complex, which may reduce the basic reliability of the system. When the digital servo control technology is adopted, the system has the advantages of convenient debugging or modification of the control algorithm and simple control circuit, but the control software verification is complex, and if the verification is insufficient or there is a software bug, the system may lose the servo control function, and even endanger the flight safety. SUMMARY

[0004] To solve the problem of reduced reliability and low flight safety of the fly-by-wire flight control actuation system in the prior art, which mostly adopts analog servo control or digital servo control, the present application provides a multi-redundancy flight control actuation system and a multi-redundancy flight control actuation control method, which can ensure fast response of the system, effectively reduce the hardware complexity of the servo control unit, reduce the development and debugging difficulty of the product, improve the reliability of the system operation, and reduce the development cost of the product. It can be used in the development of multi-redundancy fly-by-wire flight control actuation system of helicopters or fixed-wing aircraft. The technical solution is as follows:

[0005] In the first aspect, a multi-redundancy flight control actuation system is provided, which comprises: an LVDT displacement demodulation module 1, an LVDT sum value demodulation module 2, an A / D module 3, an FPGA module 4, a D / A module 5, a subtracter 6, a U / I current driving module 8, and an actuator 10. The LVDT displacement demodulation module 1 is connected with the actuator 10 and the A / D module 3, the LVDT sum value demodulation module 2 is connected with the actuator 10 and the A / D module 3, the A / D module 3, the FPGA module 4, the D / A module 5, the subtracter 6, the U / I current driving module 8, and the actuator 10 are connected in sequence, and the subtracter 6 is connected with an external FCC.

[0006] The LVDT displacement demodulation module 1 converts the LVDT alternating current feedback signal output by the actuator 10 into a first direct current signal proportional to the displacement output by the actuator 10; the LVDT sum demodulation module 2 converts the LVDT alternating current feedback signal output by the actuator 10 into a fixed direct current signal; the first direct current signal and the fixed direct current signal are converted into LVDT digital signals of the servo channel by the A / D module 3, which can be processed by the FPGA module 4; the FPGA module 4 outputs the voted LVDT digital signal after processing the LVDT digital signals of the servo channel and the same type of LVDT digital signals from other servo channels; the D / A module 5 converts the voted LVDT digital signal into a voted LVDT analog signal; the subtracter 6 outputs a corresponding voltage signal after subtracting the voted LVDT analog signal from the servo command from the FCC; and the U / I current drive module 8 converts the voltage signal into a current signal required for driving the actuator 10 to work.

[0007] The actuator 10 includes an ESV 11 and an LVDT 12, and the U / I current drive module 8 converts the voltage signal output by the subtracter 6 into a current signal required for driving the ESV 11 to work.

[0008] The LVDT displacement demodulation module 1, the LVDT sum demodulation module 2, the subtracter 6, the KP module 7, the U / I current drive module 8, and the current limiting module 9 all adopt analog circuits, which have the characteristics of fast signal response and high operation reliability.

[0009] Further, the multiple-redundancy flight control actuation system further includes the KP module 7 between the subtracter 6 and the U / I current drive module 8, which is used for amplifying the voltage signal output by the subtracter 6 to ensure the fast response of the system to small voltage signals.

[0010] Further, the multiple-redundancy flight control actuation system further includes the current limiting module 9 between the U / I current drive module 8 and the actuator 10, which is used for limiting the current signal output by the U / I current drive module 8 to ensure that the maximum output current meets the rated current required for driving the ESV 11 to work.

[0011] In the second aspect, a multiple-redundancy flight control actuation control method is provided, which is used for the system of any one of the first aspect, and the method includes:

[0012] The LVDT displacement demodulation module 1 converts the LVDT alternating current feedback signal output by the actuator 10 into a direct current signal proportional to the displacement output by the actuator 10;

[0013] The LVDT and value demodulation module 2 converts the LVDT AC feedback signal output by the actuator 10 into a fixed DC signal;

[0014] The A / D module 3 converts the DC signal and the fixed DC signal into the LVDT digital signal of the servo channel for processing by the FPGA module 4;

[0015] The FPGA module 4 outputs the voted LVDT digital signal after processing the LVDT digital signal of the servo channel and the LVDT digital signal of the same type from the external multi-servo channel through the internal multi-redundancy LVDT displacement feedback signal voting algorithm;

[0016] The D / A module 5 converts the voted LVDT digital signal into the voted LVDT analog signal;

[0017] The subtracter 6 outputs the corresponding voltage signal after subtracting the voted LVDT analog signal from the servo command from the external FCC;

[0018] The U / I current drive module 8 converts the voltage signal into the current signal required for driving the actuator 10 to work.

[0019] The FPGA module 4 outputs the voted LVDT digital signal after processing the LVDT digital signal of the servo channel and the LVDT digital signal of the same type from the external multi-servo channel through the internal multi-redundancy LVDT feedback signal voting algorithm, including:

[0020] When the LVDT digital signal of the servo channel and the LVDT digital signal of the same type from the external multi-servo channel are both valid or both invalid, the average of the second largest value and the second smallest value is taken as the voted LVDT digital signal;

[0021] When there are three valid redundancies in the LVDT digital signal of the servo channel and the LVDT digital signal of the same type from the external multi-servo channel, the middle value of the three valid redundancies is taken as the voted LVDT digital signal;

[0022] When there are two valid redundancies in the LVDT digital signal of the servo channel and the LVDT digital signal of the same type from the external multi-servo channel, the average of the two valid redundancies is taken as the voted LVDT digital signal;

[0023] When there is a single redundancy valid in the LVDT digital signal of the servo channel and the LVDT digital signal of the same type from the external multi-servo channel, the single redundancy is taken as the voted LVDT digital signal.

[0024] Wherein, when the change range of the fixed direct current signal outputted by the LVDT and value demodulation module 2 is in the preset range, it is determined that the first LVDT digital signal is valid, and when the change range of the fixed direct current signal outputted by the LVDT and value demodulation module 2 is not in the preset range, it is determined that the first LVDT digital signal is invalid; wherein, the first LVDT digital signal is any one of the LVDT digital signal from the external multi-servo channel and the same type of LVDT digital signal.

[0025] The present application has at least the following beneficial effects:

[0026] The present application provides a kind of redundancy fly control actuating system and redundancy fly control actuating control method, the core control unit of system is FPGA, using the technical characteristics of FPGA, the voting processing of multiple signals and channel fault logic are realized by FPGA, other links of position servo control are realized by analog circuit, retain the high reliability and high response characteristics of analog circuit, also reduce the control hardware complex drawbacks brought by the implementation of pure analog circuit multiple servo control;And compared with the DSP+FPGA architecture commonly used in conventional fly control actuating system, reduce DSP and its related peripheral circuit, not only reduce the hardware cost of servo channel, but also avoid the problems of software programming and debugging verification brought by using DSP, reduce the workload of system product development. At the same time, compared with the conventional multiple LVDT feedback signal voting algorithm, the multiple LVDT feedback signal voting algorithm proposed in the present application not only reduces the voting operation amount of multiple LVDT feedback signals, but also improves the reliability of system operation. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a four-redundancy fly control actuating system composition schematic diagram of the present application;

[0028] Figure 2 It is a four-redundancy LVDT feedback signal voting method flow chart of the present application. DETAILED DESCRIPTION

[0029] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0030] Features and exemplary embodiments of various aspects of the present application will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one of ordinary skill in the art that the present application can be practiced without some or all of these specific details. The description of the embodiments is merely intended to provide a better understanding of the present application. The present application is not limited to any particular setting or method as set forth below, but covers any modifications, equivalents, and alternatives falling within the spirit of the present application. In the drawings and the following description, well-known structures and techniques have not been shown or described in detail in order to avoid unnecessarily obscuring the present application.

[0031] It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict, and each embodiment can be referred to and cited by each other. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0032] The present application will be further described below in conjunction with specific embodiments and the accompanying drawings.

[0033] Please refer to Figure 1 The present application is a multi-redundancy flight control actuator system, which comprises: an LVDT displacement demodulation module 1, an LVDT and value demodulation module 2, an A / D module 3, an FPGA module 4, a D / A module 5, a subtracter 6, a U / I current driving module 8, and an actuator 10. The LVDT displacement demodulation module 1 is connected with the actuator 10 and the A / D module 3, the LVDT and value demodulation module 2 is connected with the actuator 10 and the A / D module 3, the A / D module 3, the FPGA module 4, the D / A module 5, the subtracter 6, the U / I current driving module 8, and the actuator 10 are connected in sequence, and the subtracter 6 is connected with an external FCC,

[0034] The LVDT displacement demodulation module 1 converts the LVDT AC feedback signal output by the actuator 10 into a first DC electric signal proportional to the displacement output by the actuator 10; the LVDT sum demodulation module 2 converts the LVDT AC feedback signal output by the actuator 10 into a fixed DC electric signal; the first DC electric signal and the fixed DC electric signal are converted into LVDT digital signals of the servo channel by the A / D module 3, which can be processed by the FPGA module 4; the FPGA module 4 outputs the voted LVDT digital signal after processing the LVDT digital signals of the servo channel and the same type of LVDT digital signals from other servo channels; the D / A module 5 converts the voted LVDT digital signal into a voted LVDT analog signal; the subtracter 6 outputs a corresponding voltage signal after subtracting the voted LVDT analog signal from the servo command from the FCC; and the U / I current drive module 8 converts the voltage signal into a current signal required for driving the actuator 10 to work.

[0035] In an embodiment, referring to Figure 1 , the actuator 10 comprises an ESV 11 and an LVDT 12, and the U / I current drive module 8 converts the voltage signal output by the subtracter 6 into a current signal required for driving the ESV 11 to work.

[0036] In an embodiment, the LVDT displacement demodulation module 1, the LVDT sum demodulation module 2, the subtracter 6, the KP module 7, the U / I current drive module 8, and the current limiting module 9 all adopt analog circuits, which have the characteristics of fast signal response and high operation reliability.

[0037] In an embodiment, referring to Figure 1 , the multiple-redundancy flight control actuation system further comprises the KP module 7 between the subtracter 6 and the U / I current drive module 8, which is used for amplifying the voltage signal output by the subtracter 6 to ensure the fast response of the system to small voltage signals.

[0038] In an embodiment, referring to Figure 1 , the multiple-redundancy flight control actuation system further comprises the current limiting module 9 between the U / I current drive module 8 and the actuator 10, which is used for limiting the current signal output by the U / I current drive module 8 to ensure that the maximum output current meets the rated current required for driving the ESV 11 to work.

[0039] Referring to Figure 1 , an embodiment of the present application further provides a multiple-redundancy flight control actuation control method, which comprises the following steps:

[0040] The LVDT displacement demodulation module 1 converts the LVDT AC feedback signal outputted by the actuator 10 into a DC electric signal proportional to the displacement outputted by the actuator 10;

[0041] The LVDT and value demodulation module 2 converts the LVDT AC feedback signal outputted by the actuator 10 into a fixed DC electric signal;

[0042] The A / D module 3 converts the DC electric signal and the fixed DC electric signal into the LVDT digital signal of the servo channel for the FPGA module 4 to process;

[0043] The FPGA module 4 processes the LVDT digital signal of the servo channel and the LVDT digital signal of the same type from the external multi-servo channel through the internal multi-redundancy LVDT displacement feedback signal voting algorithm and outputs the voted LVDT digital signal;

[0044] The D / A module 5 converts the voted LVDT digital signal into the voted LVDT analog signal;

[0045] The subtracter 6 subtracts the voted LVDT analog signal from the servo command from the external FCC and outputs the corresponding voltage signal;

[0046] The U / I current drive module 8 converts the voltage signal into the current signal required for driving the actuator 10 to work.

[0047] The FPGA module 4 processes the LVDT digital signal of the servo channel and the LVDT digital signal of the same type from the external multi-servo channel through the internal multi-redundancy LVDT feedback signal voting algorithm and outputs the voted LVDT digital signal, including:

[0048] When the LVDT digital signal of the servo channel and the LVDT digital signal of the same type from the external multi-servo channel are both valid or both invalid, the average value of the second largest value and the second smallest value is taken as the voted LVDT digital signal;

[0049] When three redundancies are valid in the LVDT digital signal of the servo channel and the LVDT digital signal of the same type from the external multi-servo channel, the middle value of the valid three redundancies is taken as the voted LVDT digital signal;

[0050] When two redundancies are valid in the LVDT digital signal of the servo channel and the LVDT digital signal of the same type from the external multi-servo channel, the average value of the valid two redundancies is taken as the voted LVDT digital signal;

[0051] When there is a single redundancy valid in the LVDT digital signal of the current servo channel and the LVDT digital signal of the same type from the external multi-servo channel, the single redundancy is taken as the voted LVDT digital signal.

[0052] Wherein, when the variation range of the fixed DC signal output by the LVDT summing module 2 is within the preset range, the first LVDT digital signal is determined to be valid, and when the variation range of the fixed DC signal output by the LVDT summing module 2 is not within the preset range, the first LVDT digital signal is determined to be invalid; wherein the first LVDT digital signal is any one of the LVDT digital signal of the current servo channel and the LVDT digital signal of the same type from the external multi-servo channel.

[0053] Figure 1 Wherein, the 1# servo channel, the 2# servo channel and the 3# servo channel are the same as the current servo channel in composition and connection form. The embodiment of the application takes the four-redundancy flight control actuating system and the four-redundancy LVDT feedback signal voting algorithm as an example for description.

[0054] As shown in Figure 1 , the LVDT displacement demodulation module 1 converts the LVDT AC feedback signal output by the LVDT 12 on the actuator 10 into a DC signal proportional to the output displacement of the actuator 10, and the LVDT summing module 2 converts the LVDT AC feedback signal output by the LVDT 12 on the actuator 10 into a fixed DC signal. The aforementioned DC signal and fixed DC signal are converted into digital signals that can be processed by the FPGA module 4 through the A / D module 3, and after being processed by the four-redundancy LVDT feedback signal voting algorithm (as shown in Figure 2 ) in the FPGA module 4, the voted LVDT digital signal is output, and then the voted LVDT digital signal is converted into a voted LVDT analog signal through the D / A module 5. The subtracter 6 compares the voted LVDT analog signal with the FCC servo command and outputs a corresponding voltage signal, the KP module 7 amplifies the aforementioned voltage signal to ensure the rapid response of the system to small voltage signals, and the U / I current driving module 8 converts the amplified voltage signal into a current signal required for the ESV 11 on the actuator 10 to work, and the current limiting module 9 limits the aforementioned current signal to ensure that the maximum output current meets the rated current required for the ESV 11 to work.

[0055] In order to reduce the complexity of the four-redundancy LVDT displacement feedback signal voting algorithm, improve the reliability of the system operation, and reduce the workload of system verification, the four-redundancy LVDT feedback signal voting algorithm designed in the application is as follows Figure 2As shown, the validity of the LVDT feedback signal is only judged by the change range of the fixed DC output signal of the corresponding LVDT and value demodulation module 2 of the servo channel, when the output fixed DC signal is in the preset range, the LVDT feedback signal is valid, when the change range of the output fixed DC signal is not in the preset range, the LVDT feedback signal is invalid. There are at most five output results by this algorithm, and only division is needed to obtain the voting value of four-redundancy LVDT feedback signal or two-redundancy LVDT feedback signal; the voting algorithm of the conventional four-redundancy signal is shown in Table 1, not only three subtractions are needed for the four-redundancy LVDT displacement demodulation signal, there are at most eight output results, and if there is a singular fault (2:2 or 1:1:1:1), the fault signal cannot be removed, thereby affecting the control accuracy of the flight control actuation system and even the flight safety.

[0056] Table 1 Conventional four-redundancy signal voting algorithm

[0057]

[0058] The technical scheme of the present application has the advantages that the servo channel of the flight control actuation system is simple in composition, high in reliability, low in cost, fast in system response, and the voting algorithm of the redundant LVDT feedback signal is simple, small in operation amount, high in output result reliability, and small in system verification workload.

[0059] The above only expresses the embodiments of the present application, which are described in detail, but cannot be understood as the limitation of the patent scope. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which belong to the protection scope of the present application. In addition, the non-exhaustive part of the present application is the conventional technology.

Claims

1. A method for controlling a redundant flight control actuation, characterized in that, The application relates to a redundant flight control actuating system, which comprises an LVDT displacement demodulation module (1), an LVDT and value demodulation module (2), an A / D module (3), an FPGA module (4), a D / A module (5), a subtracter (6), a U / I current driving module (8) and an actuator (10); the LVDT displacement demodulation module (1) is connected with the actuator (10) and the A / D module (3), the LVDT and value demodulation module (2) is connected with the actuator (10) and the A / D module (3), the A / D module (3), the FPGA module (4), the D / A module (5), the subtracter (6), the U / I current driving module (8) and the actuator (10) are sequentially connected, and the subtracter (6) is connected with an external FCC, The LVDT displacement demodulation module (1) converts an LVDT alternating current feedback signal output by the actuator (10) into a first direct current signal in proportional relationship with the output displacement of the actuator (10); the LVDT and value demodulation module (2) converts the LVDT alternating current feedback signal output by the actuator (10) into a fixed direct current signal; the first direct current signal and the fixed direct current signal are converted into LVDT digital signals of a current servo channel by the A / D module (3) and can be processed by the FPGA module (4); the FPGA module (4) outputs an LVDT digital signal after voting by processing the LVDT digital signals of the current servo channel and the same type of LVDT digital signals from external multiple servo channels; the D / A module (5) converts the voted LVDT digital signal into a voted LVDT analog signal; the subtracter (6) outputs a corresponding voltage signal after subtracting the voted LVDT analog signal and a servo instruction from the FCC; and the U / I current driving module (8) converts the voltage signal into a current signal required for driving the actuator (10) to work; The actuator (10) comprises an ESV (11) and an LVDT (12), the LVDT (12) outputs an LVDT alternating current feedback signal, and the U / I current driving module (8) converts the voltage signal output by the subtracter (6) into a current signal required for driving the ESV (11) to work; The LVDT displacement demodulation module (1), the LVDT and value demodulation module (2), the subtracter (6), the KP module (7), the U / I current driving module (8) and the current limiting module (9) are all analog circuits; The redundant flight control actuating system further comprises the KP module (7) between the subtracter (6) and the U / I current driving module (8), which is used for amplifying the voltage signal output by the subtracter (6); The redundant flight control actuating system further comprises the current limiting module (9) between the U / I current driving module (8) and the actuator (10), which is used for limiting the current signal output by the U / I current driving module (8); The method comprises the following steps: The LVDT displacement demodulation module (1) converts the LVDT AC feedback signal output by the actuator (10) into a first DC electrical signal proportional to the displacement output by the actuator (10); The LVDT sum demodulation module (2) converts the LVDT AC feedback signal output by the actuator (10) into a fixed DC electrical signal; The A / D module (3) converts the first DC electrical signal and the fixed DC electrical signal into LVDT digital signals of the servo channel for processing by the FPGA module (4); The FPGA module (4) outputs the voted LVDT digital signal after processing the LVDT digital signals of the servo channel and the same type of LVDT digital signals from the external multiple servo channels through the internal multiple-redundancy LVDT displacement feedback signal voting algorithm; The D / A module (5) converts the voted LVDT digital signal into a voted LVDT analog signal; The subtracter (6) outputs a corresponding voltage signal after subtracting the voted LVDT analog signal from the servo command from the external FCC; The U / I current drive module (8) converts the voltage signal into a current signal required for driving the actuator (10) to work; The FPGA module (4) outputs the voted LVDT digital signal after processing the LVDT digital signals of the servo channel and the same type of LVDT digital signals from the external multiple servo channels through the internal multiple-redundancy LVDT feedback signal voting algorithm, including: When the LVDT digital signals of the servo channel and the same type of LVDT digital signals from the external multiple servo channels are both valid or both invalid, the average of the second largest value and the second smallest value is taken as the voted LVDT digital signal; When three redundancies are valid among the LVDT digital signals of the servo channel and the same type of LVDT digital signals from the external multiple servo channels, the middle value of the three valid redundancies is taken as the voted LVDT digital signal; When two redundancies are valid among the LVDT digital signals of the servo channel and the same type of LVDT digital signals from the external multiple servo channels, the average of the two valid redundancies is taken as the voted LVDT digital signal; When a single redundancy is valid among the LVDT digital signals of the servo channel and the same type of LVDT digital signals from the external multiple servo channels, the single redundancy is taken as the voted LVDT digital signal; When the variation range of the fixed DC electrical signal output by the LVDT sum demodulation module (2) is within the preset range, the first LVDT digital signal is determined to be valid, and when the variation range of the fixed DC electrical signal output by the LVDT sum demodulation module (2) is not within the preset range, the first LVDT digital signal is determined to be invalid; wherein the first LVDT digital signal is any one of the LVDT digital signals of the servo channel and the same type of LVDT digital signals from the external multiple servo channels.

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