Civil aircraft flight control electronic system and instruction validity conversion method thereof

Abstract

The invention provides a civil aircraft flight control electronic system and an instruction validity conversion method thereof. In the system, an avionics computer sends a working number of a main flight control computer to each flight control computer, and each flight control computer sends a working number of the flight control computer to other flight control computers; each servo control electron sends a first selection validity instruction to each flight control computer; each flight control computer sends FCM instruction validity to each servo control electron; the FCM instruction validity is set to be invalid after each flight control computer is initialized, and when it is detected that all servo control electrons do not select any flight control computer, or the flight control computer is a main flight control computer, the FCM instruction validity is set to be valid, and the slave working mode is converted into the main working mode; the system can simply and reliably work in a master-slave-slave state, and safe instruction validity transfer logic is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of flight control, and in particular relates to a civil aircraft flight control electronic system and a method for converting the effectiveness of instructions thereof. Background Art

[0002] At present, the master-slave selection logic of the flight control computer FCM used in the flight control system of civil aircraft generally adopts the method of self-monitoring integrity and information cross-transmission to select the only FCM with valid instruction validity for the servo control electronic ACE to select and use. The FCMs do not use a working rotation method, which makes it difficult to expose hidden FCM faults.

[0003] As the civil aircraft flight control electronic system evolves from a few-node bus architecture with FCM as the core to a multi-node network architecture with high-reliability electronic hardware ACE as the core, it is necessary to design a basic principle for FCM instruction validity conversion based on ACE selection of FCM validity voting, which should cover the fault detection requirements of FCM. Summary of the invention

[0004] In order to solve the problem that the FCMs in the prior art do not use a work rotation mode, and it is difficult to expose the hidden faults of FCMs, the present invention is aimed at the multi-node distributed architecture of the new generation of civil aircraft with high-reliability electronic hardware ACE as the core, and designs a civil aircraft flight control electronic system and FCM instruction validity conversion method, which can simply and reliably make the system work in a master-slave-slave state and realize a safe instruction validity transfer logic. The technical solution is as follows:

[0005] In a first aspect, a civil aircraft flight control electronic system is provided, comprising: an avionics computer, a plurality of flight control computers FCM, and a plurality of servo control electronic ACEs;

[0006] The avionics computer sends the working number of the main flight control computer FCM to each flight control computer FCM, and each flight control computer FCM sends the working number of the flight control computer FCM to the other flight control computer FCMs;

[0007] Each servo control electronic ACE sends a first selection validity instruction to each flight control computer FCM, wherein the first selection validity instruction selects the validity of all flight control computers FCM for the servo control electronic ACE;

[0008] Each flight control computer FCM sends the validity of the FCM command to each servo control electronic ACE, and the validity of the FCM command is valid or invalid;

[0009] Each flight control computer FCM sets the validity of the FCM command to invalid after initialization. When it is detected that all servo control electronic ACEs have not selected any flight control computer FCM, or when the flight control computer FCM is the main flight control computer FCM, the validity of the FCM command is set to valid, and the slave working mode is converted to the master working mode;

[0010] When each flight control computer FCM detects that all servo control electronic ACEs do not select this flight control computer FCM the most, or that all servo control electronic ACEs select this flight control computer FCM and the first flight control computer FCM the most and the working number of this flight control computer FCM is not the smallest number, or that this flight control computer FCM is not the main flight control computer FCM, it sets the validity of the FCM instruction to invalid and switches from the main working mode to the slave working mode; the first flight control computer FCM is one or more of the remaining flight control computer FCMs.

[0011] The present invention can set the working mode (master or slave) of each FCM, and select the only FCM in the master working mode and the other FCMs in the slave working mode by integrating the FCM working numbers sent by the avionics computer and other FCMs, the ACE selected FCM validity signals sent by the ACE, and the like.

[0012] Optionally, when each servo control electronic ACE receives the validity of the FCM instruction sent by each flight control computer FCM, when it detects that there are multiple FCM instructions with valid validity, it selects the FCM with the smallest working number as the main FCM. In the present invention, the ACE can select only one FCM from multiple FCMs with the main working mode.

[0013] Optionally, each servo control electronic ACE sends a second selection validity instruction to each flight control computer FCM, and the second selection validity instruction indicates that the main FCM is the FCM with the smallest working number. The present invention can be used for ACE to indicate to FCM its selection result of selection validity instructions of multiple main working FCMs.

[0014] Optionally, when each servo control electronic ACE receives the validity of the FCM command sent by each flight control computer FCM, when it detects that one FCM command is valid, it selects the FCM as the main FCM. The ACE only selects the FCM in the FCM whose only working mode is the main one.

[0015] Optionally, each servo control electronic ACE sends a third selection validity instruction to each flight control computer FCM, and the third selection validity instruction indicates that the main FCM is the FCM corresponding to the validity of the FCM instruction. It can be used for ACE to indicate to the FCM its selection result of the selection validity instruction of the FCM with a single working mode as the main one.

[0016] Optionally, after each flight control computer FCM is initialized, each servo control electronic ACE sends a fourth selection validity instruction to each flight control computer FCM, and the fourth selection validity instruction is invalid. It can be ensured that after initialization, ACE indicates to FCM by default that its selection validity instruction for FCM is invalid by default.

[0017] In a second aspect, a method for converting the effectiveness of instructions of a civil aircraft flight control electronic system is provided, which is used in any system described in the first aspect, and the method includes:

[0018] The avionics computer sends the working number of the main flight control computer FCM to each flight control computer FCM, and each flight control computer FCM sends the working number of the flight control computer FCM to the other flight control computer FCMs;

[0019] Each servo control electronic ACE sends a first selection validity instruction to each flight control computer FCM, wherein the first selection validity instruction selects the validity of all flight control computers FCM for the servo control electronic ACE;

[0020] Each flight control computer FCM sends the validity of the FCM command to each servo control electronic ACE, and the validity of the FCM command is valid or invalid;

[0021] Each flight control computer FCM sets the validity of the FCM command to invalid after initialization. When it is detected that all servo control electronic ACEs have not selected any flight control computer FCM, or when the flight control computer FCM is the main flight control computer FCM, the validity of the FCM command is set to valid, and the slave working mode is converted to the master working mode;

[0022] When each flight control computer FCM detects that all servo control electronic ACEs do not select this flight control computer FCM the most, or that all servo control electronic ACEs select this flight control computer FCM and the first flight control computer FCM the most and the working number of this flight control computer FCM is not the smallest number, or that this flight control computer FCM is not the main flight control computer FCM, it sets the validity of the FCM instruction to invalid and switches from the main working mode to the slave working mode; the first flight control computer FCM is one or more of the remaining flight control computer FCMs.

[0023] Furthermore, the method further comprises:

[0024] When each servo control electronic ACE receives the validity of the FCM command sent by each flight control computer FCM, if it detects that there are multiple FCM commands with valid validity, it selects the FCM with the smallest working number as the main FCM;

[0025] Each servo control electronic ACE sends a second selection validity instruction to each flight control computer FCM, and the second selection validity instruction indicates that the main FCM is the FCM with the smallest working number.

[0026] Furthermore, the method further comprises:

[0027] When each servo control electronic ACE receives the validity of the FCM command sent by each flight control computer FCM, when it detects that one FCM command is valid, it selects the FCM as the main FCM;

[0028] Each servo control electronic ACE sends a third selection validity instruction to each flight control computer FCM, and the third selection validity instruction indicates that the main FCM is the FCM corresponding to the validity of the FCM instruction.

[0029] The beneficial effects of the present invention are at least:

[0030] The validity of FCM instructions can be indicated quickly after power-on. ACE can select a default FCM in the main working state from among multiple FCMs in the main working state, and indicate its own selection state to FCM. FCM downgrades the FCM in the redundant main state through the selection state of ACE; the FCM main state is periodically rotated using the FCM work number sent by the avionics computer to ensure that each FCM has the same working calendar. The present invention can ensure the independence of instruction validity judgment and transmission reliability, eliminate hidden faults of FCM, and contribute to the design assurance analysis of the airworthiness certification process of flight control electronic products. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a system composition diagram of the present invention;

[0032] Figure 2 is a signal interaction diagram of the present invention;

[0033] Figure 3 It is the instruction validity conversion state machine of the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present invention more clear, the embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily without conflict.

[0035] See also Figure 1 , Figure 2 and Figure 3 , an embodiment of the present invention provides a civil aircraft flight control electronic system, including: an avionics computer, a plurality of flight control computers FCM, a plurality of servo control electronics ACE;

[0036] The avionics computer sends the working number of the main flight control computer FCM to each flight control computer FCM, and each flight control computer FCM sends the working number of the flight control computer FCM to the other flight control computer FCMs;

[0037] Each servo control electronic ACE sends a first selection validity instruction to each flight control computer FCM, wherein the first selection validity instruction selects the validity of all flight control computers FCM for the servo control electronic ACE;

[0038] Each flight control computer FCM sends the validity of the FCM command to each servo control electronic ACE, and the validity of the FCM command is valid or invalid;

[0039] Each flight control computer FCM sets the validity of the FCM command to invalid after initialization. When it is detected that all servo control electronic ACEs have not selected any flight control computer FCM, or when the flight control computer FCM is the main flight control computer FCM, the validity of the FCM command is set to valid, and the slave working mode is converted to the master working mode;

[0040] When each flight control computer FCM detects that all servo control electronic ACEs do not select this flight control computer FCM the most, or that all servo control electronic ACEs select this flight control computer FCM and the first flight control computer FCM the most and the working number of this flight control computer FCM is not the smallest number, or that this flight control computer FCM is not the main flight control computer FCM, it sets the validity of the FCM instruction to invalid and switches from the main working mode to the slave working mode; the first flight control computer FCM is one or more of the remaining flight control computer FCMs.

[0041] The present invention can set the working mode (master or slave) of each FCM, and select the only FCM in the master working mode and the other FCMs in the slave working mode by integrating the FCM working numbers sent by the avionics computer and other FCMs, the ACE selected FCM validity signals sent by the ACE, and the like.

[0042] In one possible implementation, when each servo control electronic ACE receives the validity of the FCM command sent by each flight control computer FCM, when it detects that there are multiple FCM commands with valid validity, it selects the FCM with the smallest working number as the main FCM. In the present invention, the ACE can select only one FCM from multiple FCMs with the working mode as the main one.

[0043] In one possible implementation, each servo control electronic ACE sends a second selection validity instruction to each flight control computer FCM, and the second selection validity instruction indicates that the main FCM is the FCM with the smallest working number. The present invention can be used for ACE to indicate to FCM its selection result of the selection validity instruction of multiple FCMs with the main working mode as the main one.

[0044] In one implementation, when each servo control electronic ACE receives the validity of the FCM command sent by each flight control computer FCM, when it detects that one FCM command is valid, it selects the FCM as the main FCM. The ACE only selects the FCM in the FCM whose only working mode is main.

[0045] In one possible implementation, each servo control electronic ACE sends a third selection validity instruction to each flight control computer FCM, and the third selection validity instruction indicates that the main FCM is the FCM corresponding to the validity of the FCM instruction. It can be used for ACE to indicate to the FCM its selection result of the selection validity instruction of the FCM with a single working mode as the main one.

[0046] In one possible implementation, after each flight control computer FCM is initialized, each servo control electronic ACE sends a fourth selection validity instruction to each flight control computer FCM, and the fourth selection validity instruction is invalid. The present invention can ensure that after initialization, the ACE indicates to the FCM by default that its selection validity instruction for the FCM is invalid by default.

[0047] An embodiment of the present invention provides a method for converting the validity of instructions of a civil aircraft flight control electronic system, which is used in the system of the present invention. The method includes:

[0048] The avionics computer sends the working number of the main flight control computer FCM to each flight control computer FCM, and each flight control computer FCM sends the working number of the flight control computer FCM to the other flight control computer FCMs;

[0049] Each servo control electronic ACE sends a first selection validity instruction to each flight control computer FCM, wherein the first selection validity instruction selects the validity of all flight control computers FCM for the servo control electronic ACE;

[0050] Each flight control computer FCM sends the validity of the FCM command to each servo control electronic ACE, and the validity of the FCM command is valid or invalid;

[0051] Each flight control computer FCM sets the validity of the FCM command to invalid after initialization. When it is detected that all servo control electronic ACEs have not selected any flight control computer FCM, or when the flight control computer FCM is the main flight control computer FCM, the validity of the FCM command is set to valid, and the slave working mode is converted to the master working mode;

[0052] When each flight control computer FCM detects that all servo control electronic ACEs do not select this flight control computer FCM the most, or that all servo control electronic ACEs select this flight control computer FCM and the first flight control computer FCM the most and the working number of this flight control computer FCM is not the smallest number, or that this flight control computer FCM is not the main flight control computer FCM, it sets the validity of the FCM instruction to invalid and switches from the main working mode to the slave working mode; the first flight control computer FCM is one or more of the remaining flight control computer FCMs.

[0053] In one possible implementation, the method further includes:

[0054] When each servo control electronic ACE receives the validity of the FCM command sent by each flight control computer FCM, if it detects that there are multiple FCM commands with valid validity, it selects the FCM with the smallest working number as the main FCM;

[0055] Each servo control electronic ACE sends a second selection validity instruction to each flight control computer FCM, and the second selection validity instruction indicates that the main FCM is the FCM with the smallest working number.

[0056] In one possible implementation, the method further includes:

[0057] When each servo control electronic ACE receives the validity of the FCM command sent by each flight control computer FCM, when it detects that one FCM command is valid, it selects the FCM as the main FCM;

[0058] Each servo control electronic ACE sends a third selection validity instruction to each flight control computer FCM, and the third selection validity instruction indicates that the main FCM is the FCM corresponding to the validity of the FCM instruction.

[0059] See also Figure 1 Taking three FCMs as an example, a civil aircraft flight control electronic system and its instruction validity conversion method are characterized in that it is composed of an avionics computer, a flight control computer FCM1, a flight control computer FCM2, a flight control computer FCM3, a servo control electronic ACE1, a servo control electronic ACE2, a servo control electronic ACE3, and a servo control electronic ACE4.

[0060] Taking FCMX (X=1 or 2 or 3) as an example, the avionics computer sends the working number of the main flight control computer FCM to the three flight control computers FCMX-, FCMX, and FCMX+ (X- / X / X+ correspond to 3 / 1 / 2 or 1 / 2 / 3 or 2 / 3 / 1 respectively), FCMX- sends the FCMX- working number to FCMX, and FCMX+ sends the FCMX+ working number to FCMX.

[0061] ACE1 sends to FCMX ACE1 selects FCMX-validity, ACE1 selects FCMX validity, ACE1 selects FCMX+validity,

[0062] ACE2 sends to FCMX ACE2 selects FCMX-validity, ACE2 selects FCMX validity, ACE2 selects FCMX+validity,

[0063] ACE3 sends ACE3 select FCMX-validity, ACE3 select FCMX validity, ACE3 select FCMX+validity to FCMX.

[0064] ACE4 sends to FCMX ACE4 selects FCMX-validity, ACE4 selects FCMX validity, ACE4 selects FCMX+validity,

[0065] FCMX sends the validity of FCMX instructions to ACE1, ACE2, ACE3 and ACE4 respectively.

[0066] After the system is initialized, the validity of the FCMX instruction = 0 (invalid). When the FCMX instruction becomes valid = 1, the validity of the FCMX instruction = 1 (valid). When the FCMX instruction becomes invalid = 1, the validity of the FCMX instruction = 0 (invalid).

[0067] When any of the following conditions are met, the FCMX instruction becomes valid = 1:

[0068] a)(ACE1 selects FCMX-validity, ACE1 selects FCMX validity, ACE1 selects FCMX+ validity, ACE2 selects FCMX-validity, ACE2 selects FCMX validity, ACE2 selects FCMX+ validity, ACE3 selects FCMX-validity, ACE3 selects FCMX validity, ACE3 selects FCMX+ validity, ACE4 selects FCMX-validity, ACE4 selects FCMX validity, ACE4 selects FCMX+ validity, all of which are 0);

[0069] b) (X = job number of the master FCM).

[0070] When any of the following conditions are met, the FCMX instruction becomes invalid = 0:

[0071] a) (ACE1 chooses FCMX validity + ACE2 chooses FCMX validity + ACE3 chooses FCMX validity + ACE4 chooses FCMX validity) is not the most compared with (ACE1 chooses FCMX-validity + ACE2 chooses FCMX-validity + ACE3 chooses FCMX-validity + ACE4 chooses FCMX-validity) and (ACE1 chooses FCMX+validity + ACE2 chooses FCMX+validity + ACE3 chooses FCMX+validity + ACE4 chooses FCMX+validity);

[0072] b) When multi-master downgrade is valid = 1: that is, when (ACE1 selects FCMX validity + ACE2 selects FCMX validity + ACE3 selects FCMX validity + ACE4 selects FCMX validity) is compared with (ACE1 selects FCMX-validity + ACE2 selects FCMX-validity + ACE3 selects FCMX-validity + ACE4 selects FCMX-validity) and (ACE1 selects FCMX+validity + ACE2 selects FCMX+validity + ACE3 selects FCMX+validity + ACE4 selects FCMX+validity), there are the same maximum and the number of X in these FCMs is not the smallest;

[0073] c) (X≠the work number of the main FCM).

[0074] Take FCM1 as an example: when the avionics computer sends the main flight control computer FCM the working number of 1, the working status of FCM1 is main, and the 4 ACEs select the validity of the command of FCM1 as valid;

[0075] When the avionics computer sends the main flight control computer FCM the working number of 2, the working status of FCM1 is in slave mode, and the validity of the instruction for the 4 ACEs to select FCM1 is invalid;

[0076] When the avionics computer sends the main flight control computer FCM working number abnormally to 0, the working status of FCM1 is main, and the 4 ACEs select the validity of the instruction of FCM1 as valid.

[0077] Example 2

[0078] Taking 2 FCMs and 3 ACEs as an example, a civil aircraft flight control electronic system is composed of an avionics computer, a flight control computer FCM1, a flight control computer FCM2, servo control electronics ACE1, servo control electronics ACE2, and servo control electronics ACE3.

[0079] The avionics computer sends the working number of the main flight control computer FCM to FCM1 and FCM2 respectively. FCM1 sends FCM1 working number 1 to FCM2, and FCM2 sends FCM2 working number 2 to FCM1.

[0080] ACE1 sends ACE1 select FCM1 validity and ACE1 select FCM2 validity to FCM1.

[0081] ACE2 sends ACE2 selects FCM1 validity and ACE2 selects FCM2 validity to FCM1, and ACE3 sends ACE3 selects FCM1 validity and ACE3 selects FCM2 validity to FCM1.

[0082] FCM1 and FCM2 send the validity of FCM1 instruction to ACE1, ACE2, ACE3 and ACE4 respectively.

[0083] After the system is initialized, taking FCMX as an example (FCM1 or FCM2), the validity of FCMX instruction = 0 (invalid), when the FCMX instruction becomes valid = 1, the validity of FCMX instruction = 1 (valid); when the validity of FCMX instruction = 1 (valid), when the FCMX instruction becomes invalid = 1, the validity of FCMX instruction = 0 (invalid).

[0084] When any of the following conditions are met, the FCMX instruction becomes valid = 1:

[0085] a)(the validity of ACE1 selecting FCM1, the validity of ACE1 selecting FCM1, the validity of ACE3 selecting FCM1, the validity of ACE2 selecting FCM1, the validity of ACE2 selecting FCM2, the validity of ACE2 selecting FCM3, the validity of ACE3 selecting FCM1, the validity of ACE3 selecting FCM2, the validity of ACE3 selecting FCM3 are all 0);

[0086] b) (X = job number of the master FCM).

[0087] When any of the following conditions are met, the FCMX instruction becomes invalid = 0:

[0088] a) (ACE1 chooses FCMX validity + ACE2 chooses FCMX validity + ACE3 chooses FCMX validity) is not the most compared with (ACE2 chooses another FCM validity + ACE2 chooses another FCM validity + ACE3 chooses another FCM validity);

[0089] b) When multi-master downgrade is valid = 1: that is, when (ACE1 selects FCMX validity + ACE2 selects FCMX validity + ACE3 selects FCMX validity) is the same as (ACE2 selects another FCM validity + ACE2 selects another FCM validity + ACE3 selects another FCM validity) and X = 2;

[0090] c) (X≠the work number of the main FCM).

[0091] Take FCM2 as an example: when the avionics computer sends the main flight control computer FCM the working number 1, the working status of FCM2 is in slave mode, and the validity of the instruction for the three ACEs to select FCM2 is invalid;

[0092] When the avionics computer sends the main flight control computer FCM the working number of 2, the working status of FCM2 is main, and the three ACEs select the validity of the command of FCM2 as valid;

[0093] When the working number sent by the avionics computer to the main flight control computer FCM is abnormally 0, the working status of FCM2 is in slave mode, and the validity of the instruction for the three ACEs to select FCM2 is invalid.

[0094] The flight control electronic system and the effective command conversion method thereof provided by the present invention have been realized, the functions are realized correctly and clearly, the logic conversion is simple and reliable, and the normal rotation of the FCM working state master-slave-slave can be completed based on the ACE voting selection result and the working number issued by the avionics computer, and safe and reliable state transfer actions can be realized. After simulation verification and experimental verification, it can meet the requirements of function development.

[0095] The above only expresses the implementation methods of the present application, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. In addition, the parts that are not detailed in this application are all conventional technologies.

Claims

1. A civil aircraft flight control electronic system, characterized in that: include: Avionics computers, multiple flight control computers FCM, multiple servo control electronics ACE; The avionics computer sends the working number of the main flight control computer FCM to each flight control computer FCM, and each flight control computer FCM sends the working number of the flight control computer FCM to the other flight control computer FCMs; Each servo control electronic ACE sends a first selection validity instruction to each flight control computer FCM, wherein the first selection validity instruction selects the validity of all flight control computers FCM for the servo control electronic ACE; Each flight control computer FCM sends the validity of the FCM command to each servo control electronic ACE, and the validity of the FCM command is valid or invalid; Each flight control computer FCM sets the validity of the FCM command to invalid after initialization. When it is detected that all servo control electronic ACEs have not selected any flight control computer FCM, or when the flight control computer FCM is the main flight control computer FCM, the validity of the FCM command is set to valid, and the slave working mode is converted to the master working mode; When each flight control computer FCM detects that all servo control electronic ACEs do not select the most FCM of this flight control computer, or that all servo control electronic ACEs select the most FCM of this flight control computer and the first flight control computer FCM and the working number of this flight control computer FCM is not the smallest number, or that this flight control computer FCM is not the main flight control computer FCM, the validity of the FCM instruction is set to invalid, and the master working mode is converted to the slave working mode; The first flight control computer FCM is one or more of the remaining flight control computers FCM.

2. The system according to claim 1, characterized in that When each servo control electronic ACE receives the validity of the FCM instructions sent by each flight control computer FCM, when it detects that the validity of multiple FCM instructions is valid, it selects the FCM with the smallest working number as the main FCM.

3. The system according to claim 2, characterized in that Each servo control electronic ACE sends a second selection validity instruction to each flight control computer FCM, and the second selection validity instruction is used to indicate that the main FCM is the FCM with the smallest working number.

4. The system according to claim 1, characterized in that When each servo control electronic ACE receives the validity of the FCM instructions sent by each flight control computer FCM, when it detects that the validity of one FCM instruction is valid, it selects the FCM as the main FCM.

5. The system according to claim 4, characterized in that Each servo control electronic ACE sends a third selection validity instruction to each flight control computer FCM, and the third selection validity instruction is used to indicate that the main FCM is the FCM corresponding to the validity of the FCM instruction.

6. The system according to claim 1, characterized in that After each flight control computer FCM is initialized, each servo control electronic ACE sends a fourth selection validity instruction to each flight control computer FCM, and the fourth selection validity instruction is invalid.

7. A method for converting the effectiveness of instructions for a civil aircraft flight control electronic system, characterized in that: For use in the system according to any one of claims 1 to 6, the method comprises: The avionics computer sends the working number of the main flight control computer FCM to each flight control computer FCM, and each flight control computer FCM sends the working number of the flight control computer FCM to the other flight control computer FCMs; Each servo control electronic ACE sends a first selection validity instruction to each flight control computer FCM, wherein the first selection validity instruction selects the validity of all flight control computers FCM for the servo control electronic ACE; Each flight control computer FCM sends the validity of the FCM command to each servo control electronic ACE, and the validity of the FCM command is valid or invalid; Each flight control computer FCM sets the validity of the FCM command to invalid after initialization. When it is detected that all servo control electronic ACEs have not selected any flight control computer FCM, or when the flight control computer FCM is the main flight control computer FCM, the validity of the FCM command is set to valid, and the slave working mode is converted to the master working mode; When each flight control computer FCM detects that all servo control electronic ACEs do not select the current flight control computer FCM as the largest, or all servo control electronic ACEs select the current flight control computer FCM and the first flight control computer FCM as the largest and the working number of the current flight control computer FCM is not the smallest, or the current flight control computer FCM is not the main flight control computer FCM, the validity of the FCM instruction is set to invalid, and the master working mode is converted to the slave working mode; The first flight control computer FCM is one or more of the remaining flight control computers FCM.

8. The method according to claim 7, characterized in that The method further comprises: When each servo control electronic ACE receives the validity of the FCM command sent by each flight control computer FCM, if it detects that there are multiple FCM commands with valid validity, it selects the FCM with the smallest working number as the main FCM; Each servo control electronic ACE sends a second selection validity instruction to each flight control computer FCM, and the second selection validity instruction is used to indicate that the main FCM is the FCM with the smallest working number.

9. The method according to claim 7, characterized in that: The method further comprises: When each servo control electronic ACE receives the validity of the FCM command sent by each flight control computer FCM, when it detects that one FCM command is valid, it selects the FCM as the main FCM; Each servo control electronic ACE sends a third selection validity instruction to each flight control computer FCM, and the third selection validity instruction is used to indicate that the main FCM is the FCM corresponding to the validity of the FCM instruction.

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