Electric steering engine on-line zero setting method based on FLASH storage

Abstract

The invention relates to the field of electric steering engine design, in particular to an electric steering engine online zero setting method based on FLASH storage. The method comprises the following steps: receiving a computer bus instruction, and entering a zero setting mode after instruction receiving; specifying a certain partition preset by the FLASH as a zero-setting storage area which is not erased, performing traversal retrieval on all zero-setting information stored in the zero-setting storage area, reading a latest group of zero-setting information, and if no zero-setting information exists, defaulting that the zero-setting value is zero; the zeroing information comprises zeroing values of all steering engines; a computer bus instruction is received, and after the newest zero setting value is superposed with the bus instruction, a steering engine is driven to enable a control surface to move to a mechanical zero position; a computer bus instruction is received, and a current steering engine position return value is updated to be a zero setting value; and receiving a computer bus instruction, commanding to exit the zeroing mode, and writing the updated zeroing information into the zeroing storage area for storage.

Description

Technical Field

[0001] The invention relates to the field of electric steering gear design, and more specifically to an online zeroing method of an electric steering gear based on FLASH storage. Background Art

[0002] After the electric servo is installed on the aircraft, due to installation errors, there is still an error between the rudder surface and the wing surface when the electric servo is in the zero position, and manual zeroing is required to align the aircraft rudder surface and the wing surface. There are two common zeroing methods. One is to mechanically adjust the zero by adjusting the length of the electric servo output shaft or the rocker arm on the aircraft, which requires repeated disassembly of the servo, which is time-consuming and laborious. Another method is to use software online zeroing to store the servo position when the aircraft rudder surface and the wing surface are aligned as the zero position in the non-volatile storage medium of the servo controller, but this requires additional hardware costs and cannot be applied to low-cost servo systems without non-volatile storage media. Summary of the invention

[0003] The purpose of the present invention is to provide an online zeroing method for an electric servo based on FLASH storage, which can meet the demand for online zeroing of the electric servo and meet the low cost requirement without increasing the hardware cost.

[0004] Technical solution:

[0005] Provided is a method for online zeroing of an electric servo based on FLASH storage, comprising the following steps:

[0006] S1, receiving the computer bus instruction, and being ordered to enter the zeroing mode;

[0007] S2, designate a preset partition of FLASH as a zeroing storage area that will not be erased, search and retrieve all zeroing information stored in the zeroing storage area, read the latest set of zeroing information, and if there is no zeroing information, the default zeroing value is zero; the zeroing information includes the zeroing values ​​of all servos;

[0008] S3, receiving the computer bus command, superimposing the latest zeroing value on the bus command and driving the servo to move the rudder surface to the mechanical zero position;

[0009] S4, receiving a computer bus instruction, and being instructed to update the current servo position report value to a zero value;

[0010] S5, receiving a computer bus instruction, being instructed to exit the zero adjustment mode, and writing the updated zero adjustment information into the zero adjustment storage area for storage.

[0011] Furthermore, the condition for entering the zeroing mode is that the aircraft ground indicator in the bus command should be "ground mode" and the zeroing mode should be "enter".

[0012] Furthermore, the zeroing information in the FLASH partition is traversed and retrieved, and the latest set of zeroing information is read. If there is no zeroing information, the default zeroing value is zero, including:

[0013] The zeroing information includes an identification word, n zeroing values ​​and a checksum. The identification word is used to confirm the position of the zeroing information during traversal and retrieval; n is the number of servos;

[0014] When traversing and searching, the last set of zeroing information is the current valid zeroing information. After the last set of zeroing information is detected, the zeroing value is read and exited;

[0015] When searching through the data, if there is no set of zeroing information, the default zeroing value is zero and the system exits.

[0016] After reading the zeroing information, check whether the checksum is correct. If the checksum is wrong, the default zeroing value is zero.

[0017] Further, receiving a computer bus instruction, superimposing the latest zeroing value on the bus instruction, and driving the steering gear to move the rudder surface to a mechanical zero position, including:

[0018] In zeroing mode, the electric servo is still in working state and moves under control according to the bus instructions.

[0019] Further, receiving a computer bus instruction and being instructed to update the current servo position report value to a zero value includes:

[0020] In the bus command, when the zero position write flag of a servo is "write", the corresponding zero value in the read zero adjustment information is updated to the current position report value of the servo.

[0021] Furthermore, the zeroing storage area can be used to write zeroing values ​​to multiple servos respectively, and can also write zeroing values ​​to a certain servo multiple times.

[0022] Further, receiving a computer bus instruction, being instructed to exit the zeroing mode, and writing the zeroing information into the FLASH storage, including:

[0023] The condition for entering the zeroing mode is that the aircraft air-ground indicator in the bus command should be "air mode" or the zeroing mode should be "exit";

[0024] When exiting the zeroing mode, the new zeroing information is written into the zeroing storage area;

[0025] The new zero adjustment information is written to the location after the last zero adjustment information, and all previous zero adjustment information is retained.

[0026] Beneficial effects:

[0027] (1) Realize online zeroing of electric servos, which improves the maintainability of electric servos;

[0028] (2) The zeroing value is stored in the FLASH of the servo controller processor, which reduces the hardware requirements;

[0029] (3) The zeroing value can be modified multiple times after entering the zeroing mode each time, and the data is only stored in the FLASH once when exiting, saving FLASH space;

[0030] (4) This method is universal and can be used for zeroing most servo systems that use digital processors. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly explain the technical solution implemented by the present invention, the following will be a simple explanation of the drawings needed in the description of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 It is a schematic diagram of the principle of an online zeroing method of an electric servo based on FLASH storage according to an embodiment of the present invention;

[0033] Figure 2 The present invention is a flowchart of an online zeroing method for an electric servo based on FLASH storage according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0035] The features of various aspects of the embodiments of the present invention will be described in detail below. In the detailed description below, many specific details are proposed to fully understand the present invention. However, it is obvious to those skilled in the art that the present invention can also be implemented without these specific details. The following description of the embodiments is only for a better understanding of the present invention by illustrating examples of the present invention. The present invention is not limited to any specific settings and methods provided below, but covers all product structures, any improvements, replacements, etc. of the methods covered without departing from the spirit of the present invention. In the various drawings and the following description, known structures and technologies are not shown to avoid unnecessary ambiguity of the present invention.

[0036] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other, and the embodiments can refer to and quote each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0037] The present invention provides an online zeroing method for an electric servo based on FLASH storage, such as Figure 1 As shown, the following steps are included:

[0038] Step 1, receiving a computer bus instruction and being instructed to enter a zeroing mode;

[0039] Step 2, traverse and search the zeroing information in the FLASH partition, read the latest set of zeroing information, if there is no zeroing information, the default zeroing value is zero;

[0040] Step 3, receiving the computer bus instruction, driving the steering gear to move the rudder surface to the mechanical zero position;

[0041] Step 4, receiving a computer bus instruction, and being instructed to update the current servo position to a zero value;

[0042] Step 5, receiving a computer bus instruction, being instructed to exit the zeroing mode, and writing the zeroing information into the FLASH storage.

[0043] Figure 2 The present invention is a flowchart of an online zeroing method for an electric servo based on FLASH storage according to an embodiment of the present invention.

[0044] like Figure 2 As shown, the method may include the following steps:

[0045] Step 1: Execute [S101], when receiving the bus instruction indicating that the aircraft ground identification is "ground mode" and the zeroing mode should be "enter", start entering the zeroing mode;

[0046] Step 2: Execute [S102] to initialize the zero retrieval count value to zero_count=0;

[0047] Step 3: Execute [S103], start searching for zero adjustment information "identification word" of 55AA in the predetermined FLASH area, detect 55AA in sequence, and when the first two bytes of the FLASH area are found to be 55AA, zero_count=1, execute

[104] , when the first two bytes of the FLASH area are found to be FFFF, execute

[107] , otherwise, execute

[108] ;

[0048] Step 4: Execute [S104], sequentially detect 55AA backwards, each time a zero_count is detected, zero_count=zero_count+1, until 8 bytes are detected without 55AA, at which point zero_count=n, and the search ends, recording the zero position and storing it in the address zero_add=n*8+1;

[0049] Step 5: Execute [S105], set the value at the FLASH address offset (n-2)*8+2 to be the zeroing value of servo 1 zero_1, and the value at the FLASH address offset (n-2*8+4 to be the zeroing value of servo 1 zero_1;

[0050] Step 6: Execute [S106] to check whether the checksum is correct. If the value at (n-2)*8+6 is the lower 16 bits of the value at (n-2)*8+2 plus the value at (n-2)*8+4, the check passes and the process goes to

[109] . Otherwise, the process goes to [S107].

[0051] Step 7: Execute [S107], initialize the zero value of servo 1 zero_1 = 0 and the zero value of servo 2 zero_2 = 0, record the zero position and store it in address zero_add = 1, and transfer to

[109] ;

[0052] Step 8: Execute [S108]. When it is found that 8 consecutive bytes are FFFF, initialize the zero value of servo 1 zero_1=0 and the zero value of servo 2 zero_2=0, record the zero position and store it in the address zero_add=the first FF address, and transfer to

[109] . Otherwise, transfer to

[116] .

[0053] Step 9: Execute [S109], the bus sends a command to the servo 1, and visually observes that the control surface 1 is flush with the wing;

[0054] Step 10: Execute [S110], the bus sends the "write zero position" command to the servo 1, at this time the position of the servo 1 ace_pos=p1, set zero_1=p1;

[0055] Step 11: Execute [S111], the bus sends a command to the servo 2, and visually observes that the control surface 2 is flush with the wing;

[0056] Step 12: Execute [S112], the bus sends the "write zero position" command to the servo 2, at this time the position of the servo 2 ace_pos = p2, set zero_2 = p2;

[0057] Step 13: Execute [S113], the bus sends an "exit zeroing" instruction;

[0058] Step 14: Execute [S114], recalculate the checksum, checksum check = zero_1 + zero_2, and take the lower 16 bits;

[0059] Step 15: Execute [S115], write 55AA to the address zero_add of FLASH, write zero_1 to the address zero_add+2, write zero_2 to the address zero_add+4, and write check to the address zero_add+6;

[0060] Step 16: Execute [S116], exit zero adjustment, and zero adjustment is completed.

[0061] The present invention provides an online zeroing method for an electric servo based on FLASH storage, which realizes the storage, reading, use and update of zero position information, and can meet the repeated online zeroing requirements of the electric servo on the aircraft control surface after installation. The invention receives zeroing information through a computer bus, and stores the current position of the electric servo as a zeroing value record in the processor FLASH; when the servo software is initialized, the zeroing values ​​in the corresponding partition of the FLASH are traversed, and the latest zeroing value is added to the computer bus position instruction to realize the servo control of the electric servo under the new zero position; when updating the zeroing information, the latest zeroing value in the FLASH is read, and the updated zeroing value is stored in sequence after the original zeroing value.

Claims

1. An online zeroing method for an electric servo based on FLASH storage, characterized in that: The following steps are involved: S1, receiving the computer bus instruction, and being ordered to enter the zeroing mode; S2, designate a preset partition of FLASH as a zeroing storage area that will not be erased, search and retrieve all zeroing information stored in the zeroing storage area, read the latest set of zeroing information, and if there is no zeroing information, the default zeroing value is zero; the zeroing information includes the zeroing values ​​of all servos; S3, receiving the computer bus command, superimposing the latest zeroing value on the bus command and driving the servo to move the rudder surface to the mechanical zero position; S4, receiving a computer bus instruction, and being instructed to update the current servo position report value to a zero value; S5, receiving a computer bus instruction, being instructed to exit the zero adjustment mode, and writing the updated zero adjustment information into the zero adjustment storage area for storage.

2. The method according to claim 1, characterized in that: The conditions for entering the zeroing mode are: the aircraft ground indicator in the bus command should be "ground mode" and the zeroing mode should be "enter".

3. The method according to claim 1, characterized in that: S2, traverse and search the zeroing information in the FLASH partition, read the latest set of zeroing information, if there is no zeroing information, the default zeroing value is zero, including: The zeroing information includes an identification word, n zeroing values ​​and a checksum. The identification word is used to confirm the position of the zeroing information during traversal and retrieval; n is the number of servos; When traversing and searching, the last set of zeroing information is the current valid zeroing information. After the last set of zeroing information is detected, the zeroing value is read and exited; When searching through the data, if there is no set of zeroing information, the default zeroing value is zero and the system exits. After reading the zeroing information, check whether the checksum is correct. If the checksum is wrong, the default zeroing value is zero.

4. The method according to claim 1, characterized in that: S3, receiving the computer bus command, superimposing the latest zeroing value on the bus command and driving the servo to move the rudder surface to the mechanical zero position, including: In zeroing mode, the electric servo is still in working state and moves under control according to the bus instructions.

5. The method according to claim 1, characterized in that: S4, receiving the computer bus instruction, and updating the current servo position report value to a zero value, including: In the bus command, when the zero position write flag of a servo is "write", the corresponding zero value in the read zero information is updated to the current position report value of the servo.

6. The method according to claim 5, characterized in that The zeroing storage area can be used to write zeroing values ​​to multiple servos separately, or to write zeroing values ​​to a certain servo multiple times.

7. The method according to claim 1, characterized in that: S5, receiving a computer bus instruction, being instructed to exit the zeroing mode, and writing the zeroing information into the FLASH storage, including: The condition for entering the zeroing mode is that the aircraft air-ground indicator in the bus command should be "air mode" or the zeroing mode should be "exit"; When exiting the zeroing mode, the new zeroing information is written into the zeroing storage area; The new zero adjustment information is written to the location after the last zero adjustment information, and all previous zero adjustment information is retained.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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