Control equipment and control method of aircraft horizontal stabilizer trim actuator

Abstract

The invention discloses control equipment of an aircraft horizontal stabilizer trim actuator and a control method of the control equipment. The control equipment can be connected with the actuator through a plurality of plugs. The control equipment comprises two alternating current signal generators, a feedback processor, a steering control power supply, a driving power supply and a control power supply; the steering control power supply, the driving power supply and the control power supply are respectively connected with the servo motor through switches; the first alternating current signal generator is connected with a command RVDT through a switch; the second AC signal generator is connected with the monitoring RVDT through the switch. The feedback processor is respectively connected with the command RVDT and the monitoring RVDT; the feedback processor is connected with the steering control power supply. Setting a reference angle of the servo motor; and the feedback processor converts the reference angle into a voltage control signal and transmits the voltage control signal to the steering control power supply so as to control the servo motor to move according to a set angle. The control equipment provided by the invention is high in integration level, the control method is simple, the working efficiency is improved, and the error rate is low.

Description

Technical Field

[0001] The present application relates to the technical field of control of an aircraft horizontal stabilizer trim actuator, and in particular to a control device and a control method of an aircraft horizontal stabilizer trim actuator. Background Art

[0002] The horizontal stabilizer trim actuator (THSA) is a mechanical device used to maintain the stability of the aircraft in horizontal flight and adjust its attitude. This actuator is usually composed of an actuator and a drive mechanism, combined with sensors and actuators, and uses air pressure changes or other methods to achieve balance adjustment. It is an indispensable part of aviation engineering to ensure that the aircraft can fly smoothly and safely.

[0003] At present, the specialized test equipment for the horizontal stabilizer trim actuator is controlled by piecing together a variety of other general equipment (power supply, signal generator, angle sensor, three-meter, etc.). The coordination of the equipment in the control is difficult and requires the synchronous cooperation of multiple control personnel. If there is an error in the control process, the test will fail, and even the horizontal stabilizer trim actuator will be damaged, causing unnecessary losses. The data collection of multiple devices during the test cannot be integrated, and automatic control cannot be achieved. Summary of the invention

[0004] The technical purpose of the present application is to provide a control device and a control method for an aircraft horizontal stabilizer trim actuator in view of the cumbersome operation of the current test equipment for the lack of a specific horizontal stabilizer trim actuator, so as to increase the degree of integration, make the operation of the device simple and easy to understand, and reduce the impact of operational errors.

[0005] In order to achieve the above technical objectives, this application adopts the following technical solutions.

[0006] In a first aspect, an embodiment of the present application provides a control device for a trim actuator of a horizontal stabilizer of an aircraft, wherein the actuator includes a servo motor, a command RVDT, and a monitoring RVDT; the control device can be connected to the actuator through a plurality of plugs;

[0007] The control device includes a first AC signal generator, a second AC signal generator, a feedback processor, a steering control power supply, a driving power supply and a control power supply;

[0008] The steering control power supply, the driving power supply and the control power supply are respectively connected to the servo motor through switches;

[0009] The first AC signal generator is connected to the command RVDT via a switch; the second AC signal generator is connected to the monitoring RVDT via a switch; the feedback processor is connected to the command RVDT and the monitoring RVDT respectively;

[0010] The feedback processor is connected to the steering control power supply.

[0011] Further, the control device also includes a first signal converter, a first angle display, a second signal converter and a second angle display;

[0012] The first signal converter is connected to the command RVDT through a switch, and the first angle display is connected to the first signal converter; the second signal converter is connected to the monitoring RVDT through a switch, and the second angle display is connected to the second signal converter.

[0013] Further, the actuator includes three servo motors, three command RVDTs and three monitoring RVDTs, and each of the servo motors, command RVDTs and monitoring RVDTs is independent of each other;

[0014] The steering control power supply is connected to the three servo motors respectively through three steering switches;

[0015] The driving power supply is connected to the three servo motors respectively through three driving switches;

[0016] The control power supply is connected to the three servo motors respectively through three hole switches;

[0017] The first AC signal generator is connected to the three command RVDTs through switches respectively;

[0018] The second AC signal generator is connected to the three monitoring RVDTs through switches respectively.

[0019] Further, the control device also includes a first AC voltmeter and a second AC voltmeter;

[0020] The first AC voltmeter is connected to the command RVDT through a switch, and the second AC voltmeter is connected to the monitoring RVDT through a switch.

[0021] Furthermore, the actuator further comprises a master control switch, and the master control switch controls the power supply of the servo motor; the control device further comprises a first resistance meter and a second resistance meter;

[0022] The first resistance meter measures the resistance value at both ends of the master control switch when the master control switch is in a normally closed state;

[0023] The second resistance meter measures the resistance value at both ends of the master control switch when the master control switch is in a normally open state.

[0024] In a second aspect, a control method for a control device of a trim actuator of a horizontal stabilizer of an aircraft provided by any possible implementation of the first aspect includes:

[0025] Connecting the plug of the control device to the corresponding socket of the horizontal stabilizer trim actuator of the aircraft in sequence;

[0026] Using the first AC signal generator to generate an AC signal and transmit it to the command RVDT to provide an excitation power supply for the command RVDT; using the second AC signal generator to generate an AC signal and transmit it to the monitoring RVDT to provide an excitation power supply for the monitoring RVDT;

[0027] According to the requirements of the control system, the reference angle of the servo motor is set;

[0028] The feedback processor converts the reference angle into a voltage control signal for driving a servo motor; and transmits the voltage control signal to the steering control power supply, so that the steering control power supply drives the servo motor to move according to the set reference angle.

[0029] Further, the feedback processor converts the reference angle into a voltage control signal for driving a servo motor using a PID controller;

[0030] The PID controller includes a proportional link, an integral link and a differential link;

[0031] The feedback processor uses a neural network to optimize the parameters of the proportional link, integral link and differential link of the PID controller in real time to adapt to changes in operating conditions.

[0032] Furthermore, the method further comprises:

[0033] The feedback processor determines the actual angle of the command RVDT according to the voltage signal output by the command RVDT; compares the actual angle of the command RVDT with the reference angle to determine the angle error;

[0034] The PID controller performs control adjustment according to the angle error, and the adjustment formula is as follows:

[0035]

[0036] Where u(t) is the adjusted voltage control signal, e(t) is the angle error, and K p is the proportional link parameter of the PID controller, K i is the integral parameter of the PID controller, K d It is the differential link parameter of the PID controller, t is time, and e(τ) represents the error signal at all times from 0 to the current time t.

[0037] Further, when the control device further comprises a first signal converter, a first angle display, a second signal converter and a second angle display;

[0038] The method further includes: the first signal converter determines the actual angle of the command RVDT according to the voltage signal output by the command RVDT, and transmits the actual angle of the command RVDT to the first angle display for display;

[0039] The second signal converter determines the actual angle of the monitoring RVDT according to the voltage signal output by the monitoring RVDT, and transmits the actual angle of the monitoring RVDT to the second angle display for display;

[0040] Compare whether the value displayed by the first angle display is equal to the value displayed by the second angle display; if they are not equal, adjust the position of the monitoring RVDT.

[0041] Further, when the actuator includes three servo motors, three command RVDTs and three monitoring RVDTs;

[0042] The method further includes: for each servo motor, performing the following operations respectively: turning only the steering switch, the drive switch and the hole switch corresponding to the servo motor to the on position, and turning the same switches corresponding to the other two servo motors to the off position;

[0043] Only the input switch and output switch of the command RVDT and the monitoring RVDT corresponding to the servo motor are turned on, and the input switches and output switches of the same type of RVDT corresponding to the other two servo motors are turned off; power is turned on to test the horizontal stabilizer trim actuator of the aircraft, and the power is disconnected after the test is completed.

[0044] Compared with the prior art, the control device for the aircraft horizontal stabilizer trim actuator provided by the present application has a high degree of integration and only requires flipping a switch to the required position; it increases work efficiency and has a low error rate; it is easy to maintain and uses common parts in the spare parts market.

[0045] The control method for the control device of the aircraft horizontal stabilizer trim actuator provided in the embodiment of the present application is easy to operate, can be learned through simple training, and has a low error rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The drawings described herein are for explanation purposes only and are not intended to limit the scope of the present application in any way. In addition, the shapes and proportional dimensions of the components in the drawings are only for illustration purposes and are used to help understand the present application. They do not specifically limit the shapes and proportional dimensions of the components of the present application. Under the guidance of the present application, those skilled in the art can select various possible shapes and proportional dimensions to implement the present application according to specific circumstances. In the drawings:

[0047] Figure 1 is a schematic structural diagram of a control device for a trim actuator of an aircraft horizontal stabilizer provided in an embodiment;

[0048] Figure 2 is a schematic diagram of an operation panel of a control device for a trim actuator of a horizontal stabilizer of an aircraft provided in an embodiment;

[0049] Reference numerals:

[0050] 1-first master control switch, 2-second master control switch, 3-third master control switch, 4-first servo motor, 5-second servo motor, 6-third servo motor, 7-first command RVDT, 8-second command RVDT, 9-third command RVDT, 10-first monitoring RVDT, 11-second monitoring RVDT, 12-third monitoring RVDT, 13-control power supply, 14-drive power supply, 15-steering control power supply, 16-feedback processor, 17-first AC signal generator, 18-first AC voltmeter, 19-second AC signal generator, 20-second AC voltmeter, 21-first signal converter, 22-first angle display, 23-second signal converter, 24-second angle display, 25-first resistance meter, 26-second resistance meter. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0052] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more features.

[0053] The control device of the existing aircraft horizontal stabilizer trim actuator is cumbersome to operate and has low integration, and the probability of operating errors in completing the test is high. In order to improve the operation process, make the control method of the control device simple to operate, highly integrated, and reduce the operating error rate, the embodiment of the present application provides a control device and a control method for the aircraft horizontal stabilizer trim actuator.

[0054] The present application is further described below in conjunction with the accompanying drawings and specific embodiments.

[0055] Embodiment 1

[0056] This embodiment provides a control device for a trim actuator of a horizontal stabilizer of an aircraft. The trim actuator of the horizontal stabilizer of an aircraft includes a servo motor, a command RVDT (Rate Variable Differential Transformer) and a monitoring RVDT.

[0057] The control device provided in this embodiment can be connected to the actuator through multiple plugs. The control device includes a first AC signal generator 17, a second AC signal generator 19, a feedback processor 16, a steering control power supply 15, a drive power supply 14 and a control power supply 13. The steering control power supply 15, the drive power supply 14 and the control power supply 13 are respectively connected to the servo motor through a switch. The first AC signal generator 17 is connected to the command RVDT through a switch; the second AC signal generator 19 is used to connect to the monitoring RVDT through a switch; the feedback processor 16 is respectively connected to the command RVDT and the monitoring RVDT; the feedback processor 16 is connected to the steering control power supply 15.

[0058] In some embodiments, the control device further includes a first signal converter 21, a first angle display 22, a second signal converter 23, and a second angle display 24; the first signal converter 21 is connected to the command RVDT via a switch, and the first angle display 22 is connected to the first signal converter 21. The second signal converter 23 is connected to the monitoring RVDT via a switch, and the second angle display 24 is connected to the second signal converter 23.

[0059] In some embodiments, the control device further includes a first AC voltmeter 18 and a second AC voltmeter 20; the first AC voltmeter 18 is connected to the command RVDT via a switch, and is used to measure the voltage signal output by the command RVDT. The second AC voltmeter 20 is connected to the monitoring RVDT via a switch, and is used to measure the voltage signal output by the monitoring RVDT. The use of an AC voltmeter can help detect whether the RVDT output voltage is normal, whether there is interference or other abnormal conditions. During the measurement process, the problem of the RVDT can be quickly discovered through the changes in the readings of the voltmeter.

[0060] like Figure 1As shown, in Figure 1 In the illustrated embodiment, the electric control part of the actuator (THSA) includes three servo motors, three command RVDTs and three monitoring RVDTs, and each servo motor (the first servo motor 4, the second servo motor 5 and the third servo motor 6), the command RVDT (the first command RVDT7, the second command RVDT8 and the third command RVDT9) and the monitoring RVDT (the first monitoring RVDT10, the second monitoring RVDT11 and the third monitoring RVDT12) are independent of each other. The mechanical action part of the actuator (THSA) consists of a set of screw assembly, an integrated gear box, two hydraulic motors, two brake assemblies, and two control valve assemblies. Its electric control principle is that the servo motor drives the control shaft of the gear box to rotate (and drives the command RVDT to rotate at the same time), the control shaft rotates to drive the control valve to open to release the brake, and at the same time, the hydraulic motor is supplied with pressure to rotate, and the hydraulic motor rotates to drive the gear of the gear box to drive the screw to rotate (the teeth on the screw assembly also drive the monitoring RVDT to rotate) to complete normal work. When the control handle on the gear box is rotated in the opposite direction, the overcontrol device in the gear box will be clutched, the switch will be switched, and the electric control will be disconnected. The three servo motors are independent of each other, the three command RVDTs are independent of each other, the three monitoring RVDTs are independent of each other, the three switches are independent of each other, the two motors are independent of each other, the two brakes are independent of each other, and the two control valves are independent of each other. This actuator is a prior art and is not the invention of this application, so it will not be described in detail.

[0061] Some embodiments, such as Figure 1 As shown, Figure 1 The parts with (THSA) are the parts that need to be connected to the horizontal cross plane trim actuator, and the rest are the parts of the control device. The steering control power supply 15 (as an example, the steering control power supply 15 can provide ±10mA steering control power supply, which has strong anti-interference performance) is connected to the three servo motors through three steering switches (K10, K11, K12); the driving power supply 14 (such as a 28V power supply) is connected to the three servo motors through three driving switches (K7, K8, K9).

[0062] The control power supply 13 (such as another 28V power supply) is connected to the three servo motors respectively through three hole switches (K4, K5, K6).

[0063] The first AC signal generator 17 is connected to the three command RVDTs through switches (K13, K14, K15), respectively; the second AC signal generator 19 is connected to the three monitoring RVDTs through switches (K22, K23, K24), respectively.

[0064] The first AC signal generator 17 and the second AC signal generator 19 can provide 7V, 2000Hz AC signals as excitation power sources for the RVDT.

[0065] The first signal converter 21 and / or the first AC voltmeter 18 are connected to the command RVDT through switches (K16, K17, K18, K19, K20, K21), and the first angle display 22 is connected to the first signal converter 21; the second signal converter 23 and / or the second AC voltmeter 20 are connected to the monitoring RVDT through switches (K25, K26, K27, K28, K29, K30), and the second angle display 24 is connected to the second signal converter 23.

[0066] like Figure 1 As shown, in some embodiments, the actuator also includes a master control switch (such as a first master control switch 1, a second master control switch 2 and a third master control switch 3), and the master control switch controls the power supply of the servo motor; the control device also includes a first resistance meter 25 and a second resistance meter 26; the first resistance meter 25 measures the resistance value at both ends of the master control switch when the master control switch is in a normally closed state; the second resistance meter 26 measures the resistance value at both ends of the master control switch when the master control switch is in a normally open state.

[0067] In some embodiments, the actuator control device includes other displays in addition to the first angle display 22 and the second angle display 24 to display various types of information, such as commanding RVDT output voltage, monitoring RVDT output voltage, controlling current, etc.

[0068] The seven sockets on the control device ( Figure 1 The Chinese and foreign interfaces) are used to check data and internal equipment verification (the instrument detection station can connect external instruments to verify internal equipment). Eighteen switches control the on and off of each line, and the knob controls the action of the horizontal stabilizer. As an example, the schematic diagram of the control device operation panel can be shown as follows Figure 2 shown.

[0069] The control device of the horizontal stabilizer trim actuator provided in this embodiment is easy to use, simple to install and maintain, and has the following advantages: accurate control, simple and clear direct switching between multiple motors and sensors, high integration, easy maintenance, and an external interface for easy maintenance.

[0070] Embodiment 2

[0071] The control method of the control device of the aircraft horizontal stabilizer trim actuator provided in the above embodiment includes:

[0072] Connect the plug of the control device to the corresponding socket of the aircraft horizontal stabilizer trim actuator in sequence;

[0073] The first AC signal generator 17 is used to generate an AC signal and transmit it to the command RVDT to provide an excitation power supply for the command RVDT; the second AC signal generator 19 is used to generate an AC signal and transmit it to the monitoring RVDT to provide an excitation power supply for the monitoring RVDT;

[0074] Set the reference angle of the servo motor according to the requirements of the control system;

[0075] The feedback processor 16 converts the reference angle into a voltage control signal (such as a triangular wave or a square wave) for driving the servo motor; the voltage control signal is transmitted to the steering control power supply 15, so that the steering control power supply drives the servo motor to move according to the set reference angle, and the feedback processor 16 and the servo motor feedback form a closed loop.

[0076] In the embodiment, the feedback processor uses a PID controller to convert the reference angle into a voltage control signal for driving the servo motor; the PID controller may include a proportional link (P), an integral link (I) and a differential link (D); the proportional link (P) can directly respond to and output a deviation signal according to the current error; the integral link (I) accumulates historical errors and eliminates steady-state deviations. The differential link (D) predicts future error trends and speeds up the system response speed. The PID controller drives the servo motor by adjusting the control quantity (such as the duty cycle of the PWM regulator) to the steering control power supply 15.

[0077] In some embodiments, the control method of the control device further includes: the feedback processor 16 uses a neural network to optimize the proportional link, integral link and differential link parameters of the PID controller in real time to adapt to changes in working conditions. The neural network continuously adjusts the PID parameters through training so that it can better control the performance of the servo motor under different loads or environments.

[0078] In some embodiments, the feedback processor 16 uses a neural network to optimize the parameters of the proportional link, integral link, and differential link of the PID controller in real time, specifically including the following steps:

[0079] Step 1: Pre-build a neural network, which includes an input layer, a hidden layer, and an output layer; the number of input nodes is 5. The number of nodes in the hidden layer can be determined by empirical formulas or experiments, and can generally be set to 1-2 times the number of nodes in the input layer. As an example, the number of nodes in the hidden layer is set to 8.

[0080] The hidden layer uses the Sigmoid activation function, and its formula is: x is the vector input to the neural network.

[0081] The output layer outputs the optimized K p , K i and K d Parameters, so the number of nodes in the output layer is 3.

[0082] Step 2: Obtain a training data set. The training data set is used to train the neural network so that it can learn the optimal PID parameters under different working conditions. The training data set can be obtained in the following ways:

[0083] Extract operation data using historical data collected in advance that reflects the system's operating status and operating condition changes;

[0084] The operation data includes the reference angle r(t) set at time t, the actual command RVDT actual angle y(t) determined according to the command RVDT output voltage, the angle error, the angle error change rate (Δe(t) = e(t) - e(t-1)) and the angle error integral value (∫e(t)dt); and the corresponding optimal PID parameters (K p , K i and K d );

[0085] Step 3: Initialize the neural network parameters: Initialize the weights and biases of the neural network. The weights and biases can be randomly initialized, usually in the range of [-1, 1].

[0086] Step 4: Online learning algorithm - Recursive Least Squares (RLS). Recursive Least Squares is an online learning algorithm used to update the weights and biases of a neural network in real time. The specific steps are as follows:

[0087] Define the error function: Let the output of the neural network be The target output is y, and the error function is the mean square error function, which calculates the average of the squared errors of each output value. For a neural network with three output values, let the target output vector be y = [y1, y2, y3] T , the actual output vector of the neural network is Then the mean square error E MSE for:

[0088]

[0089] Initialize the covariance matrix: Let the input vector be x, the weight vector be ω, the covariance matrix be P, and initialize Where δ is a small positive number (such as 0.01) and I is the identity matrix.

[0090] Update weights, including:

[0091] Calculate the gain vector K, Calculation error E MSE ; Update weight ω=ω+K*E MSE ; Update the covariance matrix P = (I-Kx T )P.

[0092] Step 5: Real-time control and parameter optimization. In the real-time control process, the following steps are performed: Obtain system input and output: Obtain the set reference angle value r(t) at the current moment and the actual command RVDT actual angle y(t) determined according to the command RVDT output voltage;

[0093] Calculate the error and related variables: calculate the angle error, angle error change rate and angle error integral value; input the input variables (set reference angle, actual angle output by the system, error value, error change rate, error integral value) into the neural network to obtain the output K p , K i and K d parameter;

[0094] PID control: The K output of the neural network p , K i and K d The parameters are applied to the PID controller to calculate the control quantity u(t);

[0095] Update neural network weights: Based on the current system output and target output, use recursive least squares method to update the weights and biases of the neural network to adapt to changes in working conditions.

[0096] The working conditions of actual industrial systems are often complex and changeable, and factors such as load and environment may change at any time. The parameters of traditional PID controllers are usually adjusted under specific working conditions. When the working conditions change, the control performance will drop significantly. The optimization method based on neural network can perceive the operating status of the system in real time and dynamically adjust K according to information such as input quantity. p , K i and K d Parameters enable the controller to always adapt to different working conditions and maintain good control effects. Neural networks have powerful nonlinear mapping capabilities and can learn and approximate the nonlinear characteristics of the system. By optimizing the parameters of PID control in real time, they can effectively deal with the nonlinear problems of the system and improve the control accuracy. They can adjust the PID parameters in time according to the changes in system output caused by interference, enhance the system's anti-interference ability, and enable the system to maintain stable operation in the presence of interference.

[0097] In the embodiment, the feedback processor 16 determines the actual angle of the command RVDT according to the voltage signal output by the command RVDT, and compares the actual angle of the command RVDT with the reference angle to determine the angle error, where the angle error = reference angle - actual angle.

[0098] In the embodiment, the PID controller performs control adjustment according to the angle error, and the adjustment formula is as follows:

[0099]

[0100] Where u(t) is the adjusted voltage control signal, e(t) is the angle error, and K p is the proportional link parameter of the PID controller, K i is the integral parameter of the PID controller, K d It is the differential link parameter of the PID controller, t is time, and e(τ) represents the error signal at all times from 0 to the current time t. The PID calculation result u(t) is converted into the control quantity (such as PWM signal or voltage regulation) that drives the servo motor.

[0101] As an example, the conversion formula for converting the voltage signal output by the command RVDT into an angle is as follows:

[0102] (V1-V2) / (V1+V2)=0 means 0°;

[0103] (V1-V2) / (V1+V2)=0.7954, which is -13.3°;

[0104] (V1-V2) / (V1+V2)=0.2392, it is +4°;

[0105] Wherein V1 is the voltage measured by the first coil of the first AC voltmeter 18 , and V2 is the voltage measured by the second coil of the second AC voltmeter 20 .

[0106] The conversion formula for converting the voltage signal output by the monitored RVDT into an angle is the same as above.

[0107] In some embodiments, the method also includes: the first signal converter 21 determines the actual angle of the command RVDT based on the voltage signal output by the command RVDT, and transmits the actual angle of the command RVDT to the first angle display 22 for display; the second signal converter 23 determines the actual angle of the monitoring RVDT based on the voltage signal output by the monitoring RVDT, and transmits the actual angle of the monitoring RVDT to the second angle display 24 for display; compares whether the value displayed on the first angle display 22 is equal to the value displayed on the second angle display 24; if they are not equal, adjusts the position of the monitoring RVDT.

[0108] In some embodiments, the control method also includes: connecting the plug of the control device to the socket corresponding to the aircraft horizontal stabilizer trim actuator in sequence; performing the following operations for each servo motor: only turning the steering switch, drive switch and hole switch corresponding to the servo motor to the on position, and turning the similar switches corresponding to the other two servo motors to the off position; only turning the input switch and output switch of the command RVDT and monitoring RVDT corresponding to the servo motor to the on position, and turning the input switch and output switch of the similar RVDT corresponding to the other two servo motors to the off position; turning on the power to test the aircraft horizontal stabilizer trim actuator, and disconnecting the power after the test is completed.

[0109] like Figure 1 In the illustrated embodiment, the plug of the control device is connected to the socket corresponding to the horizontal stabilizer trim actuator of the aircraft; the steering switch, drive switch and hole switch corresponding to the first servo motor 4 are turned to the on position; the steering switch, drive switch and hole switch corresponding to the second servo motor 5 and the third servo motor 6 are turned to the off position; the input switch and output switch of the first command RVDT7 are turned to on, and the input switch and output switch of the second command RVDT8 and the third command RVDT9 are turned to off; the input switch and output switch of the first monitoring RVDT10 are turned to on, and the input switch and output switch of the second monitoring RVDT11 and the third monitoring RVDT12 are turned to off; power is turned on to the horizontal stabilizer trim actuator of the aircraft; power is turned on to the horizontal stabilizer trim actuator of the aircraft, and the power supply is disconnected after the test is completed.

[0110] Turn the steering switch, drive switch and hole switch corresponding to the second servo motor 5 to the on position; turn the steering switch, drive switch and hole switch corresponding to the first servo motor 4 and the third servo motor 6 to the off position; turn the input switch and output switch of the second command RVDT8 to on, and turn the input switch and output switch of the first command RVDT7 and the third command RVDT9 to off; turn the input switch and output switch of the second monitoring RVDT11 to on, and turn the input switch and output switch of the first monitoring RVDT10 and the third monitoring RVDT12 to off; power on the aircraft horizontal stabilizer trim actuator, and disconnect the power supply after the test is completed.

[0111] Turn the steering switch, drive switch and hole switch corresponding to the third servo motor 6 to the on position; turn the steering switch, drive switch and hole switch corresponding to the first servo motor 4 and the second servo motor 5 to the off position; turn the input switch and output switch of the third command RVDT9 to on, and turn the input switch and output switch of the first command RVDT7 and the second command RVDT8 to off; turn the input switch and output switch of the third monitoring RVDT12 to on, and turn the input switch and output switch of the first monitoring RVDT10 and the second monitoring RVDT11 to off; power on the aircraft horizontal stabilizer trim actuator, and disconnect the power supply after the test is completed.

[0112] Figure 2 As shown, on the operation panel of the control device, the steering knob corresponding to the servo motor can be controlled in the test state to realize the action of the horizontal stabilizer trim actuator. The panel instrument can obtain various data of the servo motor, the corresponding command RVDT, the monitoring RVDT and the corresponding master control switch. For each servo motor, this cycle can be completed to complete various tests of the horizontal stabilizer trim actuator, and the switch can be realized by simply flipping the switch.

[0113] The control device and control method of the aircraft horizontal stabilizer trim actuator provided by the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the concept of the present application and should not be construed as limiting the scope of protection of the present application.

Claims

1. A control device for a trim actuator of an aircraft horizontal stabilizer, characterized in that: The actuator includes a servo motor, a command RVDT and a monitoring RVDT; the control device can be connected to the actuator through a plurality of plugs; The control device includes a first AC signal generator, a second AC signal generator, a feedback processor, a steering control power supply, a driving power supply and a control power supply; The steering control power supply, the driving power supply and the control power supply are respectively connected to the servo motor through switches; The first AC signal generator is connected to the command RVDT via a switch; the second AC signal generator is connected to the monitoring RVDT via a switch; the feedback processor is connected to the command RVDT and the monitoring RVDT respectively; The feedback processor is connected to the steering control power supply.

2. The control device for the aircraft horizontal stabilizer trim actuator according to claim 1, characterized in that: The control device also includes a first signal converter, a first angle display, a second signal converter, and a second angle display; The first signal converter is connected to the command RVDT through a switch, and the first angle display is connected to the first signal converter; the second signal converter is connected to the monitoring RVDT through a switch, and the second angle display is connected to the second signal converter.

3. The control device for the aircraft horizontal stabilizer trim actuator according to claim 1, characterized in that: The actuator includes three servo motors, three command RVDTs and three monitoring RVDTs, and each of the servo motors, command RVDTs and monitoring RVDTs is independent of each other; The steering control power supply is connected to the three servo motors respectively through three steering switches; The driving power supply is connected to the three servo motors respectively through three driving switches; The control power supply is connected to the three servo motors respectively through three hole switches; The first AC signal generator is connected to the three command RVDTs through switches respectively; The second AC signal generator is connected to the three monitoring RVDTs through switches respectively.

4. The control device for the trim actuator of the aircraft horizontal stabilizer according to claim 1, characterized in that: The control device also includes a first AC voltmeter and a second AC voltmeter; The first AC voltmeter is connected to the command RVDT through a switch, and the second AC voltmeter is connected to the monitoring RVDT through a switch.

5. The control device for the trim actuator of the aircraft horizontal stabilizer according to claim 1, characterized in that: The actuator further includes a master control switch, which controls the power supply of the servo motor; the control device further includes a first resistance meter and a second resistance meter; The first resistance meter measures the resistance value at both ends of the master control switch when the master control switch is in a normally closed state; The second resistance meter measures the resistance value at both ends of the master control switch when the master control switch is in a normally open state.

6. The control method for the control device of the aircraft horizontal stabilizer trim actuator according to any one of claims 1 to 5, characterized in that: The control method comprises: Connecting the plug of the control device to the corresponding socket of the horizontal stabilizer trim actuator of the aircraft in sequence; Using the first AC signal generator to generate an AC signal and transmit it to the command RVDT to provide an excitation power supply for the command RVDT; using the second AC signal generator to generate an AC signal and transmit it to the monitoring RVDT to provide an excitation power supply for the monitoring RVDT; According to the requirements of the control system, the reference angle of the servo motor is set; The feedback processor converts the reference angle into a voltage control signal for driving a servo motor; and transmits the voltage control signal to the steering control power supply, so that the steering control power supply drives the servo motor to move according to the set reference angle.

7. The control method of the control device of the aircraft horizontal stabilizer trim actuator according to claim 6, characterized in that: The feedback processor converts the reference angle into a voltage control signal for driving a servo motor using a PID controller; The PID controller includes a proportional link, an integral link and a differential link; The feedback processor uses a neural network to optimize the parameters of the proportional link, integral link and differential link of the PID controller in real time to adapt to changes in operating conditions.

8. The control method of the control device of the aircraft horizontal stabilizer trim actuator according to claim 7, characterized in that: The method further comprises: The feedback processor determines the actual angle of the command RVDT according to the voltage signal output by the command RVDT; compares the actual angle of the command RVDT with the reference angle to determine the angle error; The PID controller performs control adjustment according to the angle error, and the adjustment formula is as follows: Where u(t) is the adjusted voltage control signal, e(t) is the angle error, and K p is the proportional link parameter of the PID controller, K i is the integral parameter of the PID controller, K d It is the differential link parameter of the PID controller, t is time, and e(τ) represents the error signal at all times from 0 to the current time t.

9. The control method of the control device of the aircraft horizontal stabilizer trim actuator according to claim 6, characterized in that: When the control device further comprises a first signal converter, a first angle display, a second signal converter and a second angle display; The method further includes: the first signal converter determines the actual angle of the command RVDT according to the voltage signal output by the command RVDT, and transmits the actual angle of the command RVDT to the first angle display for display; The second signal converter determines the actual angle of the monitoring RVDT according to the voltage signal output by the monitoring RVDT, and transmits the actual angle of the monitoring RVDT to the second angle display for display; Compare whether the value displayed by the first angle display is equal to the value displayed by the second angle display; if they are not equal, adjust the position of the monitoring RVDT.

10. The control method of the control device of the aircraft horizontal stabilizer trim actuator according to claim 6, characterized in that: When the actuator includes three servo motors, three command RVDTs and three monitoring RVDTs; The method further includes: for each servo motor, performing the following operations respectively: turning only the steering switch, the drive switch and the hole switch corresponding to the servo motor to the on position, and turning the same switches corresponding to the other two servo motors to the off position; Only the input switch and output switch of the command RVDT and the monitoring RVDT corresponding to the servo motor are turned on, and the input switches and output switches of the same type of RVDT corresponding to the other two servo motors are turned off; power is turned on to test the horizontal stabilizer trim actuator of the aircraft, and the power is disconnected after the test is completed.

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