Helicopter fly-by-wire steering engine redundancy framework

Abstract

The helicopter fly-by-wire steering engine redundancy framework comprises 3 * 2 redundancy motors, each motor is provided with two motor coils, each motor coil drives a motor rotor to rotate so as to drive a valve to rotate, and the valve outputs flow pressure to drive an actuator cylinder to move; each valve sensor in the 3 * 2 redundancy valve sensors outputs a displacement signal of the valve; a stator winding of each cylinder sensor in the 3 * 2 redundancy cylinder sensor adopts a single-input double-output winding structure, and displacement signals of two groups of actuating cylinders are output. According to the electric redundancy design of the 3 * 2 redundancy motor, the fault-tolerant capability is high, two-time motor mechanical clamping stagnation and five-time motor electric faults can be tolerated, and the product safety is improved; compared with the prior art, the valve sensor and the cylinder sensor perform comparative monitoring through pairwise comparison of output signals, the fault detection capability is improved, the monitoring coverage rate reaches 100%, the matching and safety problems of a traditional three-redundancy framework and a four-redundancy framework are solved, and the system is suitable for a helicopter fly-by-wire flight control system with the high reliability requirement.

Description

Technical Field

[0001] This application relates to the field of aviation hydraulic actuation technology, and particularly to a redundant architecture for a fly-by-wire helicopter servo. Background Art

[0002] As a unique aircraft, a helicopter has no aerodynamic reconstruction ability between its two rotors. If any one of the rotors malfunctions, the helicopter will be uncontrollable, leading to catastrophic accidents. Therefore, helicopter servos must have high safety. To meet the high safety requirements of helicopter servos, the usual design approach is redundant design. The three-redundancy servo architecture has insufficient monitoring coverage, and the sensors cannot achieve self-monitoring, thus unable to meet the requirements for more safety redundancy. The four-redundancy servo architecture has a large servo volume and high cost.

[0003] Therefore, it is necessary to propose a solution to improve one or more problems existing in the above-mentioned related technical solutions.

[0004] It should be noted that the information disclosed in the above background art section is only used to enhance the understanding of the background of this application, and thus may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0005] The embodiments of this application provide a redundant architecture for a fly-by-wire helicopter servo, including: A 3×2 redundant motor, a 3×2 redundant valve sensor, and a 3×2 redundant cylinder sensor; The 3×2 redundant motor includes three motors, each motor includes two motor coils, and each motor coil receives a servo current command to drive the motor rotor to rotate, thereby driving the valve to rotate. The valve outputs flow pressure to drive the actuator to move; The 3×2 redundant valve sensor includes multiple valve sensors, and each valve sensor is connected to the valve core for outputting the displacement signal of the valve; The 3×2 redundant cylinder sensor includes three cylinder sensors. The stator winding of each cylinder sensor adopts a single-input dual-output winding structure, and each cylinder sensor outputs the displacement signals of two actuators; Wherein, each motor coil receives a servo current command to drive the motor rotor to output torque to drive the valve to rotate. The valve outputs flow pressure to drive the actuator to move. The valve sensor outputs the displacement signal of the valve, and the cylinder sensor outputs the displacement signal of the actuator, and feeds it back to the synthesis port of the servo loop to form a closed-loop control path. The 3×2 redundant motor, the 3×2 redundant valve sensor, and the 3×2 redundant cylinder sensor together form six closed-loop control paths.

[0006] In an exemplary embodiment of the present application, each of the three motors includes a motor stator and two motor rotors. A motor stator includes two paths of motor coils, and each path of motor coils drives the two motor rotors to rotate simultaneously, and each motor rotor drives a valve to rotate.

[0007] In an exemplary embodiment of the present application, a clutch is provided between each motor rotor and the output shaft of the motor, and the disengaging torque of the clutch is 1.3 - 1.5 times the rated output torque of each motor rotor.

[0008] In an exemplary embodiment of the present application, all the motor rotors in the three motors are coaxially arranged. When a mechanical jamming fault occurs in one motor rotor of a motor, the remaining motor rotors continue to drive the valve to rotate with a first torque, and the first torque is greater than the minimum torque for the valve to rotate during the normal operation of the steering gear.

[0009] In an exemplary embodiment of the present application, among the three motors, when a mechanical jamming fault occurs in one motor rotor of a motor and a mechanical jamming fault also occurs in another motor rotor, the remaining motor rotors continue to drive the valve to rotate with a second torque, and the second torque is greater than or equal to the minimum torque for the valve to rotate during the normal operation of the steering gear.

[0010] In an exemplary embodiment of the present application, the 3×2 redundant cylinder sensor includes three cylinder sensors, and each cylinder sensor outputs displacement signals of two actuating cylinders. The output displacement signals of the actuating cylinders are grouped in pairs of two, forming three groups of cylinder sensor comparison and monitoring pairs.

[0011] In an exemplary embodiment of the present application, the 3×2 redundant valve sensor includes three valve sensors. The stator winding of each valve sensor adopts a single-input and dual-output winding structure, and each valve sensor outputs displacement signals of two valves. The output displacement signals of the valves are grouped in pairs of two, forming three groups of valve sensor comparison and monitoring pairs.

[0012] In an exemplary embodiment of the present application, the 3×2 redundant valve sensor includes six valve sensors. The stator winding of each valve sensor adopts a single-input and single-output winding structure, and the six valve sensors output displacement signals of six valves. The output displacement signals of the valves are grouped in pairs of two, forming three groups of valve sensor comparison and monitoring pairs.

[0013] In an exemplary embodiment of the present application, the six-way closed-loop control is distributed in three redundant electrical channels, and each redundant electrical channel includes a motor, a valve sensor, and a cylinder sensor.

[0014] In an exemplary embodiment of the present application, the six-way closed-loop control is distributed in three redundant electrical channels, and each redundant electrical channel includes a motor, a group of valve sensors, and a cylinder sensor.

[0015] A redundant architecture for a helicopter electrohydraulic actuator proposed in this application. On the one hand, the electrical redundancy design of the 3×2 redundant motors has strong fault tolerance ability and can tolerate two mechanical jams of the motors and five electrical faults of the motors, improving the product safety. On the other hand, the valve sensor and the cylinder sensor are compared and monitored by pairwise comparison of the output signals, improving the fault detection ability and the monitoring coverage rate reaches 100%, solving the matching and safety problems of the traditional triple-redundancy architecture and quadruple-redundancy architecture, and is applicable to the helicopter electrohydraulic flight control system with high reliability requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0017] Figure 1 Showing a schematic diagram of a redundant architecture for a helicopter electrohydraulic actuator in an exemplary embodiment of the present application; Figure 2 Showing a schematic diagram of a motor structure in an exemplary embodiment of the present application; Figure 3 Showing a schematic diagram of a 3×2 redundant motor structure in an exemplary embodiment of the present application; Figure 4 Showing a schematic diagram of a motor rotor fault in an exemplary embodiment of the present application; Figure 5 Showing a schematic diagram of two motor rotor faults in an exemplary embodiment of the present application; Figure 6 Showing a schematic diagram of the principle of a single-input dual-output winding structure in an exemplary embodiment of the present application; Figure 7 Showing a schematic diagram of a closed-loop control in one path of the redundant architecture for a helicopter electrohydraulic actuator in an exemplary embodiment of the present application; Figure 8 Showing a servo control block diagram of channel A in three electrical channels in an exemplary embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more complete and comprehensive, and will fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0019] In addition, the accompanying drawings are only schematic illustrations of the present application and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus repeated descriptions thereof will be omitted. Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0020] To improve flight safety, the servo architecture of modern fly-by-wire flight control systems usually adopts a redundant design, such as dual redundancy, triple redundancy or quadruple redundancy design. Taking the triple redundancy design as an example, it includes three independent control channels, and each channel has its own sensor. During operation, for example, in the case of triple redundancy, the three channels operate simultaneously, and the final control output is determined through a voting mechanism. If one of the channels fails, the system can automatically detect and isolate the faulty channel, and the remaining normal channels continue to operate to ensure the normal operation of the servo.

[0021] This exemplary embodiment provides a redundant architecture for a helicopter fly-by-wire servo, as Figure 1 shown, which may include: 3×2 redundant motors, 3×2 redundant valve sensors, and 3×2 redundant cylinder sensors; Among them, the 3×2 redundant motor includes three motors, each motor includes two motor coils, and each motor coil receives a servo current command to drive the motor rotor to rotate, thereby driving the valve to rotate. The valve outputs flow pressure to drive the actuator cylinder to move; The 3×2 redundant valve sensor includes multiple valve sensors, and each valve sensor is connected to the valve core and is used to output the displacement signal of the valve; The 3×2 redundant cylinder sensor includes three cylinder sensors, and the stator winding of each cylinder sensor adopts a single-input dual-output winding structure, and each cylinder sensor outputs the displacement signals of two actuator cylinders; Among them, each motor coil receives a servo current command to drive the motor rotor to output torque to drive the valve to rotate. The valve outputs flow pressure to drive the actuator cylinder to move. The valve sensor outputs the displacement signal of the valve, and the cylinder sensor outputs the displacement signal of the actuator cylinder and feeds it back to the synthesis port of the servo loop to form a closed-loop control path. The 3×2 redundant motors, 3×2 redundant valve sensors, and 3×2 redundant cylinder sensors together form six closed-loop control paths.

[0022] A redundant architecture for a helicopter electrohydraulic actuator proposed in an embodiment of the present application. On the one hand, the electrical redundancy design of the 3×2 redundant motors has strong fault tolerance ability, and can tolerate two mechanical jams of the motors and five electrical faults of the motors, improving the product safety. On the other hand, the valve sensor and the cylinder sensor are compared and monitored by pairwise comparison of the output signals, improving the fault detection ability, and the monitoring coverage rate reaches 100%, solving the matching and safety problems of the traditional triple redundant architecture and quadruple redundant architecture, and is applicable to the helicopter electrohydraulic flight control system with high reliability requirements.

[0023] The following will be combined with the attached Figure 1-6 to explain in more detail a redundant architecture for a helicopter electrohydraulic actuator proposed in an embodiment of this example.

[0024] In one embodiment, as Figure 2 shown, each of the three motors includes a motor stator and two motor rotors. One motor stator includes two motor coils. Each motor coil drives two motor rotors to rotate simultaneously, and each motor rotor drives the valve to rotate. It should be understood that when one motor coil of each motor fails, the closed-loop control loop fails; when five motor coils fail, the remaining one motor coil, and the closed-loop control loop corresponding to the remaining one motor coil can control normally. The 3×2 redundant architecture has the ability to work with 5 electrical redundancy faults.

[0025] It should also be understood that since the 3×2 redundant motors include three motors and each motor includes a motor stator, one motor stator includes two motor coils, there are a total of three motor stators for the three motors, and there are a total of six motor coils for the three motor stators. When five motor coils fail, the remaining one motor coil. At this time, the motor rotor has no mechanical jam fault. The remaining one motor coil corresponds to a motor that includes two motor rotors. The remaining one motor coil drives the two motor rotors in the corresponding motor to rotate, and each motor rotor drives the valve to rotate. For example, the minimum torque requirement for the valve to rotate is T, and the rated output torque of each motor rotor is T. The remaining one motor coil drives the two motor rotors in the corresponding motor to rotate. At this time, the rated output torque of the two motor rotors is 2T, which is greater than the minimum torque requirement T for the valve to rotate. The closed-loop control loop corresponding to the remaining one motor coil can control normally. The 3×2 redundant architecture has the ability to work with 5 electrical redundancy faults.

[0026] In one embodiment, as Figure 3As shown, a clutch is provided between each motor rotor and the output shaft of the motor. The disengaging torque of the clutch is 1.3 - 1.5 times the rated output torque of each motor rotor. All the motor rotors of the three motors are coaxially arranged. When a mechanical jamming fault occurs in a motor rotor of one motor, the remaining motor rotors continue to drive the valve to rotate with a first torque, and the first torque is greater than the minimum torque required for the valve to rotate during the normal operation of the steering gear. All the motor rotors of the three motors are coaxially arranged. When a mechanical jamming fault occurs in a motor rotor of one motor, the remaining motor rotors continue to drive the valve to rotate, meeting the torque requirement for the valve to rotate, and the steering gear operates normally. Among the three motors, when a mechanical jamming fault occurs in a motor rotor of one motor and a mechanical jamming fault also occurs in another motor rotor, the remaining motor rotors continue to drive the valve to rotate with a second torque, and the second torque is greater than or equal to the minimum torque required for the valve to rotate during the normal operation of the steering gear.

[0027] It should be understood that, for example, the minimum torque requirement for the valve to rotate is T. This requires the minimum torque for the motor shaft to rotate to be T in order to ensure the safety of the steering gear operation. In a triple-redundancy steering gear architecture, for each of the three motors, the rated output torque of each motor is 2T. When a mechanical jamming fault occurs in one motor, the damping torque generated by the clutch is 1.3 - 1.5 times the output torque of each motor. When one motor fails, the total rated output torque of the other two motors is 4T. Subtracting the damping torque of 2.6T - 3T generated by the clutch, the remaining output torque of T - 1.4T is greater than the minimum torque T for the motor shaft to rotate, and the steering gear can operate safely. When another failure occurs in the remaining two motors when one motor has failed, the remaining output torque is less than T at this time, and the steering gear cannot operate normally. Therefore, in a triple-redundancy steering gear architecture, only one mechanical jamming fault of the motor can be tolerated.

[0028] It should also be understood that the minimum torque requirement for the valve to rotate is T. This requires the minimum torque for the motor shaft to rotate to be T in order to ensure the safety of the steering gear operation. The disengaging torque of the clutch is 1.3 - 1.5 times the rated output torque of each motor. When a mechanical jamming fault occurs in a motor rotor of one motor, the clutch corresponding to this motor rotor is dragged by the remaining 5 motor rotors. For example, Figure 4As shown, the rated output torque of a motor rotor of one motor is T, and the rated output torque of six motor rotors is 6T. When a mechanical jamming fault occurs in a motor rotor of one motor, the clutch corresponding to this faulty motor rotor will terminate the output of this faulty motor rotor and connect it to the shaft. Since the disengaging torque of the clutch is 1.3 - 1.5 times the rated output torque of each motor, a torque damping of 1.3T - 1.5T will be generated on the shaft. The rated output torque of the remaining five motor rotors is 5T. Subtracting the torque damping of 1.3T - 1.5T generated on the shaft by the clutch, the remaining first torque is 3.5T - 3.7T, which is greater than the minimum torque T for the shaft of the motor to rotate, meeting the requirement of the rated output torque for shaft rotation, and the servo can operate safely.

[0029] As Figure 5 shown, when a mechanical jamming fault occurs in a motor rotor of one motor, a mechanical jamming fault occurs in another motor rotor, and the remaining four motor rotors drive the clutches corresponding to the two faulty motor rotors; the servo can operate normally. When a mechanical jamming fault occurs in a motor rotor of one motor, the clutch corresponding to this faulty motor rotor will terminate the output of this faulty motor rotor and connect it to the shaft. Since the disengaging torque of the clutch is 1.3 - 1.5 times the rated output torque of each motor, a torque damping of 1.3T - 1.5T will be generated on the shaft. At this time, another motor rotor fails, and the clutch corresponding to this faulty motor rotor will terminate the output of this faulty motor rotor and connect it to the shaft. Since the disengaging torque of the clutch is 1.3 - 1.5 times the rated output torque of each motor, a torque damping of 1.3T - 1.5T will be generated on the shaft. The total rated output torque of the remaining four normal motor rotors is 4T. Subtracting the total damping torque of 2.6T - 3T generated by the two faulty motor rotors on the shaft, the remaining second torque is T - 1.4T, which is greater than or equal to the minimum torque T for the shaft of the motor to rotate, meeting the requirement of the rated output torque for shaft rotation, and the servo can operate safely. The 3×2 redundancy architecture has the ability to withstand two mechanical jamming faults of motor rotors.

[0030] The 3×2 redundant valve sensor includes multiple valve sensors. Each valve sensor is connected to the valve core to output the displacement signal of the valve. The output displacement signals of the valves are grouped in pairs of two, forming three groups of valve sensor comparison and monitoring pairs.

[0031] In one embodiment, the 3×2 redundant valve sensor includes three valve sensors. The stator winding of each valve sensor adopts a single - input double - output winding structure. Each valve sensor can output two displacement signals of the valve. The output displacement signals of the valves are grouped in pairs of two, forming three groups of valve sensor comparison and monitoring pairs.

[0032] It should be understood that generally a valve sensor includes a stator and a rotor. The stator winding adopts a single-input single-output winding structure. At this time, a valve sensor can only output the displacement signal of one valve. In a triple-redundancy actuator architecture, the triple-redundancy valve sensor includes three valve sensors, and each valve sensor can only output the displacement signal of one valve. In the triple-redundancy electrical channel, the three output displacement signals are voted to exclude the faults of the valve sensors in the electrical channel. There is only one vote to achieve the fault tolerance rate of excluding the faults of the valve sensors once. In addition, if a high-low end short circuit fault occurs in the valve sensor, self-checking cannot be performed.

[0033] It should also be understood that as Figure 6 shown, the 3×2 redundancy valve sensor includes three valve sensors. Each valve sensor includes a stator and a rotor. Each stator winding adopts a single-input double-output winding structure. Each valve sensor can output two groups of displacement signals of the valve. The two groups of displacement signals output by one valve sensor are compared. When a high-low end short circuit fault occurs in the valve sensor, the two output signals of the valve sensor are inconsistent. The fault can be detected through the comparison and monitoring of the two output signals, achieving 100% monitoring coverage of electrical faults and realizing the self-monitoring ability of the valve sensor, with a high safety level.

[0034] In addition, each stator winding in the three valve sensors adopts a single-input double-output winding structure, and each valve sensor can output two groups of displacement signals of the valve. When an independent output winding of a valve sensor fails, the closed-loop control loop corresponding to the independent output winding fails. The six-way closed-loop control is distributed in the triple-redundancy electrical channel. Each electrical channel of the redundancy includes a motor, a valve sensor and a cylinder sensor. In the triple-redundancy electrical channel, the electrical channel corresponding to the independent output winding will be cut off. The two groups of displacement signals output by the valve sensor in each electrical channel are compared, and three groups of comparison and monitoring pairs can achieve the fault tolerance rate of excluding the faults of the valve sensors twice.

[0035] Among them, according to the monitored and compared displacement signals output by the double-output windings of each valve sensor, it is judged whether to cut off the valve sensor; When any one of the independent output windings in the output signals of the double-output windings of the valve sensor does not output a displacement signal, the valve sensor is cut off; When the output signals of the double-output windings of the valve sensor are inconsistent and remain within a preset time period, the valve sensor is cut off; When any one of the independent output windings in the output signals of the double-output windings of the valve sensor outputs a signal exceeding the set threshold and remains within a preset time period, the valve sensor is cut off.

[0036] In one embodiment, the 3×2 redundant valve sensor includes six valve sensors. The stator winding of each valve sensor adopts a single-input single-output winding structure. The displacement signals of six valves output by the six valve sensors are grouped in pairs of two, forming three groups of valve sensor comparison and monitoring pairs.

[0037] It should be understood that the 3×2 redundant valve sensor includes six valve sensors. Each valve sensor includes a stator, and the stator winding adopts a single-input single-output winding structure. At this time, one valve sensor can only output the displacement signal of one valve. The six valve sensors output the displacement signals of six valves. The six displacement signals are paired in pairs, forming three groups of comparison and monitoring pairs. The two displacement output signals are compared. When a high-low end short circuit fault occurs in the valve sensor, the two output signals of the valve sensor are inconsistent. The fault can be detected through the comparison and monitoring of the two output signals, achieving 100% monitoring coverage of electrical faults, realizing the self-monitoring ability of the sensor, and having a high safety level.

[0038] In addition, the stator windings of the six valve sensors adopt a single-input single-output winding structure. One valve sensor can only output the displacement signal of one valve. The six valve sensors output the displacement signals of six valves. The six displacement signals are paired in pairs, forming three groups of comparison and monitoring pairs. When one valve sensor fails, the corresponding closed-loop control circuit of the valve sensor fails. The six-way closed-loop control is distributed in three redundant electrical channels. Each redundant electrical channel includes a motor, a group of valve sensors, and a cylinder sensor. In the three redundant electrical channels, the electrical channel corresponding to the valve sensor will be cut off. In the three redundant electrical channels, the displacement signals of two valves output by the two valve sensors in each electrical channel are compared, and three groups of comparison and monitoring pairs are formed to achieve a fault tolerance rate for excluding two valve sensor faults.

[0039] Among them, according to the monitoring and comparison of the detection signals of the two valve sensors in each group of comparison and monitoring pairs, it is judged whether to cut off the self-monitoring pair of this group; When in any group of comparison and monitoring pairs, any one valve sensor does not output a detection signal, then cut off the self-monitoring pair of this group; When in any group of comparison and monitoring pairs, the detection signals output by the two valve sensors are inconsistent and remain within a preset time period, then cut off the self-monitoring pair of this group; When in any group of comparison and monitoring pairs, the detection signal output by any one valve sensor exceeds the set threshold and remains within a preset time period, then cut off the self-monitoring pair of this group.

[0040] In one embodiment, the 3×2 redundant cylinder sensor includes three cylinder sensors. Each cylinder sensor outputs the displacement signals of two actuating cylinders. The output displacement signals of the actuating cylinders are grouped in pairs of two, forming three groups of cylinder sensor comparison and monitoring pairs.

[0041] It should be understood that the actuator includes an actuator with two parallel piston rods and an actuator with an independent piston rod. Two cylinder sensors are respectively arranged inside the two parallel piston rods, and the remaining one cylinder sensor is arranged outside the actuator with an independent piston rod. The independent piston rod is connected to the parallel piston rods through a connecting piece.

[0042] It should also be understood that as Figure 6 shown, each cylinder sensor outputs displacement signals of the two actuators. The displacement signals of the two actuators are compared. If the two output signals of the cylinder sensor are inconsistent, self-monitoring can be formed through the comparison and monitoring of the two output signals, achieving 100% monitoring coverage rate of electrical faults, realizing the self-monitoring ability of the cylinder sensor, and having a high safety level.

[0043] In addition, each stator winding of the three cylinder sensors adopts a single-input double-output winding structure. Each cylinder sensor can output displacement signals of the two actuators. When an independent output winding of a cylinder sensor fails, the closed-loop control loop corresponding to the independent output winding fails. The six-way closed-loop control is distributed in the triple-redundancy electrical channels. Each redundant electrical channel includes a motor, a valve sensor, and a cylinder sensor. In the triple-redundancy electrical channels, the electrical channel corresponding to the independent output winding will be cut off. In the triple-redundancy electrical channels, the cylinder sensors in each electrical channel output two sets of displacement signals of the actuators, and three groups of comparison and monitoring pairs can achieve a fault tolerance rate for excluding cylinder sensor failures twice.

[0044] Among them, according to the monitored and compared displacement signals output by the double-output windings of each cylinder sensor, it is judged whether to cut off the cylinder sensor; When any one of the independent output windings in the output signals of the double-output windings of the cylinder sensor does not output a displacement signal, the cylinder sensor is cut off; When the output signals of the double-output windings are inconsistent and remain within a preset time period, the cylinder sensor is cut off; When any one of the independent output windings in the output signals of the double-output windings outputs a signal exceeding the set threshold and remains within a preset time period, the redundant degree of the cylinder sensor is cut off.

[0045] As Figure 8 shown, the servo control block diagram of channel A in the three electrical channels. When working normally, all 3×2 redundancies of the steering gear work simultaneously. The motor coil receives the servo current command, drives the valve to rotate, the valve outputs flow pressure to drive the actuator to move, and the valve sensor and the cylinder sensor respectively feedback the displacement signal of the valve and the displacement signal of the actuator, and feedback to the synthesis port of the servo loop to form a closed-loop control system. The steering gear controls the movement to the command position according to the command signal.

[0046] When any one of the motor coils, valve sensors, or cylinder sensors in the A channel of the steering gear fails, the channel corresponding to the fault signal will be cut off, and the remaining channels will continue to operate normally, ensuring the safety of the steering gear. For example, if an open circuit fault occurs in one of the motor coils in the motor, when the monitor detects the fault, this motor coil will be cut off. When all five motor coils fail, the channel of the remaining normal motor coil can operate normally, achieving the ability to work under five motor electrical faults. Conventional triple redundancy can only achieve the ability to work under two faults, and quadruple redundancy can only achieve the ability to work under three faults. In comparison, the fault tolerance ability is improved, enhancing the product safety. Similarly, when the valve sensor or cylinder sensor fails. The two sensors form a monitoring pair, meeting the requirement that the original sensors could not achieve 100% self-monitoring, improving the monitoring coverage rate, avoiding the safety risks brought by undetected sensor faults, and enhancing the product safety.

[0047] In the triple-redundancy electrical channels, the status of one motor in each redundant electrical channel is monitored. One motor includes two motor coils with different winding patterns, and each motor coil receives the servo current command of the redundant electrical channel to drive the valve to rotate, improving the fault tolerance ability and enabling tolerance of two motor mechanical jams and five motor electrical faults, enhancing the product safety; the cylinder sensor adopts a dual-output winding structure and realizes self-monitoring by virtue of the dual-output signals. The valve sensors form three groups of comparison monitoring pairs by outputting the displacement signals of the valves in groups of two to achieve self-monitoring. The valve sensors and cylinder sensors achieve 100% self-monitoring coverage rate, comprehensively enhancing the system reliability, fault tolerance ability, and control accuracy.

[0048] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, the meaning of "a plurality" is two or more unless otherwise specifically defined.

[0049] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

[0050] Other embodiments of the present application will be readily contemplated by those skilled in the art in view of the specification and practice of the invention disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include well-known knowledge or conventional technical means in the technical field not disclosed in the present application.

Claims

1. A redundant architecture for a helicopter fly-by-wire servo, characterized in that, Including: 3×2 redundant motors, 3×2 redundant valve sensors, and 3×2 redundant cylinder sensors; The 3×2 redundant motor includes three motors, each motor includes two motor coils, and each motor coil receives a servo current command to drive the motor rotor to rotate, thereby driving the valve to rotate. The valve outputs flow pressure to drive the actuator cylinder to move; The 3×2 redundant valve sensor includes multiple valve sensors, and each valve sensor is connected to the valve core and is used to output the displacement signal of the valve; The 3×2 redundant cylinder sensor includes three cylinder sensors, and the stator winding of each cylinder sensor adopts a single-input double-output winding structure. Each cylinder sensor outputs the displacement signals of two actuator cylinders; Among them, each motor coil receives a servo current command to drive the motor rotor to output torque to drive the valve to rotate. The valve outputs flow pressure to drive the actuator cylinder to move. The valve sensor outputs the displacement signal of the valve, and the cylinder sensor outputs the displacement signal of the actuator cylinder and feeds it back to the synthesis port of the servo loop to form a closed-loop control path. The 3×2 redundant motor, 3×2 redundant valve sensor, and 3×2 redundant cylinder sensor together form six closed-loop control paths.

2. The redundant architecture of the helicopter fly-by-wire servo according to claim 1, wherein Each of the three motors includes a motor stator and two motor rotors. One motor stator includes two motor coils, and each motor coil simultaneously drives two motor rotors to rotate, and each motor rotor drives the valve to rotate.

3. The redundancy architecture of the helicopter fly-by-wire servo according to claim 2, wherein A clutch is provided between each motor rotor and the output shaft of the motor, and the separation torque of the clutch is 1.3 - 1.5 times the rated output torque of each motor rotor.

4. The redundant architecture of the helicopter fly-by-wire servo according to claim 3, wherein, All the motor rotors of the three motors are coaxially arranged. When a mechanical jamming fault occurs in one motor rotor of a motor, the remaining motor rotors continue to drive the valve to rotate with a first torque, and the first torque is greater than the minimum torque for the valve to rotate during the normal operation of the steering gear.

5. The redundant architecture of the helicopter fly-by-wire servo according to claim 4, wherein, Among the three motors, when a mechanical jamming fault occurs in one motor rotor of a motor and a mechanical jamming fault also occurs in another motor rotor, the remaining motor rotors continue to drive the valve to rotate with a second torque, and the second torque is greater than or equal to the minimum torque for the valve to rotate during the normal operation of the steering gear.

6. The redundant architecture of the helicopter fly-by-wire servo according to claim 1, wherein The 3×2 redundant cylinder sensor includes three cylinder sensors, and each cylinder sensor outputs the displacement signals of two actuator cylinders. The output displacement signals of the actuator cylinders are grouped in pairs to form three groups of cylinder sensor comparison and monitoring pairs.

7. The redundant architecture of the helicopter fly-by-wire servo according to claim 1, wherein The 3×2 redundant valve sensor includes three valve sensors, and the stator winding of each valve sensor adopts a single-input double-output winding structure. Each valve sensor outputs the displacement signals of two valves. The output displacement signals of the valves are grouped in pairs to form three groups of valve sensor comparison and monitoring pairs.

8. The redundant architecture of the helicopter fly-by-wire servo according to claim 1, wherein, The 3×2 redundant valve sensor includes six valve sensors, and the stator winding of each valve sensor adopts a single-input single-output winding structure. The six displacement signals of the six valves output by the six valve sensors are grouped in pairs to form three groups of valve sensor comparison and monitoring pairs.

9. The redundant architecture of the helicopter fly-by-wire servo according to claim 7, wherein, The six closed-loop control paths are distributed in three redundant electrical channels, and each redundant electrical channel includes a motor, a valve sensor, and a cylinder sensor.

10. The redundancy architecture of the helicopter fly-by-wire servo according to claim 8, characterized in that, The six closed-loop control paths are distributed in three redundant electrical channels, and each redundant electrical channel includes a motor, a group of valve sensors, and a cylinder sensor.

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