Airplane automatic trim instruction validity comprehensive discrimination method and system

Abstract

The invention belongs to the technical field of aircraft control, and particularly relates to an aircraft automatic trim instruction effectiveness comprehensive judgment method and system. The method comprises the following steps: S1, acquiring an automatic aircraft trimming instruction generated by an output processing module, and comparing the consistency of the automatic aircraft trimming instruction with a calculated value of a bus calculation module to determine the validity of the automatic aircraft trimming instruction; and S2, inputting the automatic balancing instruction of the aircraft into a pre-constructed mathematical model of a balancing control link, resolving the position of a steering column by the mathematical model of the balancing control link, and determining the validity of the automatic balancing instruction of the aircraft according to the deviation and duration between the resolved position of the steering column and the actual position of the steering column. According to the method, the invalid automatic trimming instruction can be detected, and the safety of the system is improved.

Description

Technical Field

[0001] The present application belongs to the field of aircraft control technology, and in particular relates to a method and system for comprehensively judging the effectiveness of an aircraft automatic trim instruction. Background Art

[0002] The automatic flight control system can realize the automatic driving function, thereby reducing the pilot's operating burden. In order to eliminate the transient state of the aircraft when the automatic control mode is exited, when the aircraft is in automatic flight control, the automatic flight control computer outputs automatic balancing control instructions to drive the longitudinal and lateral adjustment mechanisms, adjust the joystick and aircraft control surfaces, and realize automatic balancing of the aircraft.

[0003] The purpose of the automatic flight control system is to reduce the burden on pilots. Generally, the absence of automatic flight control will not affect flight safety. However, when the system fails and issues an erroneous automatic trim command, it will lead to abnormal flight control, which will affect flight safety. Summary of the invention

[0004] In order to solve the above problems, the present application provides a method and system for comprehensively judging the effectiveness of automatic trim instructions for an aircraft, so as to solve the problem of erroneous output of automatic trim instructions caused by insufficient self-detection and self-monitoring capabilities of the computer.

[0005] The first aspect of the present application provides a comprehensive determination method for the effectiveness of an automatic trimming instruction of an aircraft, wherein the automatic trimming instruction of the aircraft is generated after a bus calculation module solves the control law and is power amplified by an output processing module, and the automatic trimming instruction of the aircraft is sent to an efficiency adjustment mechanism to drive the control stick to move, wherein the method comprises: Step S1, collecting the aircraft automatic balancing instruction generated by the output processing module, and comparing the consistency with the solution value of the bus calculation module to determine the validity of the aircraft automatic balancing instruction; Step S2: input the aircraft automatic trim command into a pre-built mathematical model of the trim control link, calculate the control stick position by the mathematical model of the trim control link, and determine the validity of the aircraft automatic trim command based on the deviation and duration between the calculated control stick position and the actual control stick position.

[0006] Preferably, the method further comprises: The solution value of one bus calculation module is input into another bus calculation module, and the validity of the aircraft automatic balancing instruction is determined by comparing the solution values ​​of the two bus calculation modules for consistency.

[0007] Preferably, step S1 further comprises: When the aircraft automatic trim instruction given by the output processing module is inconsistent with the solution value of the bus calculation module, it is determined that the aircraft automatic trim instruction is invalid.

[0008] Preferably, step S2 further comprises: When the deviation between the control stick position calculated by the mathematical model of the trim control link and the actual control stick position exceeds a set value and lasts longer than a time threshold, it is determined that the aircraft automatic trim command is invalid. The set value is selected between 10% and 15%, and the time threshold is 0.2s.

[0009] The second aspect of the present application provides a comprehensive judgment system for the effectiveness of an automatic trimming instruction of an aircraft, wherein the automatic trimming instruction of the aircraft is generated after a bus calculation module solves the control law and is amplified by an output processing module, and the automatic trimming instruction of the aircraft is sent to an efficiency adjustment mechanism to drive the control stick to move, wherein the system comprises: The wraparound monitoring module is used to collect the aircraft automatic trimming instructions generated by the output processing module and compare the consistency with the solution value of the bus calculation module to determine the validity of the aircraft automatic trimming instructions; The model monitoring module is used to input the aircraft automatic balancing command into the pre-built mathematical model of the balancing control link, and the mathematical model of the balancing control link solves the control stick position. The validity of the aircraft automatic balancing command is determined based on the deviation and duration between the solved control stick position and the actual control stick position.

[0010] Preferably, the device further comprises: The comparison monitoring module is used to input the solution value of one bus calculation module into another bus calculation module, and to determine the validity of the aircraft automatic balancing instruction by performing consistency comparison on the solution values ​​of the two bus calculation modules.

[0011] Preferably, in the wraparound monitoring module, when the aircraft automatic balancing instruction given by the output processing module is inconsistent with the solution value of the bus calculation module, it is determined that the aircraft automatic balancing instruction is invalid.

[0012] Preferably, in the model monitoring module, when the deviation between the control stick position calculated by the mathematical model of the balancing control link and the actual control stick position exceeds a set value and the duration exceeds a time threshold, it is determined that the aircraft automatic balancing instruction is invalid, and the set value is selected from 10%-15%, and the time threshold is 0.2s.

[0013] The present application can detect invalid automatic trim instructions, thereby improving the safety of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a flow chart of a preferred embodiment of the method for comprehensively judging the effectiveness of automatic trim instructions for aircraft of the present application.

[0015] Figure 2 For this application Figure 1 Schematic diagram of pitch-up trim wrap monitoring in the illustrated embodiment.

[0016] Figure 3 For this application Figure 1 Schematic diagram of the pitch-up trim model monitoring of the illustrated embodiment. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical scheme and advantages of the implementation of this application clearer, the technical scheme in the implementation of this application will be described in more detail in combination with the drawings in the implementation of this application. In the drawings, the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The described implementation is a part of the implementation of this application, not all of the implementations. The implementation described below with reference to the drawings is exemplary and is intended to be used to explain this application, and cannot be understood as a limitation on this application. Based on the implementation in this application, all other implementations obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. The implementation of this application is described in detail below in combination with the drawings.

[0018] The first aspect of the present application provides a comprehensive judgment method for the effectiveness of an automatic trim command of an aircraft. The automatic trim command of the aircraft is generated by a bus calculation module after solving the control law and amplifying the power of the output processing module. The automatic trim command of the aircraft is sent to the efficiency adjustment mechanism to drive the control stick to move, such as Figure 1 As shown, the method includes: Step S1, collecting the aircraft automatic balancing instruction generated by the output processing module, and comparing the consistency with the solution value of the bus calculation module to determine the validity of the aircraft automatic balancing instruction; Step S2: input the aircraft automatic trim command into a pre-built mathematical model of the trim control link, calculate the control stick position by the mathematical model of the trim control link, and determine the validity of the aircraft automatic trim command based on the deviation and duration between the calculated control stick position and the actual control stick position.

[0019] The aircraft automatic trim control mainly includes three channels: longitudinal, lateral and heading. The following takes the pitch trim of the longitudinal channel as an example.

[0020] Figure 2 The generation process of pitch-up trim control instructions is given. The bus calculation module inside the automatic trim instruction computer solves the control law and first generates a pitch-up trim digital instruction. The pitch-up trim digital instruction is selected and converted by the output processing module and finally output to the adjustment mechanism to drive the joystick to achieve pitch-up adjustment control. Figure 2In the system, a dual-redundancy system is equipped. The bus calculation module A and the bus calculation module B have the same hardware and software configuration and use the same input data. The output pitch trim digital command is a 0 / 1 digital signal of TTL level. The output processing module selects to use the pitch trim digital command according to the health status reported by the bus calculation module A and the bus calculation module B. By default, the command of bus calculation module A is selected. The output processing module converts the pitch trim digital command into a pitch trim discrete command through power amplification and outputs it to the efficiency adjustment mechanism. When the efficiency adjustment mechanism drives the control stick to move, the stick position sensor feeds back a DC or AC analog signal to the computer.

[0021] The present application adds wraparound monitoring to the existing control system in step S1. First, data collection is performed. The analog discrete input module A and the analog discrete input module B respectively collect the pitch trim discrete instructions generated by the output processing module, and after conversion, they form wraparound signals, which are transmitted to the bus calculation module A and the bus calculation module B. The bus calculation module A compares the received wraparound signal with the pitch trim digital instruction A generated by itself to determine the validity of the pitch trim digital instruction A output by the bus calculation module A. In some optional implementations, when the aircraft automatic trim instruction given by the output processing module is inconsistent with the bus calculation module solution value, it is determined that the aircraft automatic trim instruction is invalid, and the wraparound monitoring fault should be reported. The bus calculation module B adopts a similar processing method for processing. After the wraparound monitoring fault occurs, the bus calculation module A and the bus calculation module B each invalidate the pitch adjustment digital instruction generated by themselves, and the output processing module forcibly invalidates the pitch adjustment discrete instruction.

[0022] It should also be noted that in actual engineering practice, the complete monitoring in the wraparound monitoring is to wraparound monitor and compare all trim instructions including the pitch up trim digital instructions and all other enumerated quantities. Only when all instructions wrap around correctly, it can be said that the pitch up trim signal wraparound monitoring is normal.

[0023] In step S2, the present application provides another monitoring method, which is mainly aimed at the situation where the automatic balancing command is erroneously output due to line short circuit or failure of the efficiency regulating electric mechanism. The basic principle is to inject the balancing command into the mathematical model of the real device and the balancing control link at the same time, and monitor the execution of the balancing command in real time by comparing the consistency between the real control stick position and the model stick position. Figure 3 A monitoring diagram of the pitch-up trim control model is given.

[0024] The mathematical model of the trim control link runs in the automatic trim command computer and its basic form is: , dzm is the model stick position, Cup is the pitch-up trim command, K is the transmission ratio, T is the first-order link time constant, and s is the Laplace operator. The difference between the actual stick position and the model stick position is used as a key condition to monitor the effectiveness of the aircraft automatic trim command.

[0025] In some optional implementations, step S2 further includes: When the deviation between the control stick position calculated by the mathematical model of the trim control link and the actual control stick position exceeds a set value and lasts longer than a time threshold, it is determined that the aircraft automatic trim command is invalid. The set value is selected between 10% and 15%, and the time threshold is 0.2s.

[0026] In addition to the above two methods, this application also provides a monitoring mode of comparative monitoring, such as Figure 2 As shown, in some optional embodiments, the method further comprises: The solution value of one bus calculation module is input into another bus calculation module, and the validity of the aircraft automatic balancing instruction is determined by comparing the solution values ​​of the two bus calculation modules for consistency.

[0027] like Figure 2 As shown, a comparison monitoring module is respectively set in the bus calculation module A and the bus calculation module B. The comparison monitoring module is used to obtain the output value of the other bus calculation module, and then compare it with the output value of the bus calculation module where it is located. If there is an inconsistency, the output value of the bus calculation module where it is located is set to invalid.

[0028] The comprehensive judgment method for the effectiveness of the automatic trimming instructions of the aircraft proposed in this application adopts a method combining comparative monitoring, wraparound monitoring and model monitoring, which solves the problem of erroneous output of automatic trimming instructions due to insufficient self-detection and self-monitoring capabilities of the computer, and improves the safety of the system.

[0029] The second aspect of the present application provides a comprehensive judgment system for the effectiveness of an automatic trim command of an aircraft corresponding to the above method, wherein the automatic trim command of the aircraft is generated after the bus calculation module solves the control law and the output processing module performs power amplification, and the automatic trim command of the aircraft is sent to the efficiency adjustment mechanism to drive the control stick to move. The system includes: The wraparound monitoring module is used to collect the aircraft automatic trimming instructions generated by the output processing module and compare the consistency with the solution value of the bus calculation module to determine the validity of the aircraft automatic trimming instructions; The model monitoring module is used to input the aircraft automatic balancing command into the pre-built mathematical model of the balancing control link, and the mathematical model of the balancing control link solves the control stick position. The validity of the aircraft automatic balancing command is determined based on the deviation and duration between the solved control stick position and the actual control stick position.

[0030] In some optional embodiments, the device further comprises: The comparison monitoring module is used to input the solution value of one bus calculation module into another bus calculation module, and to determine the validity of the aircraft automatic balancing instruction by performing consistency comparison on the solution values ​​of the two bus calculation modules.

[0031] In some optional implementations, in the wraparound monitoring module, when the aircraft automatic balancing instruction given by the output processing module is inconsistent with the solution value of the bus calculation module, it is determined that the aircraft automatic balancing instruction is invalid.

[0032] In some optional embodiments, in the model monitoring module, when the deviation between the control stick position calculated by the mathematical model of the balancing control link and the actual control stick position exceeds a set value and lasts for more than a time threshold, it is determined that the aircraft automatic trim command is invalid, and the set value is selected between 10% and 15%, and the time threshold is 0.2s.

[0033] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A comprehensive judgment method for the effectiveness of an automatic trim command of an aircraft, wherein the automatic trim command of the aircraft is generated after a bus calculation module solves the control law and an output processing module performs power amplification, and the automatic trim command of the aircraft is sent to an efficiency adjustment mechanism to drive the control stick to move, characterized in that: The method comprises: Step S1, collecting the aircraft automatic balancing instruction generated by the output processing module, and comparing the consistency with the solution value of the bus calculation module to determine the validity of the aircraft automatic balancing instruction; Step S2: input the aircraft automatic trim command into a pre-built mathematical model of the trim control link, calculate the control stick position by the mathematical model of the trim control link, and determine the validity of the aircraft automatic trim command based on the deviation and duration between the calculated control stick position and the actual control stick position.

2. The method for comprehensively judging the effectiveness of an aircraft automatic trim instruction according to claim 1, characterized in that: The method further comprises: The solution value of one bus calculation module is input into another bus calculation module, and the validity of the aircraft automatic balancing instruction is determined by comparing the solution values ​​of the two bus calculation modules for consistency.

3. The method for comprehensively judging the effectiveness of an aircraft automatic trim instruction according to claim 1, characterized in that: Step S1 further comprises: When the aircraft automatic balancing instruction given by the output processing module is inconsistent with the solution value of the bus calculation module, it is determined that the aircraft automatic balancing instruction is invalid.

4. The method for comprehensively judging the effectiveness of an aircraft automatic trim instruction according to claim 1, characterized in that: Step S2 further comprises: When the deviation between the control stick position calculated by the mathematical model of the trim control link and the actual control stick position exceeds a set value and lasts longer than a time threshold, it is determined that the aircraft automatic trim command is invalid. The set value is selected between 10% and 15%, and the time threshold is 0.2s.

5. A comprehensive judgment system for the effectiveness of an automatic trim command of an aircraft, wherein the automatic trim command of the aircraft is generated after the bus calculation module solves the control law and the output processing module performs power amplification, and the automatic trim command of the aircraft is sent to the efficiency adjustment mechanism to drive the control stick to move, characterized in that: The system comprises: The wraparound monitoring module is used to collect the aircraft automatic trimming instructions generated by the output processing module and compare the consistency with the solution value of the bus calculation module to determine the validity of the aircraft automatic trimming instructions; The model monitoring module is used to input the aircraft automatic balancing command into the pre-built mathematical model of the balancing control link, and the mathematical model of the balancing control link solves the control stick position. The validity of the aircraft automatic balancing command is determined based on the deviation and duration between the solved control stick position and the actual control stick position.

6. The method for comprehensively judging the effectiveness of an aircraft automatic trim instruction according to claim 5, characterized in that: The device further comprises: The comparison monitoring module is used to input the solution value of one bus calculation module into another bus calculation module, and to determine the validity of the aircraft automatic balancing instruction by performing consistency comparison on the solution values ​​of the two bus calculation modules.

7. The method for comprehensively judging the effectiveness of an aircraft automatic trim instruction according to claim 5, characterized in that: In the wraparound monitoring module, when the aircraft automatic balancing instruction given by the output processing module is inconsistent with the solution value of the bus calculation module, it is determined that the aircraft automatic balancing instruction is invalid.

8. The method for comprehensively judging the effectiveness of an aircraft automatic trim instruction according to claim 5, characterized in that: In the model monitoring module, when the deviation between the control stick position calculated by the mathematical model of the balancing control link and the actual control stick position exceeds a set value and lasts for more than a time threshold, it is determined that the aircraft automatic balancing instruction is invalid. The set value is selected between 10% and 15%, and the time threshold is 0.2s.

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