Flight control system pressure signal fault monitoring and processing method and system

Abstract

The invention relates to a flight control system pressure signal fault monitoring and processing method and system. The method comprises the following steps: receiving a first voltage signal output by an actuator extension cavity pressure sensor and a second voltage signal output by an actuator retraction cavity pressure sensor, and respectively processing the first voltage signal and the second voltage signal to obtain a first pressure signal and a second pressure signal; monitoring the first pressure signal and the second pressure signal in real time so as to judge whether the pressure sensor in the extension cavity and the pressure sensor in the retraction cavity fail or not; and if the first pressure intensity signal is smaller than the preset pressure intensity signal lower threshold and the duration time exceeds the time delay threshold, determining that the pressure sensor extending out of the cavity has a fault, and outputting a corresponding first fault type. According to the invention, the fault of the pressure sensor can be quickly judged, and the corresponding fault type can be accurately output.

Description

Technical Field

[0001] This application relates to the field of flight control technology, and in particular, to a method and system for monitoring and processing pressure signal faults in a flight control system. Background Art

[0002] Electro-hydraulic servo actuators are control surface actuators widely used in flight control systems. Usually, 2-3 actuators are configured to work together for each main flight control surface to achieve fast and precise control of the rudder surface deflection. Multiple actuators jointly control the movement of a control surface. Under specific conditions, due to the inconsistency of actuator movement, a phenomenon of mutual force between two actuators may occur, which is called the force dispute phenomenon in the industry. In severe cases of force dispute, it may lead to aircraft structural fatigue and loss of control ability, endangering flight safety. To solve this problem, generally, a pressure sensor is installed inside the actuator to monitor the pressure difference between the two actuators in real time, and the force dispute is eliminated through the control algorithm in the flight control computer. When the force dispute is too large and cannot be eliminated, the actuator is cut off to ensure system and flight safety. However, when the pressure sensor fails and outputs an incorrect pressure signal, it may cause the control surface to be incorrectly cut off, resulting in a degradation of the system control ability.

[0003] Therefore, it is necessary to provide a new technical solution to improve one or more problems existing in the above solution.

[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 therefore 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 purpose of this application is to provide a method and system for monitoring and processing pressure signal faults in a flight control system, thereby at least to some extent overcoming one or more problems caused by the limitations and defects of related technologies.

[0006] According to the first aspect of the embodiments of this application, a method for monitoring and processing pressure signal faults in a flight control system is provided. The method includes: Receiving a first voltage signal output by a pressure sensor in the actuator extension chamber and a second voltage signal output by a pressure sensor in the actuator retraction chamber, and respectively processing the first voltage signal and the second voltage signal to obtain a first pressure signal and a second pressure signal; Real-time monitoring the first pressure signal and the second pressure signal to determine whether the pressure sensor in the extension chamber and the pressure sensor in the retraction chamber are faulty; If the first pressure signal is less than the lower threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the extending cavity is faulty, and the corresponding first fault type is output; wherein, the first fault type is a high-end open circuit fault or a high-end short circuit fault; If the second pressure signal is less than the lower threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the retracting cavity is faulty, and the corresponding second fault type is output; wherein, the second fault type is the same as the first fault type; Latch the first fault type, and set the first pressure signal to the corresponding fail-safe value according to the first fault type; and, latch the second fault type, and set the second pressure signal to the corresponding fail-safe value according to the second fault type.

[0007] In the embodiment of the present application, after the step of monitoring the first pressure signal and the second pressure signal in real time to determine whether the pressure sensors in the extending cavity and the retracting cavity are faulty, it includes: If the first pressure signal is greater than the upper threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the extending cavity is faulty, and the corresponding third fault type is output; wherein, the third fault type is a low-end open circuit fault or a low-end short circuit fault; If the second pressure signal is greater than the upper threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the retracting cavity is faulty, and the corresponding fourth fault type is output; wherein, the fourth fault type is the same as the third fault type.

[0008] In the embodiment of the present application, after the step of if the first pressure signal is greater than the upper threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the extending cavity is faulty, and the corresponding third fault type is output, it includes: Latch the third fault type, and set the first pressure signal to the corresponding fail-safe value according to the third fault type; After the step of if the second pressure signal is greater than the upper threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the retracting cavity is faulty, and the corresponding fourth fault type is output, it includes: Latch the fourth fault type, and set the second pressure signal to the corresponding fail-safe value according to the fourth fault type.

[0009] In an embodiment of the present application, after the step of monitoring the first pressure signal and the second pressure signal in real time to determine whether the pressure sensors in the extending chamber and the retracting chamber are faulty, the following steps are included: If the absolute value of the difference between the pressure difference between the two chambers of the actuator and the reference pressure difference exceeds the error threshold and the duration exceeds the time delay threshold, it is determined that the pressure sensors in the extending chamber and the retracting chamber are both faulty, and the corresponding fifth fault type is output; wherein, the pressure difference between the two chambers is the difference between the first pressure signal and the second pressure signal, and the fifth fault type is a signal drift fault.

[0010] In an embodiment of the present application, after the step of determining that the pressure sensors in the extending chamber and the retracting chamber are both faulty and outputting the corresponding fifth fault type if the absolute value of the difference between the pressure difference between the two chambers of the actuator and the reference pressure difference exceeds the error threshold and the duration exceeds the time delay threshold, the following steps are included: Latch the fifth fault type, and set the first pressure signal and the second pressure signal to the corresponding fail-safe values according to the fifth fault type.

[0011] In an embodiment of the present application, the calculation formula for the reference pressure difference is as follows: (1) In the formula, represents the reference pressure difference, represents the hydraulic source pressure, represents the change in the displacement of the actuator cylinder piston, represents the spool position of the servo valve, represents the proportionality coefficient.

[0012] In an embodiment of the present application, the preset upper threshold of the pressure signal is set to the upper limit of the normal operating range of the actuator hydraulic pressure plus a margin; The preset lower threshold of the pressure signal is set to the lower limit of the normal operating range of the actuator hydraulic pressure minus the margin.

[0013] In an embodiment of the present application, the calculation formula for the margin is as follows: (2) In the formula, represents the margin, represents the accuracy error coefficient of the pressure sensor, represents the acquisition error coefficient, represents the signal transmission noise error coefficient, represents the full-scale pressure value of the pressure sensor.

[0014] In an embodiment of the present application, after the step of monitoring the first pressure signal and the second pressure signal in real time to determine whether the pressure sensors in the extending cavity and the retracting cavity are faulty, the following steps are included: If the first pressure signal is greater than or equal to the lower threshold of the preset pressure signal and less than or equal to the upper threshold of the preset pressure signal, and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the extending cavity is normal, and the corresponding first pressure signal is output; If the second pressure signal is greater than or equal to the lower threshold of the preset pressure signal and less than or equal to the upper threshold of the preset pressure signal, and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the retracting cavity is normal, and the corresponding second pressure signal is output.

[0015] According to a second aspect of the embodiments of the present application, there is provided a pressure signal fault monitoring and processing system for a flight control system, which is applied to the pressure signal fault monitoring and processing method for a flight control system described in any one of the above embodiments. The system includes: A receiving and processing module, configured to receive a first voltage signal output by a pressure sensor in the extending cavity of an actuator and a second voltage signal output by a pressure sensor in the retracting cavity of the actuator, and respectively process the first voltage signal and the second voltage signal to obtain a first pressure signal and a second pressure signal; A fault monitoring module, configured to monitor the first pressure signal and the second pressure signal in real time to determine whether the pressure sensors in the extending cavity and the retracting cavity are faulty; A first fault monitoring sub-module, configured to, if the first pressure signal is less than the lower threshold of the preset pressure signal and the duration exceeds the time delay threshold, determine that the pressure sensor in the extending cavity is faulty and output a corresponding first fault type; wherein, the first fault type is a high-end open circuit fault or a high-end short circuit fault; A second fault monitoring sub-module, configured to, if the second pressure signal is less than the lower threshold of the preset pressure signal and the duration exceeds the time delay threshold, determine that the pressure sensor in the retracting cavity is faulty and output a corresponding second fault type; wherein, the second fault type is the same as the first fault type; A first fault latching module, configured to latch the first fault type and set the first pressure signal to a corresponding fault-safe value according to the first fault type; and a second fault latching module, configured to latch the second fault type and set the second pressure signal to a corresponding fault-safe value according to the second fault type.

[0016] The technical solutions provided by the embodiments of the present application may include the following beneficial effects: In an embodiment of the present application, through the above method, on the one hand, by monitoring the first pressure signal in the actuator extension cavity and the second pressure signal in the actuator retraction cavity in real time, it is determined whether the pressure sensors in the extension cavity and the retraction cavity are faulty. During the fault determination process, if the first pressure signal is less than the lower threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the extension cavity is faulty, and the corresponding first fault type is accurately output; if the second pressure signal is less than the lower threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the retraction cavity is faulty, and the corresponding second fault type is accurately output. Through the present application, not only can the faults of the pressure sensors be quickly determined, but also the corresponding fault types can be accurately output. On the other hand, according to the first fault type, the first pressure signal is set to the corresponding fault-safe value, and according to the second fault type, the second pressure signal is set to the corresponding fault-safe value, which can prevent the spread of pressure sensor faults from causing more serious loss of flight control system functions.

[0017] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. Description of the Drawings

[0018] The drawings here 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. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 Schematically showing the flowchart of the steps of a method for monitoring and processing pressure signal faults in a flight control system in an exemplary embodiment of the present application; Figure 2 Schematically showing the functional principle diagram of a system for monitoring and processing pressure signal faults in a flight control system in an exemplary embodiment of the present application; Figure 3 Schematically showing the block diagram of a system for monitoring and processing pressure signal faults in a flight control system in an exemplary embodiment of the present application. Detailed Embodiments

[0020] 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.

[0021] In this exemplary embodiment, a method for monitoring and processing pressure signal faults of a flight control system is first provided. Refer to Figure 1 as shown in, this method may include: step S101 to step S105.

[0022] Among them, step S101: Receive the first voltage signal output by the pressure sensor in the actuator extension cavity and the second voltage signal output by the pressure sensor in the actuator retraction cavity, and process the first voltage signal and the second voltage signal respectively to obtain the first pressure signal and the second pressure signal.

[0023] Step S102: Monitor the first pressure signal and the second pressure signal in real time to determine whether the pressure sensors in the extension cavity and the retraction cavity are faulty.

[0024] Step S103: If the first pressure signal is less than the lower threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the extension cavity is faulty, and the corresponding first fault type is output; among them, the first fault type is a high-end open circuit fault or a high-end short circuit fault.

[0025] Step S104: If the second pressure signal is less than the lower threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the retraction cavity is faulty, and the corresponding second fault type is output; among them, the second fault type is the same as the first fault type.

[0026] Step S105: Latch the first fault type and set the first pressure signal to the corresponding fail-safe value according to the first fault type; and latch the second fault type and set the second pressure signal to the corresponding fail-safe value according to the second fault type.

[0027] In an embodiment of the present application, through the above method, on the one hand, by monitoring the first pressure signal in the actuator extension chamber and the second pressure signal in the actuator retraction chamber in real time, it is determined whether the pressure sensors in the extension chamber and the retraction chamber are faulty. During the fault determination process, if the first pressure signal is less than the lower threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the extension chamber is faulty, and the corresponding first fault type is accurately output; if the second pressure signal is less than the lower threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the retraction chamber is faulty, and the corresponding second fault type is accurately output. Through the present application, not only can the fault of the pressure sensor be quickly determined, but also the corresponding fault type can be accurately output. On the other hand, according to the first fault type, the first pressure signal is set to the corresponding fail-safe value, and according to the second fault type, the second pressure signal is set to the corresponding fail-safe value, which can prevent the spread of the pressure sensor fault from causing a more serious loss of flight control system functions.

[0028] Next, with reference to Figure 1 and Figure 2 each step of the above method in this exemplary embodiment will be described in more detail.

[0029] In step S101, the actuator includes an extension chamber and a retraction chamber. Pressure sensors are installed in both the actuator extension chamber and the retraction chamber. The pressure sensor in the actuator extension chamber is used to collect the first voltage signal in the actuator extension chamber, and the pressure sensor in the actuator retraction chamber is used to collect the second voltage signal in the actuator retraction chamber. After the pressure sensor in the actuator extension chamber collects the first voltage signal in the actuator extension chamber, it outputs the first voltage signal to the receiving and processing module 210. After the pressure sensor in the actuator retraction chamber collects the second voltage signal in the actuator retraction chamber, it outputs the second voltage signal to the receiving and processing module 210. Generally, a power supply module is used to supply power to the pressure sensor so that the pressure sensor can perform the work of collecting voltage signals and outputting voltage signals.

[0030] When the receiving and processing module 210 receives the first voltage signal output by the pressure sensor in the actuator extension chamber and the second voltage signal output by the pressure sensor in the actuator retraction chamber, the receiving and processing module 210 then processes the first voltage signal and the second voltage signal respectively to obtain the first pressure signal and the second pressure signal.

[0031] Further, since the receiving and processing module 210 includes an AD acquisition module and a dimension conversion module, when receiving and processing the first voltage signal and the second voltage signal through the receiving and processing module 210, specifically, the first voltage signal and the second voltage signal are received through the AD acquisition module, and the first voltage signal is continuously converted into a first digital quantity and the second voltage signal is converted into a second digital quantity through the AD acquisition module. Then, through the dimension conversion module, according to the relationship between voltage and pressure defined by the pressure sensor, the first digital quantity is converted into a first pressure signal, and the second digital quantity is converted into a second pressure signal. By converting and processing the first voltage signal and the second voltage signal, the present application can accurately obtain the first pressure signal and the second pressure signal.

[0032] In step S102, after the first pressure signal and the second pressure signal are obtained by processing the first voltage signal and the second voltage signal respectively through the receiving and processing module 210, the first pressure signal and the second pressure signal are transmitted to the fault monitoring module 220, and then the first pressure signal and the second pressure signal are monitored in real time through the fault monitoring module 220 to determine whether the pressure sensors in the actuator extension cavity and the retraction cavity are faulty. By monitoring the first pressure signal and the second pressure signal in real time, the present application can determine whether the pressure sensors in the actuator extension cavity and the retraction cavity are faulty, so as to perform corresponding processing according to whether the pressure sensors are faulty subsequently.

[0033] In step S103, when determining whether the pressure sensor in the actuator extension cavity is faulty, if the first pressure signal is less than the lower threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the actuator extension cavity is faulty, and the first fault type of the pressure sensor in the extension cavity is output. Among them, the first fault type is a high-end open circuit fault or a high-end short circuit fault. When the fault of the pressure sensor in the actuator extension cavity is the first fault type, the pressure sensor in the actuator extension cavity has a high-end open circuit fault or a high-end short circuit fault. By comparing the first pressure signal with the lower threshold of the preset pressure signal and the duration exceeding the time delay threshold, the present application can quickly determine the fault of the pressure sensor in the actuator extension cavity and output the corresponding first fault type.

[0034] In step S104, when determining whether the pressure sensor in the actuator retraction chamber is faulty, if the second pressure signal is less than the lower threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the actuator retraction chamber is faulty, and the second fault type of the pressure sensor in the retraction chamber is output. Further, the second fault type is the same as the first fault type. When the fault of the pressure sensor in the actuator retraction chamber is the second fault type, it is a high-end open circuit fault or a high-end short circuit fault of the pressure sensor in the actuator retraction chamber. By comparing the second pressure signal with the lower threshold of the preset pressure signal and the duration exceeding the time delay threshold, this application can quickly determine the fault of the pressure sensor in the actuator retraction chamber and output the corresponding second fault type.

[0035] It should be noted that the time delay threshold is determined according to the fault impact and the measurement of the monitor in the fault monitoring module 220. Taking the first pressure signal as an example: the time delay threshold should generally be less than the minimum value of the time delay of the monitor related to the first pressure signal and greater than twice the signal acquisition and transmission period. For example, the time delay of monitor 1 for monitoring the first pressure signal is 100 ms, the time delay of monitor 2 for monitoring the first pressure signal is 150 ms, and the signal acquisition and transmission period is 25 ms. Then the time delay threshold should be greater than 50 ms and less than 100 ms.

[0036] Similarly, taking the second pressure signal as an example: the time delay threshold should generally be less than the minimum value of the time delay of the monitor related to the second pressure signal and greater than twice the signal acquisition and transmission period. For example, the time delay of monitor 1 for monitoring the second pressure signal is 100 ms, the time delay of monitor 2 for monitoring the second pressure signal is 150 ms, and the signal acquisition and transmission period is 25 ms. Then the time delay threshold should be greater than 50 ms and less than 100 ms. Among them, it should be noted that both monitor 1 and monitor 2 are monitors in the downstream function. Monitor 1 mainly monitors the first pressure signal in the actuator extension chamber, and monitor 2 mainly monitors the second pressure signal in the actuator retraction chamber to identify specific faults in the actuation system, such as: rudder surface force disputes, rudder surface oscillations, etc.

[0037] In step S105, after the first fault type is output, the first fault latch module 250 latches the first fault type, and sets the first pressure signal to the corresponding fail-safe value according to the first fault type; after the second fault type is output, the second fault latch module 260 latches the second fault type, and sets the second pressure signal to the corresponding fail-safe value according to the second fault type. The fail-safe values corresponding to the first pressure signal and the second pressure signal are sent to the system control and monitoring module of the flight control computer through the communication interface between the actuator control electronics and the flight control computer, and are used as inputs for the force dispute mitigation function and the force dispute oscillation monitoring function to achieve force dispute balance control and force dispute oscillation monitoring of the corresponding actuator.

[0038] In one embodiment, after the step of monitoring the first pressure signal and the second pressure signal in real time to determine whether the pressure sensors in the extending cavity and the retracting cavity are faulty, it includes: If the first pressure signal is greater than the upper threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the extending cavity is faulty, and the corresponding third fault type is output; wherein, the third fault type is a low-end open circuit fault or a low-end short circuit fault; If the second pressure signal is greater than the upper threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the retracting cavity is faulty, and the corresponding fourth fault type is output; wherein, the fourth fault type is the same as the third fault type.

[0039] In one embodiment, after the step of determining that the pressure sensor in the extending cavity is faulty and outputting the corresponding third fault type if the first pressure signal is greater than the upper threshold of the preset pressure signal and the duration exceeds the time delay threshold, it includes: Latch the third fault type, and set the first pressure signal to the corresponding fail-safe value according to the third fault type; In one embodiment, after the step of determining that the pressure sensor in the retracting cavity is faulty and outputting the corresponding fourth fault type if the second pressure signal is greater than the upper threshold of the preset pressure signal and the duration exceeds the time delay threshold, it includes: Latch the fourth fault type, and set the second pressure signal to the corresponding fail-safe value according to the fourth fault type.

[0040] It can be understood that when judging whether the pressure sensor in the actuator extension cavity is faulty, in addition to judging by the first pressure signal and the lower threshold of the preset pressure signal, it can also be judged by the first pressure signal and the upper threshold of the preset pressure signal. Specifically, when the first pressure signal is greater than the upper threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is judged that the pressure sensor in the extension cavity is faulty, and the third fault type of the pressure sensor in the extension cavity is output. Among them, the third fault type is a low-end open circuit fault or a low-end short circuit fault. When the fault of the pressure sensor in the actuator extension cavity is the third fault type, the pressure sensor in the actuator extension cavity has a high-end open circuit fault or a high-end short circuit fault.

[0041] When the fault of the pressure sensor in the actuator extension cavity is the third fault type, the third fault type is latched by the third fault latching module, and the first pressure signal is set to the corresponding fail-safe value according to the third fault type. The fail-safe value corresponding to the first pressure signal under the third fault type is sent to the system control and monitoring module of the flight control computer through the communication interface between the actuator control electronics and the flight control computer, and is used as the input of the force dispute mitigation function and the force dispute oscillation monitoring function to achieve the force dispute balance control and force dispute oscillation monitoring of the corresponding actuator.

[0042] It can also be understood that when judging whether the pressure sensor in the actuator retraction cavity is faulty, in addition to judging by the second pressure signal and the lower threshold of the preset pressure signal, it can also be judged by the second pressure signal and the upper threshold of the preset pressure signal. Specifically, when the second pressure signal is greater than the upper threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is judged that the pressure sensor in the retraction cavity is faulty, and the fourth fault type of the pressure sensor in the retraction cavity is output. Among them, the fourth fault type is the same as the third fault type. When the fault of the pressure sensor in the actuator retraction cavity is the fourth fault type, the pressure sensor in the actuator retraction cavity has a high-end open circuit fault or a high-end short circuit fault. By comparing the second pressure signal with the upper threshold of the preset pressure signal and judging whether the duration exceeds the time delay threshold, the present application can quickly judge the fault of the pressure sensor in the actuator retraction cavity and output the corresponding fault type.

[0043] When the fault of the pressure sensor in the actuator retraction cavity is the fourth fault type, the fourth fault type is latched by the fourth fault latching module, and the second pressure signal is set to the corresponding fail-safe value according to the fourth fault type. The fail-safe value corresponding to the second pressure signal under the fourth fault type is sent to the system control and monitoring module of the flight control computer through the communication interface between the actuator control electronics and the flight control computer, and is used as the input of the force dispute mitigation function and the force dispute oscillation monitoring function to achieve the force dispute balance control and force dispute oscillation monitoring of the corresponding actuator.

[0044] In one embodiment, after the step of monitoring the first pressure signal and the second pressure signal in real time to determine whether the pressure sensors in the extending chamber and the retracting chamber are faulty, the following steps are included: If the absolute value of the difference between the pressure difference between the two chambers of the actuator and the reference pressure difference exceeds the error threshold and the duration exceeds the time delay threshold, it is determined that the pressure sensors in both the extending chamber and the retracting chamber are faulty, and the corresponding fifth fault type is output; where the pressure difference between the two chambers is the difference between the first pressure signal and the second pressure signal, and the fifth fault type is a signal drift fault.

[0045] In one embodiment, after the step of determining that the pressure sensors in both the extending chamber and the retracting chamber of the actuator are faulty and outputting the corresponding fifth fault type if the absolute value of the difference between the pressure difference between the two chambers of the actuator and the reference pressure difference exceeds the error threshold and the duration exceeds the time delay threshold, the following steps are included: Latch the fifth fault type, and set the first pressure signal and the second pressure signal to the corresponding fail-safe values according to the fifth fault type.

[0046] It can be understood that when determining whether the pressure sensors in the extending chamber and the retracting chamber are faulty, the absolute value of the difference between the pressure difference between the two chambers of the actuator and the reference pressure difference can also be compared with the error threshold, and combined with the condition that the duration exceeds the time delay threshold, to determine whether the pressure sensors in the extending chamber and the retracting chamber are faulty. Specifically: when the absolute value of the difference between the pressure difference between the two chambers of the actuator and the reference pressure difference exceeds the error threshold and the duration exceeds the time delay threshold, it is determined that the pressure sensors in both the extending chamber and the retracting chamber are faulty, and the fifth fault type of the pressure sensors in the extending chamber and the retracting chamber is output. Among them, the fifth fault type is a signal drift fault. The error threshold can be determined according to tolerance analysis and engineering experience, and the error threshold can specifically be 1 Mpa.

[0047] When the faults of the pressure sensors in the extending chamber and the retracting chamber of the actuator are of the fifth fault type, the fifth fault type is latched by the fifth fault latching module, and the first pressure signal and the second pressure signal are set to the corresponding fail-safe values according to the fifth fault type. The fail-safe value corresponding to the first pressure signal under the fifth fault type and the fail-safe value corresponding to the second pressure signal under the fifth fault type are sent to the system control and monitoring module of the flight control computer through the communication interface between the actuator control electronics and the flight control computer, and are used as inputs for the force dispute mitigation function and the force dispute oscillation monitoring function to achieve the force dispute balance control and the force dispute oscillation monitoring of the corresponding actuator.

[0048] It should be noted that the pressure difference between the two chambers of the actuator is the difference between the first pressure signal of the pressure sensor in the extending chamber of the actuator and the second pressure signal of the pressure sensor in the retracting chamber of the actuator.

[0049] Furthermore, the reference pressure difference can be calculated by the following formula (1): (1) In the formula, represents the reference pressure difference, represents the hydraulic source pressure, represents the change in the displacement of the actuator cylinder piston, represents the spool position of the servo valve, represents the proportionality coefficient.

[0050] It can be understood that the reference pressure difference calculated according to the above formula (1) can effectively identify system faults caused by the drift of the output value of the pressure sensor, and has a small calculation load and does not require additional hardware support. While not increasing the manufacturing and operation costs of the flight control system, it improves the safety and maintainability of the flight control system.

[0051] The setting of the fail-safe value in this application is beneficial for the flight control system to limit the impact of the pressure sensor fault to the smallest range and reduce the impact on the control function of the flight control system. To prevent sudden large-scale changes in the pressure signal, resulting in mis-triggering of the load and fatigue-related monitors of the flight control system and loss of the system control function.

[0052] Specifically, the fail-safe value can be selected in the following manner: When the fault monitoring module 220 determines that the first pressure signal of the pressure sensor in the extending chamber of the actuator has a high-end open circuit fault, high-end short circuit fault, low-end open circuit fault or low-end short circuit fault, the first pressure signal is set to a negative value with an absolute value of 10% of the full-scale pressure value of the pressure sensor; when the fault monitoring module 220 determines that the second pressure signal of the pressure sensor in the retracting chamber of the actuator has a high-end open circuit fault, high-end short circuit fault, low-end open circuit fault or low-end short circuit fault, the second pressure signal is set to a negative value with an absolute value of 10% of the full-scale pressure value of the pressure sensor.

[0053] When the pressure sensor detects a signal drift fault in the pressure signal, the pressure signal is set to the value of the last cycle before the fault is reported. The value of the last cycle before the fault is reported for the pressure signal is the fail-safe value corresponding to the pressure signal.

[0054] In one embodiment, the preset upper threshold of the pressure signal is set to the upper limit of the normal working range of the actuator hydraulic pressure plus a margin; The lower threshold under the preset pressure signal is set as the lower limit of the normal operating range of the actuator hydraulic pressure minus the margin.

[0055] It can be understood that the normal operating range of the actuator hydraulic pressure is 0 - 21 Mpa. Therefore, the lower limit of the normal operating range of the actuator hydraulic pressure is 0 Mpa, and the upper limit of the normal operating range of the actuator hydraulic pressure is 21 Mpa.

[0056] Furthermore, the margin can be calculated by the following formula (2): (2) In the formula, represents the margin, represents the precision error coefficient of the pressure sensor, represents the acquisition error coefficient, represents the signal transmission noise error coefficient, represents the full-scale pressure value of the pressure sensor.

[0057] It can be understood that both the precision error coefficient of the pressure sensor and the acquisition error coefficient are fixed values determined during the design stage of the flight control system, and the signal transmission noise error coefficient is estimated based on the background noise data of the actuator pressure signal. Through the above formula (2), the margin can be calculated, and then the upper threshold of the preset pressure signal can be obtained by the calculated margin and the upper limit of the normal operating range of the actuator hydraulic pressure, and the lower threshold of the preset pressure signal can be obtained by the calculated margin and the lower limit of the normal operating range of the actuator hydraulic pressure. Based on the calculated upper threshold and lower threshold of the preset pressure signal, combined with the first pressure signal and the second pressure signal, it is possible to accurately determine whether the pressure sensors in the extension chamber and the retraction chamber are faulty to accurately locate the fault. Among them, the background noise refers to a kind of chaotic and persistent signal existing in the measurement environment.

[0058] In one embodiment, after the step of monitoring the first pressure signal and the second pressure signal in real time to determine whether the pressure sensors in the extension chamber and the retraction chamber are faulty, it includes: If the first pressure signal is greater than or equal to the lower threshold of the preset pressure signal and less than or equal to the upper threshold of the preset pressure signal, and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the extension chamber is normal and the corresponding first pressure signal is output; If the second pressure signal is greater than or equal to the lower threshold of the preset pressure signal and less than or equal to the upper threshold of the preset pressure signal, and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the retraction chamber is normal and the corresponding second pressure signal is output.

[0059] It can be understood that when determining whether the pressure sensors in the actuator extension chamber and the actuator retraction chamber are faulty, it also includes the case where the pressure sensors are normal, that is, the case where the pressure sensor in the actuator extension chamber is normal and the case where the pressure sensor in the actuator retraction chamber is normal. When the first pressure signal is greater than or equal to the lower threshold of the preset pressure signal and less than or equal to the upper threshold of the preset pressure signal, and the duration exceeds the time delay threshold, that is, when the first pressure signal is within the range between the lower threshold and the upper threshold of the preset pressure signal, and at the same time the duration exceeds the time delay threshold, the sixth fault monitoring sub-module determines that the pressure sensor in the extension chamber is normal and outputs the corresponding first pressure signal. Similarly, when the second pressure signal is greater than or equal to the lower threshold of the preset pressure signal and less than or equal to the upper threshold of the preset pressure signal, and the duration exceeds the time delay threshold, that is, when the second pressure signal is within the range between the lower threshold and the upper threshold of the preset pressure signal, and at the same time the duration exceeds the time delay threshold, the seventh fault monitoring sub-module determines that the pressure sensor in the retraction chamber is normal and outputs the corresponding second pressure signal.

[0060] It should be noted that although the steps of the method in this application are described in a specific order in the drawings, this does not require or imply that these steps must be executed in that specific order, or that all the steps shown must be executed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution, etc. Also, it is easily understood that these steps may be executed synchronously or asynchronously, for example, in multiple modules / processes / threads.

[0061] Furthermore, in this exemplary embodiment, a pressure signal fault monitoring and processing system for a flight control system is also provided, which is applied to the pressure signal fault monitoring and processing method of the flight control system in any one of the above embodiments. Refer to Figure 3As shown in the figure, the system may include a receiving and processing module 210, a fault monitoring module 220, a first fault monitoring sub-module 230, a second fault monitoring sub-module 240, a first fault latching module 250, and a second fault latching module 260. Among them: The receiving and processing module 210 is configured to receive a first voltage signal output by a pressure sensor in the actuator extension cavity and a second voltage signal output by a pressure sensor in the actuator retraction cavity, and process the first voltage signal and the second voltage signal respectively to obtain a first pressure signal and a second pressure signal; The fault monitoring module 220 is configured to monitor the first pressure signal and the second pressure signal in real time to determine whether the pressure sensors in the extension cavity and the retraction cavity are faulty; The first fault monitoring sub-module 230 is configured to determine that the pressure sensor in the extension cavity is faulty and output a corresponding first fault type if the first pressure signal is less than the lower threshold of the preset pressure signal and the duration exceeds the time delay threshold; where the first fault type is a high-end open circuit fault or a high-end short circuit fault; The second fault monitoring sub-module 240 is configured to determine that the pressure sensor in the retraction cavity is faulty and output a corresponding second fault type if the second pressure signal is less than the lower threshold of the preset pressure signal and the duration exceeds the time delay threshold; where the second fault type is the same as the first fault type; The first fault latching module 250 is configured to latch the first fault type and set the first pressure signal to a corresponding fail-safe value according to the first fault type; and the second fault latching module 260 is configured to latch the second fault type and set the second pressure signal to a corresponding fail-safe value according to the second fault type.

[0062] In one embodiment, the system further includes: A third fault monitoring sub-module, configured to determine that the pressure sensor in the extension cavity is faulty and output a corresponding third fault type if the first pressure signal is greater than the upper threshold of the preset pressure signal and the duration exceeds the time delay threshold; where the third fault type is a low-end open circuit fault or a low-end short circuit fault; A fourth fault monitoring sub-module, configured to determine that the pressure sensor in the retraction cavity is faulty and output a corresponding fourth fault type if the second pressure signal is greater than the upper threshold of the preset pressure signal and the duration exceeds the time delay threshold; where the fourth fault type is the same as the third fault type.

[0063] In one embodiment, the system further includes: A third fault latching module, configured to latch the third fault type and set the first pressure signal to a corresponding fail-safe value according to the third fault type; A fourth fault latching module, configured to latch the fourth fault type and set the second pressure signal to a corresponding fail-safe value according to the fourth fault type.

[0064] In one embodiment, the system further includes: A fifth fault monitoring sub-module, configured to determine that both the pressure sensors in the extending chamber and the retracting chamber are faulty and output a corresponding fifth fault type if the absolute value of the difference between the pressure difference between the two chambers of the actuator and the reference pressure difference exceeds an error threshold and the duration exceeds a time delay threshold; wherein, the pressure difference between the two chambers is the difference between the first pressure signal and the second pressure signal, and the fifth fault type is a signal drift fault.

[0065] In one embodiment, the system further includes: A fifth fault latching module, configured to latch the fifth fault type and set the first pressure signal and the second pressure signal to corresponding fail-safe values according to the fifth fault type.

[0066] In one embodiment, the system further includes: A sixth fault monitoring sub-module, configured to determine that the pressure sensor in the extending chamber is normal and output the corresponding first pressure signal if the first pressure signal is greater than or equal to a lower threshold of the preset pressure signal and less than or equal to an upper threshold of the preset pressure signal and the duration exceeds the time delay threshold; A seventh fault monitoring sub-module, configured to determine that the pressure sensor in the retracting chamber is normal and output the corresponding second pressure signal if the second pressure signal is greater than or equal to a lower threshold of the preset pressure signal and less than or equal to an upper threshold of the preset pressure signal and the duration exceeds the time delay threshold.

[0067] Regarding the system in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated herein.

[0068] The present application will be further described below through the following embodiments.

[0069] The rated oil supply pressure of the flight control system actuator is 21 Mpa, and the normal operating range of the actuator hydraulic pressure is 0 - 21 Mpa. The pressure sensor outputs a first voltage signal of 10 - 100 mV according to the pressure in the actuator extension cavity in a linear relationship. When the pressure is 0 Mpa, the first voltage signal output in the actuator extension cavity is 10 mV, and when the pressure is 21 Mpa, the first voltage signal output in the actuator extension cavity is 100 mV; the second voltage signal output according to the pressure in the actuator retraction cavity is 10 - 100 mV. When the pressure is 0 Mpa, the second voltage signal output in the actuator retraction cavity is 10 mV, and when the pressure is 21 Mpa, the second voltage signal output in the actuator retraction cavity is 100 mV. At a certain state point, the pressure in the actuator extension cavity is 10 Mpa, and the pressure in the actuator retraction cavity is 10 Mpa. At this time, the first voltage signal output by the pressure sensor in the extension cavity is 42.9 mV, and the second voltage signal output by the pressure sensor in the retraction cavity is 42.9 mV. The receiving and processing module 210 collects this first voltage signal, converts it into a first digital quantity, and converts it into a first pressure signal of 10 Mpa through the dimension conversion module; the receiving and processing module 210 collects this second voltage signal, converts it into a second digital quantity, and converts it into a second pressure signal of 10 Mpa through the dimension conversion module.

[0070] Set the accuracy error coefficient of the pressure sensor = 0.01, the acquisition error coefficient = 0.0001, the signal transmission noise error coefficient = 0.005, so the margin is .

[0071] The lower threshold of the preset pressure signal = the lower limit of the normal operating range of the actuator hydraulic pressure - the margin. Therefore, the lower threshold of the preset pressure signal = 0 - 0.24 = -0.24 Mpa. The upper threshold of the preset pressure signal = the upper limit of the normal operating range of the actuator hydraulic pressure + the margin. Therefore, the upper threshold of the preset pressure signal = 21 + 0.24 = 21.24 Mpa.

[0072] The fault monitoring module 220 detects that the first pressure signal 10 Mp is between the upper threshold and the lower threshold of the preset pressure signal (i.e., -0.24 Mpa - 21.24 Mpa), so no fault is triggered. At the same time, the first pressure signal is directly output without processing for use in the system control and monitoring functions in the flight control computer.

[0073] Similarly, the fault monitoring module 220 detects that the second pressure signal 10 Mp is between the upper threshold and the lower threshold of the preset pressure signal (i.e., -0.24 Mpa - 21.24 Mpa), so no fault is triggered. At the same time, the second pressure signal is directly output without processing for use in the system control and monitoring functions in the flight control computer.

[0074] When the first voltage signal output by the pressure sensor in the actuator extension cavity jumps to -3V, after passing through the receiving and processing module 210 (with a gain of 30), the output first digital quantity is -0.333V. After passing through the dimension conversion module, the first pressure signal obtained is -80 Mpa. When the fault monitoring module 220 detects that the first pressure signal is less than -0.24 Mpa and the duration exceeds the time delay threshold of 60 ms, it determines that there is a high-end open circuit fault or high-end short circuit fault in the pressure sensor in the extension cavity, that is, triggers the high-end open circuit fault or high-end short circuit fault of the pressure sensor in the extension cavity, and then latches the fault. The first fault latching module immediately sets the output value of the first pressure signal to the fault-safe value of -2.1 Mpa.

[0075] Similarly, when the second voltage signal output by the pressure sensor in the actuator retraction cavity jumps to -3V, after passing through the receiving and processing module 210 (with a gain of 30), the output second digital quantity is -0.333V. After passing through the dimension conversion module, the second pressure signal obtained is -80 Mpa. When the fault monitoring module 220 detects that the second pressure signal is less than -0.24 Mpa and the duration exceeds the time delay threshold of 60 ms, it determines that there is a high-end open circuit fault or high-end short circuit fault in the pressure sensor in the retraction cavity, that is, triggers the high-end open circuit fault or high-end short circuit fault of the pressure sensor in the retraction cavity, and then latches the fault. The second fault latching module immediately sets the output value of the second pressure signal to the fault-safe value of -2.1 Mpa.

[0076] When the first voltage signal output by the pressure sensor in the actuator extension cavity is 42.9 mV, after passing through the receiving and processing module 210 (with a gain of 30), the output first digital quantity is 2.145V. After passing through the dimension conversion module, the first pressure signal obtained is 10 Mpa; when the first voltage signal output by the pressure sensor in the actuator extension cavity jumps to 44.0 mV, after passing through the receiving and processing module 210 (with a gain of 30), the output first digital quantity becomes 2.2V. After passing through the dimension conversion module, the first pressure signal becomes 10.25 Mpa. That is, the first pressure signal of the pressure sensor in the actuator extension cavity changes from 10 Mpa to 10.25 Mpa.

[0077] Similarly, when the second voltage signal output by the pressure sensor in the actuator retraction cavity is 42.9 mV, after passing through the receiving and processing module 210 (with a gain of 30), the output second digital quantity is 2.145V. After passing through the dimension conversion module, the second pressure signal obtained is 10 Mpa; when the second voltage signal output by the pressure sensor in the actuator retraction cavity jumps to 66.1 mV, after passing through the receiving and processing module 210 (with a gain of 30), the output second digital quantity becomes 3.305V. After passing through the dimension conversion module, the second pressure signal becomes 15.4 Mpa. That is, the second pressure signal of the pressure sensor in the actuator retraction cavity changes from 10 Mpa to 15.4 Mpa.

[0078] Therefore, the pressure difference between the two chambers of the actuator is equal to 15.4 - 10.24 = 5.15 Mpa. The pressure of the hydraulic source is 21 Mpa, the displacement change of the actuator piston is 2 mm, the spool position of the servo valve is 0.5 mm, and the proportionality coefficient is 2500. According to formula (1), the reference pressure difference is 1 Mpa. Therefore, the absolute value of the difference between the pressure difference of 5.15 Mpa between the two chambers of the actuator and the reference pressure difference of 1 Mpa is 4.15 Mpa. At this time, this absolute value of 4.15 Mpa is greater than the error threshold of 1 Mpa and the time-delay threshold of more than 60 ms. Then it is determined that both the pressure sensor in the extending chamber and the pressure sensor in the retracting chamber have failed, that is, signal drift failures have occurred in both. After that, the fifth fault latching module immediately sets the first pressure signal to the corresponding fail-safe value and sets the second pressure signal to the corresponding fail-safe value, that is, sets the fail-safe value corresponding to the first pressure signal to the first pressure signal of 10.24 Mpa in the last cycle before the fault trigger, and sets the fail-safe value corresponding to the second pressure signal to the second pressure signal of 15.3 Mpa in the last cycle before the fault trigger.

[0079] In this example, the method of the present application can quickly detect open-circuit faults, signal drift faults, etc. of the pressure sensor, can effectively cover various typical fault types of the pressure sensor, improve the fault location ability of the flight control system, and at the same time set the first pressure signal to the corresponding fail-safe value and set the second pressure signal to the corresponding fail-safe value, which can prevent the spread of pressure sensor faults from causing more serious loss of flight control system functions and improve the availability of the flight control system.

[0080] After considering the specification and practicing the invention disclosed herein, those skilled in the art will readily conceive of other embodiments of the present application. 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 known common knowledge or conventional technical means in the technical field not disclosed in the present application.

Claims

1. A method for monitoring and processing pressure signal faults in a flight control system, characterized in that, The method includes: Receiving a first voltage signal output by a pressure sensor in the actuator extension cavity and a second voltage signal output by a pressure sensor in the actuator retraction cavity, and respectively processing the first voltage signal and the second voltage signal to obtain a first pressure signal and a second pressure signal; Monitoring the first pressure signal and the second pressure signal in real time to determine whether the pressure sensor in the extension cavity and the pressure sensor in the retraction cavity are faulty; If the first pressure signal is less than the lower threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the extension cavity is faulty and a corresponding first fault type is output; wherein, the first fault type is a high-end open circuit fault or a high-end short circuit fault; If the second pressure signal is less than the lower threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the retraction cavity is faulty and a corresponding second fault type is output; wherein, the second fault type is the same as the first fault type; Latching the first fault type and setting the first pressure signal to a corresponding fail-safe value according to the first fault type; and latching the second fault type and setting the second pressure signal to a corresponding fail-safe value according to the second fault type.

2. The pressure signal fault monitoring and processing method for the flight control system according to claim 1, wherein After the step of monitoring the first pressure signal and the second pressure signal in real time to determine whether the pressure sensor in the extension cavity and the pressure sensor in the retraction cavity are faulty, it includes: If the first pressure signal is greater than the upper threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the extension cavity is faulty and a corresponding third fault type is output; wherein, the third fault type is a low-end open circuit fault or a low-end short circuit fault; If the second pressure signal is greater than the upper threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the retraction cavity is faulty and a corresponding fourth fault type is output; wherein, the fourth fault type is the same as the third fault type.

3. The pressure signal fault monitoring and processing method for the flight control system according to claim 2, characterized in that After the step of if the first pressure signal is greater than the upper threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the extension cavity is faulty and a corresponding third fault type is output, it includes: Latching the third fault type and setting the first pressure signal to a corresponding fail-safe value according to the third fault type; After the step of if the second pressure signal is greater than the upper threshold of the preset pressure signal and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the retraction cavity is faulty and a corresponding fourth fault type is output, it includes: Latching the fourth fault type and setting the second pressure signal to a corresponding fail-safe value according to the fourth fault type.

4. The pressure signal fault monitoring and processing method for the flight control system according to claim 1, characterized in that After the step of monitoring the first pressure signal and the second pressure signal in real time to determine whether the pressure sensor in the extension cavity and the pressure sensor in the retraction cavity are faulty, it includes: If the absolute value of the difference between the pressure difference between the two chambers of the actuator and the reference pressure difference exceeds the error threshold and the duration exceeds the time delay threshold, it is determined that both the pressure sensor in the extending chamber and the pressure sensor in the retracting chamber are faulty, and the corresponding fifth fault type is output; wherein, the pressure difference between the two chambers is the difference between the first pressure signal and the second pressure signal, and the fifth fault type is a signal drift fault.

5. The pressure signal fault monitoring and processing method for the flight control system according to claim 4, characterized in that, After the step of determining that both the pressure sensor in the extending chamber and the pressure sensor in the retracting chamber are faulty and outputting the corresponding fifth fault type if the absolute value of the difference between the pressure difference between the two chambers of the actuator and the reference pressure difference exceeds the error threshold and the duration exceeds the time delay threshold, it includes: Latch the fifth fault type, and set the first pressure signal to the corresponding fail-safe value and the second pressure signal to the corresponding fail-safe value according to the fifth fault type.

6. The pressure signal fault monitoring and processing method for the flight control system according to claim 4, characterized in that, The calculation formula of the reference pressure difference is as follows: （1） wherein, represents the reference pressure difference, represents the hydraulic source pressure, represents the change in displacement of the actuator piston, represents the spool position of the servo valve, represents the proportionality coefficient.

7. The pressure signal fault monitoring and processing method for the flight control system according to claim 2, characterized in that The upper threshold of the preset pressure signal is set to the upper limit of the normal working range of the actuator hydraulic pressure plus the margin. The lower threshold of the preset pressure signal is set to the lower limit of the normal working range of the actuator hydraulic pressure minus the margin.

8. The pressure signal fault monitoring and processing method for the flight control system according to claim 7, characterized in that The calculation formula of the margin is as follows: （2） In the formula, represents the margin, represents the precision error coefficient of the pressure sensor, represents the acquisition error coefficient, represents the signal transmission noise error coefficient, represents the full-scale pressure value of the pressure sensor.

9. The pressure signal fault monitoring and processing method for the flight control system according to claim 1, wherein After the step of monitoring the first pressure signal and the second pressure signal in real time to determine whether the pressure sensor in the extending chamber and the pressure sensor in the retracting chamber are faulty, it includes: If the first pressure signal is greater than or equal to the lower threshold of the preset pressure signal and less than or equal to the upper threshold of the preset pressure signal, and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the extending chamber is normal, and the corresponding first pressure signal is output. If the second pressure signal is greater than or equal to the lower threshold of the preset pressure signal and less than or equal to the upper threshold of the preset pressure signal, and the duration exceeds the time delay threshold, it is determined that the pressure sensor in the retracting chamber is normal, and the corresponding second pressure signal is output.

10. A pressure signal fault monitoring and processing system for a flight control system, characterized in that, Applied to the pressure signal fault monitoring and processing method of the flight control system according to any one of the above claims 1 to 9, the system includes: A receiving and processing module, configured to receive the first voltage signal output by the pressure sensor in the extending chamber of the actuator and the second voltage signal output by the pressure sensor in the retracting chamber of the actuator, and process the first voltage signal and the second voltage signal respectively to obtain a first pressure signal and a second pressure signal. A fault monitoring module, configured to monitor the first pressure signal and the second pressure signal in real time to determine whether the pressure sensor in the extending chamber and the pressure sensor in the retracting chamber are faulty. A first fault monitoring sub-module, configured to determine that the pressure sensor in the extending chamber is faulty and output the corresponding first fault type if the first pressure signal is less than the lower threshold of the preset pressure signal and the duration exceeds the time delay threshold; wherein, the first fault type is a high-end open circuit fault or a high-end short circuit fault. The second fault monitoring sub-module is configured to determine that the pressure sensor in the retraction cavity fails and output a corresponding second fault type if the second pressure signal is less than the lower threshold of the preset pressure signal and the duration exceeds the delay threshold; wherein, the second fault type is the same as the first fault type; The first fault latching module is configured to latch the first fault type and set the first pressure signal to a corresponding fail-safe value according to the first fault type; and, the second fault latching module is configured to latch the second fault type and set the second pressure signal to a corresponding fail-safe value according to the second fault type.

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