Device and method for detecting polarity from angular rate gyroscope to control surface of flight control system

Abstract

The invention provides a device and a method for detecting the polarity from an angular rate gyroscope to a control surface of a flight control system. The device comprises a program control turntable comprehensive analysis module (2), an angular rate gyroscope fixing device (3) and a signal switching module (5), when the angular rate gyroscope fixing device (3) is placed on the rotary table (2.1) according to three orthogonal axial directions, the program control rotary table comprehensive analysis module (2) controls the rotary table (2.1) to rotate, and receives FT I signals monitored by at least two flight control system angular rate gyroscopes through a flight control computer; and judging whether the FT I signals received in the three orthogonal axial directions meet the expected requirements of the angular rate gyroscope of the flight control system or not. The angular rate gyroscope can be incorporated into a system-level control loop for testing, dynamic angular rate signal testing along three orthogonal axial directions (pitching, rolling and heading) can be carried out, and whether the motion polarity of a control surface is consistent with the expectation or not is checked end to end.

Description

Technical Field

[0001] The present invention belongs to the technical field of flight control, and in particular relates to a device and method for detecting polarity from an angular rate gyro to a control surface of a flight control system. Background Art

[0002] The angular rate gyro (hereinafter referred to as the product) is a key sensor in the flight control system. It senses the aircraft's angular rate along three orthogonal axes (pitch, roll, and heading) and outputs a DC voltage signal proportional to the angular rate to the flight control system for solving the control law, ensuring the aircraft's flight quality. Each product is designed with dual redundancy, with two sets per aircraft, and any products of the same model are interchangeable. This creates a quadruple-redundancy solution within the system. The product features a self-test function. When the product is installed, ensure that the base fits snugly against the device and is securely mounted without any wobble.

[0003] At present, the polarity check items for the flight control system's angular rate gyro to the control surfaces have the following problems:

[0004] 1. During the single product test phase, the product is mounted on a rate turntable with its input reference axes (pitch, roll, and heading) parallel to the turntable axes and perpendicular to the local horizontal plane. Once the product is operating normally, a dynamic rate input of 10° / s is applied to the product via the rate turntable. The product output signal should be positive. A limitation of this test is that it only tests the product's output voltage and does not test the system-level control loop. This means that the flight control computer, actuator controller, elevator actuator, rudder actuator, and aileron actuator are not included in the control loop verification.

[0005] 2. During the whole system test phase, since the product has been installed and fixed on the aircraft, it is impossible to perform dynamic angular rate signal testing along the three orthogonal axes (pitch, roll, and heading). Since the aircraft is stationary, only static testing can be performed. Alternatively, the product can be disconnected and connected to an angular rate gyro simulator to perform dynamic simulation, simulating the angular rate signal output of the product along the three orthogonal axes (pitch, roll, and heading) to check the motion polarity of the control surface. The limitation of this test content is that the angular rate gyro is not included in the system-level control loop.

[0006] Therefore, there is an urgent need to design a new testing method. Summary of the Invention

[0007] The purpose of the present invention is to provide a flight control system angular rate gyro to control surface polarity detection device and method, which can not only incorporate the angular rate gyro into the system-level control loop for testing, but also dynamically test the angular rate signal along three orthogonal axes (pitch, roll, and heading), and check end-to-end whether the motion polarity of the control surface is consistent with expectations.

[0008] The first aspect of the present invention provides a flight control system angular rate gyro to control surface polarity detection device, comprising: a program-controlled turntable comprehensive analysis module 2, an angular rate gyro fixing device 3 and a signal adapter module 5; wherein,

[0009] At least two flight control system angular rate gyros are connected to the flight control computer of the aircraft 1 through the signal adapter module 5, and the flight control computer is also connected to the program-controlled turntable comprehensive analysis module 2; the flight control computer is connected to the elevator actuator, rudder actuator, and aileron actuator through the actuator controller;

[0010] At least two flight control system angular rate gyros are mounted and fixed on an angular rate gyro fixing device 3, and the angular rate gyro fixing device 3 is placed on the turntable 2.1 of the program-controlled turntable comprehensive analysis module 2;

[0011] When the angular rate gyro fixing device 3 is placed on the turntable 2.1 along three orthogonal axes, the programmable turntable comprehensive analysis module 2 controls the rotation of the turntable 2.1 and receives the FTI signals monitored by at least two flight control system angular rate gyros through the flight control computer, and determines whether the FTI signals received along the three orthogonal axes meet the expected requirements of the flight control system angular rate gyros.

[0012] Optionally, the number of angular rate gyros in the flight control system is two; the angular rate gyro fixing device 3 includes: a support plate 3.1, a main frame 3.2, a movable positioning block 3.3, a slide rail 3.4, and a movable quick-release head 3.5;

[0013] The main frame 3.2 is a sun-shaped structure, forming two layers of accommodating cavities for accommodating the angular rate gyros of the flight control system;

[0014] A support plate 3.1 is provided at the bottom of the two-layer accommodating cavity for supporting the angular rate gyro of the flight control system;

[0015] Slide rails 3.4 are provided on the front and rear end frames of the two-layer accommodating cavity. A movable quick-release head 3.5 is provided on the front slide rail 3.4 for fixed connection with the front end locating pin of the angular rate gyro of the flight control system; a movable locating block 3.3 is provided on the rear end slide rail 3.4, and a locating hole is provided on the movable locating block 3.3 for inserting the rear end locating pin of the angular rate gyro of the flight control system.

[0016] Optionally, the movable quick-release head 3.5 is threadedly connected to a front end positioning pin of the angular rate gyro of the flight control system.

[0017] Optionally, the support plate 3.1 is fixed to the main frame 3.2 via a hexagonal nut 3.2.

[0018] Optionally, the main frame 3.2 is an aluminum alloy structure.

[0019] Optionally, the number of the movable positioning block 3.3 and the number of the movable quick-release head 3.5 are both two.

[0020] A second aspect of the present invention provides a detection method using the flight control system angular rate gyro to control surface polarity detection device as described in any one of the first aspects, comprising:

[0021] The programmable turntable comprehensive analysis module 2 sets the motion mode and motion rate parameters of the turntable 2.1 and sends them to the turntable 2.1. The turntable 2.1 moves, thereby driving the angular rate gyro to move;

[0022] The flight control computer receives the output signal of the angular rate gyro, calculates it and generates control instructions, and sends the control instructions to the actuator controller. The actuator controller controls the movement of the elevator actuator, rudder actuator, and aileron actuator respectively;

[0023] The program-controlled turntable comprehensive analysis module 2 receives the "pitch rate", "roll rate", "heading rate", "elevator surface position", "rudder surface position", and "aileron surface position" data sent by the flight control computer; the positive and negative values ​​of the data represent the up and down deflection of the elevator and aileron and the left and right deflection of the rudder surface respectively;

[0024] The programmable turntable comprehensive analysis module 2 integrates the turntable motion polarity and turntable motion rate into data values ​​of the angular rate gyro heading channel, roll channel and pitch channel, and compares the data error and polarity with the "pitch angular rate", "roll angular rate" and "heading angular rate" received from the flight control computer; at the same time, the programmable turntable comprehensive analysis module 2 interprets the "elevator control surface position", "rudder control surface position" and "aileron control surface position" data information received from the flight control computer to determine the correctness of the control surface motion direction, thereby effectively checking the correctness of the angular rate gyro to control surface polarity deflection function in the flight control system.

[0025] Optional, movement modes include: clockwise and counterclockwise;

[0026] The movement rate parameter is 5° / s.

[0027] The present invention provides a flight control system angular rate gyro to control surface polarity detection device and method, which solves the following problems:

[0028] 1. Solve the problem of incorporating two angular rate gyros into the system-level control loop for testing at the same time, and effectively detect the consistency of the output signals of the two angular rate gyros;

[0029] 2. Solved the problem of automatically analyzing and interpreting the angular rate gyro output and the control surface polarity judgment, effectively eliminating the problem of errors in human interpretation and greatly improving the interpretation efficiency;

[0030] 3. The angular rate gyro fixture is made of aluminum alloy, which is stable and reliable. This effectively improves the structural stability of the fixture and eliminates the risk of structural bending and fracture caused by other materials.

[0031] 4. The product is fixed by quick-release screws, with high disassembly efficiency, installation stability and high fit;

[0032] 5. To fix products of different sizes, you only need to replace different built-in mounting brackets, which greatly improves versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Schematic diagram of the flight control system's angular rate gyro to control surface polarity detection method;

[0034] Figure 2 Partial schematic diagram of the angular rate gyro to control surface polarity detection device;

[0035] Description of reference numerals:

[0036] 1. Aircraft, 2. Programmable turntable comprehensive analysis module, 3. Angular rate gyro fixing device, 4. Product, 5. Signal adapter module, 2.1. Turntable, 3.1. Support plate, 3.2. Main frame, 3.3. Removable positioning block, 3.4. Slide rail, 3.5. Removable quick-release head, 3.6. Hexagon socket nut. DETAILED DESCRIPTION

[0037] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection of the present invention.

[0038] The features and illustrative embodiments of various aspects of the present invention will be described in detail below. In the detailed description below, many specific details are proposed in order to provide a comprehensive understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention. The present invention is in no way limited to any specific arrangement and method proposed below, but rather encompasses any improvements, replacements, and modifications to structures, methods, and devices without departing from the spirit of the present invention. In the accompanying drawings and the following description, well-known structures and techniques are not shown to avoid unnecessary ambiguity in the present invention.

[0039] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as "center," "up," "down," "left," "right," "vertical," "horizontal," "inside," and "outside" are based on the directions or positional relationships described in the accompanying drawings and are intended only to facilitate and simplify the description of the present invention and should not be construed as limiting the present invention. Furthermore, the use of ordinal numbers (e.g., "first and second," etc.) is intended to distinguish between objects and is not limited to this order, and should not be construed as indicating or implying relative importance.

[0040] In the description of the present invention, it should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may refer to direct connection or indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of these terms in the present invention.

[0041] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other, and the embodiments can refer to and quote each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0042] The present invention will be described in further detail below with reference to the embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0043] like Figure 1 、 Figure 2 As shown, the detection device includes: a programmable turntable comprehensive analysis module 2, an angular rate gyro fixing device 3, a product 4, and a signal transfer module 5.

[0044] The programmable turntable comprehensive analysis module 2 includes a turntable 2.1. The angular rate gyro fixing device 3 includes a support plate 3.1, a main frame 3.2, a movable positioning block 3.3, a slide rail 3.4, a movable quick-release head 3.5, and a hexagonal nut 3.6.

[0045] The implementation method is described as follows:

[0046] 1. Connect the product 4 to the aircraft 1 through the signal transfer module 5, and then connect the aircraft 1 to the programmable turntable comprehensive analysis module 2.

[0047] 2. Install and fix product 4 to angular rate gyro fixing device 3.

[0048] The main frame 3.2 is a "S"-shaped structure, forming two layers of accommodating chambers for placing the flight control system's angular rate gyros. A support plate 3.1 is provided at the bottom of the two layers of accommodating chambers for supporting the flight control system's angular rate gyros.

[0049] Slide rails 3.4 are provided on the front and rear end frames of the two-layer accommodating cavity. A movable quick-release head 3.5 is provided on the front slide rail 3.4 for fixed connection with the front end locating pin of the angular rate gyro of the flight control system; a movable locating block 3.3 is provided on the rear end slide rail 3.4, and a locating hole is provided on the movable locating block 3.3 for inserting the rear end locating pin of the angular rate gyro of the flight control system.

[0050] To install product 4, place it horizontally on the support plate 3.1, adjust the movable positioning block 3.3 on the slide rail 3.4 left and right, insert the positioning pin at the rear end of product 4 into the positioning hole on the movable positioning block 3.3, adjust the movable quick-release head 3.5 on the slide rail 3.4 left and right, insert the positioning pin at the front end of product 4 into the movable quick-release head 3.5, secure it, and tighten the movable quick-release head 3.5.

[0051] 3. When conducting the heading channel test of product 4, place the rate gyro fixture 3 horizontally on the turntable 2.1, set the rotation direction through the programmable turntable comprehensive analysis module 2, and rotate the turntable 2.1, which drives the rate gyro fixture 3 to rotate.

[0052] 4. When performing the roll channel test on product 4, place the rate gyro fixture 3 sideways on the turntable 2.1. Set the rotation direction through the programmable turntable comprehensive analysis module 2. The turntable 2.1 rotates, which drives the rate gyro fixture 3 to rotate.

[0053] 5. When conducting the pitch channel test of product 4, place the rate gyro fixture 3 vertically on the turntable 2.1, set the rotation direction through the programmable turntable comprehensive analysis module 2, and rotate the turntable 2.1, which drives the rate gyro fixture 3 to rotate.

[0054] 6. The programmable turntable comprehensive analysis module 2 receives the FTI signal (control surface rotation polarity) from the aircraft, compares it with the rotation polarity of the output product 4, and determines whether the result meets the expected requirements.

[0055] The present invention provides a flight control system angular rate gyro to control surface polarity detection device and method, which comprises: a signal switching module, an angular rate gyro fixing device, a program-controlled turntable comprehensive analysis module and a detection method.

[0056] 1. Angular rate gyro fixing device

[0057] Remove the two products from the aircraft and install them on the ground using the angular rate gyro fixing device, which includes the main frame 3.2, movable positioning pins, slide rails, movable quick-release heads, hexagon socket screws, support plates, etc.

[0058] The angular rate gyro fixing device is a double-layer aluminum alloy structure. The middle of the lower frame and the middle frame is a finished support plate, which is fixed to the frame by hexagon socket screws. The lower frame and the middle frame are provided with slide rails on the front and rear sides. Two movable quick-release heads are installed on the front slide rail, and two movable positioning pins are installed on the rear slide rail.

[0059] This angular rate gyro fixing device can fix two products at the same time and give rate signals at the same time.

[0060] It can cover the installation and fixation of various product models, that is, fix the product on the angular rate gyro fixture. According to the test needs, the angular rate gyro fixture is placed in different directions to realize the conversion of the product in the horizontal, pitch and roll directions.

[0061] The bracket has a "sun"-shaped horizontal cross-section, and the base features multiple sets of dedicated screw holes for securing different product models. The bracket's sides are taller than the product itself, ensuring a stable fit. The bracket's top, bottom, and base are level with the test bench, while the left and right sides are perpendicular to the test bench at 90°, ensuring levelness in all axis directions during measurement.

[0062] At the same time, the bracket is made of aluminum alloy, which not only ensures the structural strength, but its own weight also ensures the stability during the product test rotation process.

[0063] 2. Signal transfer module

[0064] This module is divided into two parts

[0065] 1) One end is used on the aircraft and connected to the onboard plug at the original angular rate gyro product on the aircraft; the other end is placed on the ground and connected to the removed angular rate gyro product.

[0066] 2) One end is used on the aircraft and connected to the FTI on board, and the other end is connected to the comprehensive analysis module of the programmable turntable.

[0067] 3. Comprehensive analysis module of program-controlled turntable

[0068] The program-controlled turntable comprehensive analysis module is connected to the turntable on one hand to control the turntable movement, and is connected to the flight control computer on the aircraft on the other hand to receive and collect data sent by the flight control computer.

[0069] The programmable turntable comprehensive analysis module first sets the turntable's motion mode to either clockwise or counterclockwise, and sets the motion rate parameter to 5° / s. It then sends a command signal to the turntable, which in turn drives the angular rate gyro. The flight control computer receives the angular rate gyro's output signal, calculates it, and generates a control command, which it then sends to the actuator controller. The actuator controller then controls the movement of the elevator, rudder, and aileron actuators, respectively.

[0070] At the same time, the programmable turntable comprehensive analysis module receives signals such as "pitch angular rate", "roll angular rate", "heading angular rate", "elevator surface position", "rudder surface position", and "aileron surface position" from the flight control computer (the positive and negative values ​​of the data represent the up and down deflection of the elevator and aileron and the left and right deflection of the rudder surface respectively).

[0071] Finally, the programmable turntable comprehensive analysis module integrates the turntable motion polarity and turntable motion rate into data values ​​of the angular rate gyro heading channel, roll channel and pitch channel, and compares the data error (5° / s) and polarity (positive and negative data values) with the "pitch angular rate", "roll angular rate" and "heading angular rate" received from the flight control computer; at the same time, the programmable turntable comprehensive analysis module interprets the "elevator control surface position", "rudder control surface position" and "aileron control surface position" data information received from the flight control computer to determine the correctness of the control surface movement direction, thereby effectively checking the correctness of the angular rate gyro to control surface polarity deflection function in the flight control system.

[0072] The above specific implementation methods are detailed descriptions of the present invention. It cannot be considered that the specific implementation methods of the present invention are limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, they can make several simple deductions and substitutions without departing from the concept of the present invention, which should be regarded as falling within the scope of protection of the present invention.

Claims

1. A flight control system angular rate gyro to control surface polarity detection device, characterized in that: include: A program-controlled turntable comprehensive analysis module (2), an angular rate gyro fixing device (3) and a signal transfer module (5); wherein, At least two flight control system angular rate gyros are respectively connected to the flight control computer of the aircraft (1) through a signal transfer module (5), and the flight control computer is also connected to the program-controlled turntable comprehensive analysis module (2); the flight control computer is connected to the elevator actuator, the rudder actuator, and the aileron actuator through an actuator controller; At least two flight control system angular rate gyros are mounted and fixed on an angular rate gyro fixing device (3), and the angular rate gyro fixing device (3) is placed on a turntable (2.1) of a program-controlled turntable comprehensive analysis module (2); When the angular rate gyro fixing device (3) is placed on the turntable (2.1) along three orthogonal axes, the program-controlled turntable comprehensive analysis module (2) controls the turntable (2.1) to rotate, and receives FTI signals monitored by at least two flight control system angular rate gyros through the flight control computer, and judges whether the FTI signals received along the three orthogonal axes meet the expected requirements of the flight control system angular rate gyros.

2. The flight control system angular rate gyro to control surface polarity detection device according to claim 1, characterized in that: The number of angular rate gyros in the flight control system is two; the angular rate gyro fixing device (3) comprises: a support plate (3.1), a main frame (3.2), a movable positioning block (3.3), a slide rail (3.4), and a movable quick-release head (3.5); The main frame (3.2) is a sun-shaped structure, forming two layers of accommodating cavities for placing the angular rate gyroscopes of the flight control system; A support plate (3.1) is provided at the bottom of the two-layer accommodating cavity for supporting the angular rate gyroscope of the flight control system; Slide rails (3.4) are provided on the front and rear end frames of the two-layer accommodating cavity; a movable quick-release head (3.5) is provided on the front slide rail (3.4) for fixed connection with a front end positioning pin of an angular rate gyro of a flight control system; a movable positioning block (3.3) is provided on the rear end slide rail (3.4); a positioning hole is provided on the movable positioning block (3.3) for inserting a rear end positioning pin of the angular rate gyro of the flight control system.

3. The flight control system angular rate gyro to control surface polarity detection device according to claim 2, characterized in that: The movable quick-release head (3.5) is threadedly connected to the front end positioning pin of the angular rate gyro of the flight control system.

4. The flight control system angular rate gyro to control surface polarity detection device according to claim 2, characterized in that: The support plate (3.1) is fixed to the main frame (3.2) through the hexagonal nut (3.2).

5. The flight control system angular rate gyro to control surface polarity detection device according to claim 2, characterized in that: The main frame (3.2) is an aluminum alloy structure.

6. The flight control system angular rate gyro to control surface polarity detection device according to claim 2, characterized in that: The number of the movable positioning blocks (3.3) and the number of the movable quick-release heads (3.5) are both two.

7. A detection method using the flight control system angular rate gyro to control surface polarity detection device according to any one of claims 1 to 6, characterized in that: include: The program-controlled turntable comprehensive analysis module (2) sets the motion mode and motion rate parameters of the turntable (2.1) and sends them to the turntable (2.1). The turntable (2.1) moves, thereby driving the angular rate gyroscope to move; The flight control computer receives the output signal of the angular rate gyro, calculates it and generates control instructions, and sends the control instructions to the actuator controller. The actuator controller controls the movement of the elevator actuator, rudder actuator, and aileron actuator respectively; The program-controlled turntable comprehensive analysis module (2) receives the data of "pitch rate", "roll rate", "heading rate", "elevator surface position", "rudder surface position" and "aileron surface position" sent by the flight control computer; the positive and negative values ​​of the data respectively represent the up and down deflection of the elevator and aileron and the left and right deflection of the rudder surface; The program-controlled turntable comprehensive analysis module (2) integrates the turntable motion polarity and turntable motion rate into data values ​​of the angular rate gyro heading channel, roll channel and pitch channel, and compares the data error and polarity with the "pitch angular rate", "roll angular rate" and "heading angular rate" received from the flight control computer; at the same time, the program-controlled turntable comprehensive analysis module (2) interprets the "elevator control surface position", "rudder control surface position" and "aileron control surface position" data information received from the flight control computer to judge the correctness of the control surface motion direction, thereby effectively checking the correctness of the angular rate gyro to control surface polarity deflection function in the flight control system.

8. The detection method according to claim 7, characterized in that Movement modes include: clockwise and counterclockwise; The movement rate parameter is 5° / s.

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