Instruction control and processing method for multi-axis control system

Abstract

The invention belongs to the technical field of aircraft control, and relates to a multi-shaft control system instruction control and processing method, which comprises the following steps of: acquiring an output voltage signal of a control shaft instruction sensor; collecting the power supply voltage of the control shaft instruction sensor; according to the output voltage signal of the control shaft instruction sensor and the power supply voltage, the angle of the control shaft is calculated; according to the output voltage signal and the power supply voltage of the pitch axis instruction sensor, a control axis transient self-monitoring result is obtained through a control axis sensor self-monitoring algorithm; through inter-channel data link transmission, two redundant channels of the control system exchange control shaft data with each other; and in the inter-channel data link transmission process, through a CCDL monitoring and data processing algorithm, obtaining control angles of other channels for voting processing and control shaft transient self-monitoring results of other channels.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of aircraft control, and relates to a multi-axis control system instruction control and processing method. BACKGROUND

[0002] With the rapid development of aviation technology, electric vertical take-off and landing aircraft (eVTOL) has attracted widespread attention due to its unique performance and application prospects. eVTOL has the advantages of vertical take-off and landing, high efficiency and flexibility, and has great potential in urban transportation, logistics transportation, emergency rescue, tourism and other fields.

[0003] Manned eVTOL is an important branch of eVTOL, which requires the pilot to be able to control the eVTOL to solve the safety problem of emergency working condition under the existing technical condition. The existing aircraft control system is usually composed of several products (side stick, foot pedal, throttle table) to realize multi-axis control, and does not have fault self-detection capability, which is difficult to meet the requirements of high detection rate, small size and light weight of the control system of manned eVTOL. With the development of manned eVTOL, the concept of multi-axis control system is proposed, which integrates multi-axis control tasks and signal processing together, and outputs reliable and credible digital instruction signals to the outside, realizing the goals of high detection rate, high safety, high reliability, high precision and small size / weight of manned eVTOL control system. However, the multi-axis control system instruction control and processing method is still blank at present.

[0004] In summary, in order to improve the performance and control safety of manned eVTOL, meet the growing market demand, a new multi-axis control system instruction control and processing method is urgently needed to realize high fault detection rate, high safety, high reliability and high control precision. SUMMARY

[0005] The application proposes a multi-axis control system instruction control and processing method, which can realize the control instruction control and processing of the pitch, roll and yaw axes of the multi-axis control device.

[0006] The technical solution adopted by the application to solve the technical problems is: A multi-axis control system instruction control and processing method, the control instruction control and processing methods of the pitch, roll and yaw axes of the multi-axis control device are the same.

[0007] The following takes one control direction (pitch axis) as an example to illustrate the technical solution of the application, which adopts the following steps: Step 1, set the task period of the control system control instruction control and processing ; Step 2: Output voltage signal of the sine terminal of the pitch axis command sensor of the multi-axis manipulator The output voltage signal of the sum cosine terminal Perform synchronous acquisition to ensure that the two output voltage signals are acquired at the same time; Step 3: Supply voltage to the pitch axis command sensor of the multi-axis manipulator Conduct collection; Step 4: Output voltage signal from the sine terminal of the pitch axis command sensor The output voltage signal of the sum cosine terminal and supply voltage , calculate the pitch axis angle ; Step 5: Output voltage signal from the sine terminal of the pitch axis command sensor The output voltage signal of the sum cosine terminal and supply voltage , through the pitch axis sensor self-monitoring algorithm, the pitch axis transient self-monitoring results are obtained ; Step 6: The two redundant channels of the control system exchange pitch axis data (angle value and transient self-monitoring result value) with each other through the inter-channel data link (CCDL); Step 7: During the inter-channel data link transmission (CCDL) process, the pitch axis CCDL monitoring and data processing algorithm is used to obtain the pitch axis angles of other channels used for voting. and the pitch axis transient self-monitoring results of other channels ; Step 8: According to the pitch axis angle of this channel , pitch axis angle of other channels , the pitch axis transient self-monitoring results of this channel and the pitch axis transient self-monitoring results of other channels , voting process is performed on the two-channel command signals to obtain the pitch axis control command voting value And the transient pitch axis control command flag ; Step 9: Vote on the pitch axis control command value Perform clipping processing to obtain the pitch axis control command voting value after clipping ; Step 10: According to the instantaneous pitch axis control command flag and the pitch axis control command voting value after clipping , calculate the pitch axis control command and pitch axis control command flag ; Step 11: Process the pitch axis control command The secondary amplitude limiting processing is performed to obtain a secondary amplitude limited pitch axis control instruction ; Step 12, neutral position processing is performed on the secondary amplitude limited pitch axis control instruction to obtain a pitch axis control instruction for sending a CANFD / CAN bus .

[0008] Preferably, in step 2, the signal acquisition mode is periodic acquisition, and the acquisition period is the same as the task period of the control and processing of the control system.

[0009] Preferably, in step 3, the signal acquisition mode is periodic acquisition, and the acquisition period is the same as the task period of the control and processing of the control system. The acquisition time of the supply voltage may be the same as or different from the acquisition time of the sine end output voltage signal and the cosine end output voltage signal .

[0010] Preferably, in step 4, the calculation formula of the pitch axis angle is , wherein pi is the ratio of the circumference to the diameter, the unit of , and is V.

[0011] Preferably, in step 5, the pitch axis sensor self-monitoring algorithm has the following specific steps: S1, it is judged whether the pitch axis sensor sine end output voltage signal exceeds the pitch axis self-monitoring threshold range (the upper threshold value of the pitch axis self-monitoring threshold range is , and the lower threshold value is ). If the pitch axis self-monitoring threshold range is exceeded, it is judged that the pitch axis sensor has a self-monitoring transient fault, and the pitch axis transient self-monitoring result is set as fault; S2, it is judged whether the pitch axis sensor cosine end output voltage signal exceeds the pitch axis self-monitoring threshold range (the upper threshold value of the pitch axis self-monitoring threshold range is , and the lower threshold value is ). If the pitch axis self-monitoring threshold range is exceeded, it is judged that the pitch axis sensor has a self-monitoring transient fault, and the pitch axis transient self-monitoring result is set as fault; S3, it is judged whether the combination of the pitch axis sensor sine end output voltage signal and the cosine end output voltage signal exceeds the pitch axis self-monitoring threshold range. If the pitch axis self-monitoring threshold range is exceeded, it is judged that the pitch axis sensor has a self-monitoring transient fault, and the pitch axis transient self-monitoring result + whether the combined pitch axis threshold range is exceeded (the upper threshold value of the combined pitch axis threshold range is , and the lower threshold value is If the combined pitch axis threshold range is exceeded, it is determined that the pitch axis sensor has a self-monitoring transient fault, and the pitch axis transient self-monitoring result is set to a fault.

[0012] Preferably, in step seven, the algorithm for CCDL monitoring and data processing has the following specific steps: S1, the interval time after the channel sends data through the CCDL Then, the transient fault state of the CCDL is detected; S2, if the CCDL transient fault occurs and lasts for 5 beats, it is considered that the CCDL has a permanent fault, and the pitch axis angle of the other channel obtained by the channel and the pitch axis transient self-monitoring result of the other channel are both set to a fault safety value; S3, if the CCDL transient fault occurs and does not last for 5 beats, the pitch axis angle of the other channel obtained by the channel and the pitch axis transient self-monitoring result of the other channel are both set to the last normal value.

[0013] Preferably, in step eight, the two-channel command signal voting has the following specific algorithm: if the absolute value of the difference between the pitch axis angle of the channel and the pitch axis angle of the other channel is less than or equal to the pitch axis command threshold and the pitch axis transient self-monitoring result of the channel and the pitch axis transient self-monitoring result of the other channel are both valid, the pitch axis control command voting value is set to , and the transient pitch axis control command flag bit is set to valid; otherwise, the pitch axis control command voting value is set to a fault safety value , and the transient pitch axis control command flag bit is set to invalid.

[0014] Preferably, in step nine, the algorithm for limiting the amplitude of the pitch axis control command voting value is as follows: if the pitch axis control command voting value exceeds the pitch axis limiting upper threshold , the pitch axis control command voting value after limiting the amplitude is set to the pitch axis limiting upper threshold ; if the pitch axis control command voting value pitch axis amplitude lower threshold then the post-amplitude pitch axis control command vote value is set to the pitch axis amplitude lower threshold ; else the post-amplitude pitch axis control command vote value is set to the post-amplitude pitch axis control command vote value .

[0015] Preferably, in step ten, the pitch axis control command is calculated by: if the transient pitch axis control command flag is invalid and has been invalid for more than 10 beats, then a permanent fault is determined to have occurred, the pitch axis control command flag is invalid, and the flag is not reset, the processed pitch axis control command is set to a failsafe value; if the transient pitch axis control command flag is invalid and has not been invalid for more than 10 beats, the processed pitch axis control command is set to the last normal value of the post-amplitude pitch axis control command vote value ; if the transient pitch axis control command flag is valid and the pitch axis control command flag is valid, the processed pitch axis control command is set to the post-amplitude pitch axis control command vote value ; if the transient pitch axis control command flag is valid and the pitch axis control command flag is invalid, the processed pitch axis control command is set to a failsafe value.

[0016] Preferably, in step eleven, the algorithm for the second amplitude limiting process is: if the processed pitch axis control command is positive and within the pitch axis second amplitude limiting positive threshold range (the pitch axis second amplitude limiting positive upper threshold is , and the pitch axis second amplitude limiting positive lower threshold is ), then the post-second-amplitude pitch axis control command is set to the pitch axis second amplitude limiting positive lower threshold ; if the processed pitch axis control command is positive and outside the pitch axis second amplitude limiting positive threshold range (the pitch axis second amplitude limiting positive upper threshold is , and the pitch axis second amplitude limiting positive lower threshold is ), then the post-second-amplitude pitch axis control command is set to the processed pitch axis control command ​​; If the pitch axis control command after processing is a negative value and is within the negative threshold of the secondary limit of the pitch axis (the upper negative threshold of the secondary limit of the pitch axis is , the negative lower threshold of the secondary limit of the pitch axis is ), then the pitch axis control command after secondary limiting Set as the negative upper threshold of the secondary limit of the pitch axis ; If the pitch axis control command after processing The value is negative and outside the negative threshold range of the secondary limit of the pitch axis (the negative upper threshold of the secondary limit of the pitch axis is , the negative lower threshold of the secondary limit of the pitch axis is ), then the pitch axis control command after secondary limiting Set to the processed pitch axis control command .

[0017] Preferably, in step 12, the algorithm for neutral position processing is: if the pitch axis control instruction after secondary limiting Within the empty travel threshold range of the pitch axis neutral position (the upper limit of the empty travel threshold is , the lower threshold of the empty travel threshold is ), send the pitch axis control command of CANFD / CAN bus Set to zero; if the pitch axis control command after the second limit Outside the pitch axis neutral position travel range (- , + ), send the pitch axis control command of CANFD / CAN bus After setting to secondary limit, the pitch axis control command .

[0018] Preferably, step 12 is optional. If step 12 is not used, the pitch axis control command of the CANFD / CAN bus is sent. That is the pitch axis control command after secondary limiting .

[0019] The vertical axis instruction control and processing method of the technical solution of the present invention takes the following steps: Step 1: Set the task cycle for controlling and processing the operating system's operating instructions ; Step 2: Output voltage signal of vertical axis command sensor of multi-axis manipulator Conduct collection; Step 3: Supply voltage to the vertical axis command sensor of the multi-axis manipulator Conduct collection; Step 4: Output voltage signal of vertical axis command sensor and supply voltage , the vertical axis angle is calculated ; Step five, according to the output voltage signal of the vertical axis command sensor and the supply voltage , the vertical axis transient self-monitoring result is obtained through the vertical axis sensor self-monitoring algorithm ; Step six, through the inter-channel data link transmission (CCDL), the vertical axis data (angle value and transient self-monitoring result value) of the two redundant channels of the control system are exchanged with each other; Step seven, during the inter-channel data link transmission (CCDL) process, through the vertical axis CCDL monitoring and data processing algorithm, the vertical axis angle of the other channel and the vertical axis transient self-monitoring result of the other channel ; Step eight, according to the vertical axis angle of the current channel , the vertical axis angle of the other channel , the vertical axis transient self-monitoring result of the current channel and the vertical axis transient self-monitoring result of the other channel , the two-channel command signals are voted to obtain the vertical axis control command voting value and the transient vertical axis control command flag bit ; Step nine, the vertical axis control command voting value is limited to obtain the limited vertical axis control command voting value ; Step ten, according to the transient vertical axis control command flag bit and the limited vertical axis control command voting value , the vertical axis control command and the vertical axis control command flag bit are calculated ; Step eleven, the processed vertical axis control command is limited twice to obtain the twice-limited vertical axis control command ; Step twelve, the twice-limited vertical axis control command is processed to obtain the vertical axis control command sent to the CANFD / CAN bus .

[0020] Preferably, in step two, the signal acquisition method is periodic acquisition, and the acquisition period is the same as the task period of the control command control and processing of the control system.

[0021] Preferably, in step three, the signal acquisition mode is periodic acquisition, and the acquisition period is the same as the task period of the control and processing of the manipulation system manipulation command. The acquisition time of the supply voltage may be the same or different.

[0022] Preferably, in step four, the formula for calculating the vertical axis angle is wherein is in °, and is in V.

[0023] Preferably, in step five, the vertical axis sensor self-monitoring algorithm is as follows: whether the vertical axis sensor output voltage signal exceeds the vertical axis self-monitoring threshold range (the upper threshold of the vertical axis self-monitoring threshold range is , and the lower threshold is ), if it exceeds the vertical axis self-monitoring threshold range, it is determined that the pitch axis sensor has a self-monitoring transient fault, and the vertical axis transient self-monitoring result is set to a fault.

[0024] Preferably, in step seven, the CCDL monitoring and data processing algorithm is as follows: S1, after the interval time of the channel sending data through the CCDL, the transient fault state of the CCDL is detected; S2, if the CCDL transient fault occurs and lasts for 5 beats, it is considered that the CCDL is permanently faulty, and the vertical axis angle of other channels obtained by the channel and the vertical axis transient self-monitoring result are both set to a fault safety value; S3, if the CCDL transient fault occurs and does not last for 5 beats, the vertical axis angle of other channels obtained by the channel and the vertical axis transient self-monitoring result are both set to the last normal value.

[0025] Preferably, in step eight, the two-channel command signal voting algorithm is as follows: if the absolute value of the difference between the vertical axis angle of the channel and the vertical axis angle of other channels is less than or equal to the vertical axis command threshold and the vertical axis transient self-monitoring result of the channel and the vertical axis transient self-monitoring result of other channels are both valid, the vertical axis manipulation command voting value is set to , transient vertical axis control command flag Set to valid; otherwise, the vertical axis control command voting value Set to fail-safe value, transient vertical axis control command flag Set to invalid.

[0026] Preferably, in step nine, the vertical axis control instruction voting value The algorithm for limiting processing is: if the vertical axis control command voting value Exceeding the upper limit of the vertical axis , then the vertical axis control command voting value after limiting Set as the upper limit of the vertical axis ; If the vertical axis control command voting value Exceeding the lower limit of the vertical axis , then the vertical axis control command voting value after limiting Set as the lower threshold of the vertical axis limit ; Otherwise, the vertical axis control command voting value after limiting Set as the vertical axis control command voting value .

[0027] Preferably, in step 10, the vertical axis control instruction is obtained by calculation And vertical axis control command flag The method is: if the transient vertical axis control instruction flag is If it is invalid and lasts for more than 10 beats, it is determined that a permanent fault has occurred, and the vertical axis control command flag is Invalid, and the flag is not restored, the vertical axis control instruction after processing Set to fail-safe value; if the transient vertical axis control command flag is Invalid and does not last more than 10 beats, the processed vertical axis control command The voting value of the vertical axis control command after setting to limit The previous beat normal value; if the transient vertical axis control command flag Valid and vertical axis control command flag If valid, the vertical axis control command after processing The voting value of the vertical axis control command after setting to limit ; If the transient vertical axis control command flag is Valid and vertical axis control command flag If it is invalid, the vertical axis control command after processing Set to fail-safe value.

[0028] Preferably, in step 11, the algorithm of the secondary limiting process is: if the processed vertical axis control instruction is positive and within the vertical axis secondary limiting positive threshold range (the vertical axis secondary limiting positive upper threshold is , and the vertical axis secondary limiting positive lower threshold is ), the vertical axis control command after secondary limiting is set as the vertical axis secondary limiting positive lower threshold ; if the processed vertical axis control command is positive and beyond the vertical axis secondary limiting positive threshold range (the vertical axis secondary limiting positive upper threshold is , and the vertical axis secondary limiting positive lower threshold is ), the vertical axis control command after secondary limiting is set as the processed vertical axis control command ; if the processed vertical axis control command is negative and within the vertical axis secondary limiting negative threshold range (the vertical axis secondary limiting negative upper threshold is , and the vertical axis secondary limiting negative lower threshold is ), the vertical axis control command after secondary limiting is set as the vertical axis secondary limiting negative upper threshold ; if the processed vertical axis control command is negative and beyond the vertical axis secondary limiting negative threshold range (the vertical axis secondary limiting negative upper threshold is , and the vertical axis secondary limiting negative lower threshold is ), the vertical axis control command after secondary limiting is set as the processed vertical axis control command .

[0029] Preferably, in step twelve, the algorithm for the neutral position processing is: if the vertical axis control command after secondary limiting is within the vertical axis neutral position idle stroke threshold range (the idle stroke threshold upper threshold is , and the idle stroke threshold lower threshold is ), the vertical axis control command sent to the CANFD / CAN bus is set as zero; if the vertical axis control command after secondary limiting is beyond the vertical axis neutral position idle stroke range (- , + ), the vertical axis control command sent to the CANFD / CAN bus is set as the vertical axis control command after secondary limiting .

[0030] Preferably, step twelve is optional, if step twelve is not used, the vertical axis control command sent to the CANFD / CAN bus is the vertical axis control command after secondary limiting .

[0031] The present application has the advantages of: (1) High fault detection rate, the present application adopts multiple self-monitoring methods, complete CCDL monitoring algorithm and two-channel voting and other detection measures, greatly improves the fault detection rate of the four-axis command of the multi-axis control system, and improves the reliability of the sent four-axis control command signal. (2) High safety, the present application combines CCDL monitoring and self-monitoring, uses strict voting method, greatly reduces the risk of outputting incorrect command signals, and adopts multiple limiting processing to prevent large command output caused by command overflow, thereby improving the control safety of the aircraft; (3) High reliability, the present application adopts multiple transient fault flags and permanent fault flags, which can record occasional faults through transient fault flags and use permanent fault flags as the final judgment condition, thereby avoiding false alarm problems caused by interference and improving the reliability of command control and processing; (4) High control precision, the present application compensates the collected power supply voltage into the calculation formula of the four-axis angle, reduces the interference caused by power supply fluctuation of the sensor, and makes the calculated four-axis angle more accurate; (5) Good applicability, the present application adopts a neutral position processing algorithm, which can solve the problem of inconsistent output command signals of the neutral position of the mass-produced control device caused by manufacturing errors, effectively prevents non-control command signal output, and has good product applicability. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a flow chart of the pitch axis control command control and processing method.

[0033] Figure 2 is a flow chart of the vertical axis control command control and processing method. DETAILED DESCRIPTION

[0034] Example 1 A multi-axis control system command control and processing method, the control command control and processing methods of the pitch, roll and yaw axes of the multi-axis control device are the same.

[0035] As Figure 1 shown, taking the pitch axis as an example, the technical scheme of the present application is explained as follows: Step 1, set the task period of the control system control command control and processing ( =10ms); Step 2, synchronously collect the sine end output voltage signal and the cosine end output voltage signal of the pitch axis command sensor of the multi-axis control device, to ensure that the two output voltage signals are collected at the same time; Step three, supply voltage of the pitch axis command sensor of the multi-axis manipulator Collecting is performed; Step four, according to the sine end output voltage signal and the cosine end output voltage signal of the pitch axis command sensor, and the supply voltage , the pitch axis angle is calculated; Step five, according to the sine end output voltage signal and the cosine end output voltage signal of the pitch axis command sensor, and the supply voltage , the pitch axis transient self-monitoring result is obtained through the pitch axis sensor self-monitoring algorithm; Step six, the pitch axis data (angle value and transient self-monitoring result value) of the two redundant channels of the control system are exchanged with each other through the inter-channel data link transmission (CCDL); Step seven, through the pitch axis CCDL monitoring and data processing algorithm during the inter-channel data link transmission (CCDL) process, the pitch axis angle of the other channel and the pitch axis transient self-monitoring result of the other channel for voting processing are obtained; Step eight, according to the pitch axis angle of the current channel, the pitch axis angle of the other channel, the pitch axis transient self-monitoring result of the current channel, and the pitch axis transient self-monitoring result of the other channel, the two-channel command signals are voted to obtain the pitch axis control command voting value and the transient pitch axis control command flag bit ; Step nine, the pitch axis control command voting value is limited to obtain the limited pitch axis control command voting value ; Step ten, according to the transient pitch axis control command flag bit and the limited pitch axis control command voting value , the pitch axis control command and the pitch axis control command flag bit are calculated; Step eleven, the processed pitch axis control command is limited twice to obtain the twice-limited pitch axis control command ; Step twelve, the twice-limited pitch axis control command The neutral position processing is performed to obtain a pitch axis control instruction for sending the CANFD / CAN bus .

[0036] Preferably, in step two, the signal is collected in a periodic manner, and the collection period is the same as the task period of the control and processing of the control system.

[0037] Preferably, in step three, the signal is collected in a periodic manner, and the collection period is the same as the task period of the control and processing of the control system. The collection time of the supply voltage may be the same as or different from the collection time of the sine end output voltage signal and the cosine end output voltage signal

[0038] Preferably, in step four, the calculation formula of the pitch axis angle is , wherein pi is the circular constant, the unit of , and is V.

[0039] Preferably, in step five, the pitch axis sensor self-monitoring algorithm comprises the following steps: S1, judging whether the pitch axis sensor sine end output voltage signal exceeds the pitch axis self-monitoring threshold range (the upper threshold value of the pitch axis self-monitoring threshold range is , and the lower threshold value is ), if the pitch axis sensor sine end output voltage signal exceeds the pitch axis self-monitoring threshold range, it is judged that the pitch axis sensor has a self-monitoring transient fault, and the pitch axis transient self-monitoring result is set as a fault (“1” represents a fault); S2, judging whether the pitch axis sensor cosine end output voltage signal exceeds the pitch axis self-monitoring threshold range (the upper threshold value of the pitch axis self-monitoring threshold range is , and the lower threshold value is ), if the pitch axis sensor cosine end output voltage signal exceeds the pitch axis self-monitoring threshold range, it is judged that the pitch axis sensor has a self-monitoring transient fault, and the pitch axis transient self-monitoring result is set as a fault (“1” represents a fault); S3, judging whether the combination of the pitch axis sensor sine end output voltage signal and the cosine end output voltage signal exceeds the pitch axis combination threshold range (the upper threshold value of the pitch axis combination threshold range is , and the lower threshold value is .If the pitch axis combination threshold is exceeded, it is determined that the pitch axis sensor has a self-monitoring transient fault. The pitch axis transient self-monitoring result Set to fault ("1" means fault).

[0040] Preferably, in step seven, the CCDL monitoring and data processing algorithm comprises the following specific steps: S1, the interval time after this channel sends data through CCDL ( ) After that, the transient fault state of CCDL is detected; S2. If a CCDL transient fault occurs and lasts for 5 beats, it is considered a permanent CCDL fault. The pitch axis angle of other channels obtained by this channel and the pitch axis transient self-monitoring results of other channels , are set to fail-safe values ​​(pitch axis angle The fail-safe value is 0°); S3. If a CCDL transient fault occurs and does not last for 5 beats, the pitch axis angle of other channels obtained by this channel and the pitch axis transient self-monitoring results of other channels , are set to the normal value of the previous beat.

[0041] Preferably, in step eight, the two-channel command signal voting, the specific algorithm is: if the pitch axis angle of this channel and the pitch axis angles of other channels The absolute value of the difference is less than or equal to the pitch axis command threshold ( ) and the pitch axis transient self-monitoring result of this channel and the pitch axis transient self-monitoring results of other channels are all valid ("1" is valid), then the pitch axis control command voting value Set to , transient pitch axis control command flag Set to valid ("1" is valid); otherwise, the pitch axis control command voting value Set to fail-safe value ( ), transient pitch axis control command flag Set to invalid ("0" means invalid).

[0042] Preferably, in step nine, the pitch axis control instruction voting value The algorithm for limiting processing is: if the pitch axis control command voting value Exceeding the upper limit of the pitch axis ( ), then the pitch axis control command voting value after limiting set to the pitch axis limit up threshold ; if the pitch axis control command vote value exceeds the pitch axis limit down threshold ( , the post-limitation pitch axis control command vote value is set to the pitch axis limit down threshold ; otherwise the post-limitation pitch axis control command vote value is set to the pitch axis control command vote value .

[0043] Preferably, in step ten, the method for calculating the post-limitation pitch axis control command and the pitch axis control command flag bit is: if the transient pitch axis control command flag bit is invalid ("0" is invalid) and lasts more than 10 beats, a permanent fault is determined to have occurred, the pitch axis control command flag bit is invalid ("0" is invalid), and the flag bit is not restored, the post-limitation pitch axis control command is set to a fail-safe value (the fail-safe value is 0°); if the transient pitch axis control command flag bit is invalid ("0" is invalid) and does not last more than 10 beats, the post-limitation pitch axis control command is set to the last normal value of the post-limitation pitch axis control command vote value ; if the transient pitch axis control command flag bit is valid ("1" is valid) and the pitch axis control command flag bit is valid ("1" is valid), the post-limitation pitch axis control command is set to the post-limitation pitch axis control command vote value ; if the transient pitch axis control command flag bit is valid ("1" is valid) and the pitch axis control command flag bit is invalid ("0" is invalid), the post-limitation pitch axis control command is set to a fail-safe value (the fail-safe value is 0°).

[0044] Preferably, in step eleven, the algorithm for the secondary limitation processing is: if the post-limitation pitch axis control command is a positive value and is within the pitch axis secondary limitation positive threshold range (the pitch axis secondary limitation positive up threshold is ( , and the pitch axis secondary limitation positive down threshold is ), the post-secondary limitation pitch axis control command is set to the pitch axis secondary limitation positive down threshold ; If the pitch axis control command after processing Is a positive value and is outside the positive threshold range of the secondary limit of the pitch axis (the upper positive threshold of the secondary limit of the pitch axis is , the lower positive threshold of the secondary limit of the pitch axis is ), then the pitch axis control command after secondary limiting Set to the processed pitch axis control command ; If the pitch axis control command after processing is a negative value and is within the negative threshold of the secondary limit of the pitch axis (the upper negative threshold of the secondary limit of the pitch axis is ( ), the lower negative threshold of the secondary limit of the pitch axis is ), then the pitch axis control command after secondary limiting Set as the negative upper threshold of the secondary limit of the pitch axis ; If the pitch axis control command after processing The value is negative and outside the negative threshold range of the secondary limit of the pitch axis (the negative upper threshold of the secondary limit of the pitch axis is , the negative lower threshold of the secondary limit of the pitch axis is ), then the pitch axis control command after secondary limiting Set to the processed pitch axis control command .

[0045] Preferably, in step 12, the algorithm for neutral position processing is: if the pitch axis control instruction after secondary limiting Within the empty travel threshold range of the pitch axis neutral position (the upper limit of the empty travel threshold is ( ), the lower threshold of the empty travel threshold is ), send the pitch axis control command of CANFD / CAN bus Set to zero; if the pitch axis control command after the second limit Outside the pitch axis neutral position travel range (- , + ), send the pitch axis control command of CANFD / CAN bus After setting to secondary limit, the pitch axis control command .

[0046] Preferably, step 12 is optional. If step 12 is not used, the pitch axis control command of the CANFD / CAN bus is sent. That is the pitch axis control command after secondary limiting .

[0047] Example 2 like Figure 2 As shown, taking the vertical axis as an example, the technical solution of the present invention is described, and the following steps are taken: Step 1: Set the task cycle for controlling and processing the operating system's operating instructions ; Step 2: Output voltage signal of vertical axis command sensor of multi-axis manipulator Conduct collection; Step 3: Supply voltage to the vertical axis command sensor of the multi-axis manipulator Conduct collection; Step 4: Output voltage signal of vertical axis command sensor and supply voltage , calculate the vertical axis angle ; Step 5: Output voltage signal of vertical axis command sensor and supply voltage , through the vertical axis sensor self-monitoring algorithm, the vertical axis transient self-monitoring results are obtained ; Step 6: The two redundant channels of the control system exchange vertical axis data (angle value and transient self-monitoring result value) with each other through the inter-channel data link (CCDL); Step 7: During the CCDL (Channel Data Link) transmission process, the vertical axis CCDL monitoring and data processing algorithm is used to obtain the vertical axis angles of other channels used for voting. Vertical axis transient self-monitoring results of other channels ; Step 8: According to the vertical axis angle of this channel , other channel vertical axis angle , the vertical axis transient self-monitoring results of this channel Vertical axis transient self-monitoring results of other channels , voting process is performed on the two-channel command signals to obtain the vertical axis control command voting value And the transient vertical axis control command flag ; Step 9: Vote on the vertical axis control command value Perform limiting processing to obtain the vertical axis control command voting value after limiting ; Step 10: According to the transient vertical axis control instruction flag and the voting value of the vertical axis control command after limiting , calculate the vertical axis control command And vertical axis control command flag ; Step 11: Control the vertical axis after processing Perform secondary limiting processing to obtain the vertical axis control instruction after secondary limiting ; Step 12: Control the vertical axis after secondary limiting Perform neutral position processing to obtain vertical axis control instructions sent to CANFD / CAN bus .

[0048] Preferably, in step 2, the signal is collected in a fixed-period manner, and the collection period is the same as the task period of the control and processing of the operating system's operating instructions.

[0049] Preferably, in step 3, the signal acquisition method is periodic acquisition, and the acquisition period is the same as the task period of the control and processing of the control system's control instructions. The acquisition time and the output voltage signal of the vertical axis sensor The collection time can be the same or different.

[0050] Preferably, in step 4, the vertical axis angle The calculation formula is ,in The unit is °, and The unit is V.

[0051] Preferably, in step 5, the vertical axis sensor self-monitors, and the specific algorithm is: determine the vertical axis sensor output voltage signal Whether it exceeds the vertical axis self-monitoring threshold range (the upper threshold of the vertical axis self-monitoring threshold range) , lower threshold ), if it exceeds the vertical axis self-monitoring threshold range, it is determined that the pitch axis sensor has a self-monitoring transient state, and the vertical axis transient self-monitoring result Set to fault ("1" means fault).

[0052] Preferably, in step seven, the CCDL monitoring and data processing algorithm comprises the following specific steps: S1, the interval time after this channel sends data through CCDL ( ) After that, the transient fault state of CCDL is detected; S2. If a CCDL transient fault occurs and lasts for 5 beats, it is considered a permanent CCDL fault. The vertical axis angles of other channels obtained by this channel are and vertical axis transient self-monitoring results , are set to fail-safe values ​​(vertical axis angle The fail-safe value is 0°); S3. If a CCDL transient fault occurs and does not last for 5 beats, the vertical axis angle of other channels obtained by this channel and vertical axis transient self-monitoring results , the normal value of the last frame is set as the average value.

[0053] Preferably, in step eight, the two-channel instruction signals are voted, and the specific algorithm is as follows: if the absolute value of the difference between the vertical shaft angle of the current channel and the vertical shaft angle of the other channel is less than or equal to the vertical shaft instruction threshold ( ) and the vertical shaft transient self-monitoring result of the current channel and the vertical shaft transient self-monitoring result of the other channel are both valid (validity is indicated by “1”), then the vertical shaft control instruction voting value is set as , and the transient vertical shaft control instruction flag bit is set as valid (validity is indicated by “1”); otherwise, the vertical shaft control instruction voting value is set as the fail-safe value (the fail-safe value is 0°), and the transient vertical shaft control instruction flag bit is set as invalid (invalidity is indicated by “0”).

[0054] Preferably, in step nine, the algorithm for amplitude limiting of the vertical shaft control instruction voting value is as follows: if the vertical shaft control instruction voting value exceeds the vertical shaft amplitude upper threshold ( ), then the vertical shaft control instruction voting value after amplitude limiting is set as the vertical shaft amplitude upper threshold ; if the vertical shaft control instruction voting value exceeds the vertical shaft amplitude lower threshold ( ), then the vertical shaft control instruction voting value after amplitude limiting is set as the vertical shaft amplitude lower threshold ; otherwise, the vertical shaft control instruction voting value after amplitude limiting is set as the vertical shaft control instruction voting value .

[0055] Preferably, in step ten, the method for calculating the vertical shaft control instruction and the vertical shaft control instruction flag bit is as follows: if the transient vertical shaft control instruction flag bit is invalid (invalidity is indicated by “0”) and the invalidity lasts for more than 10 frames, then it is determined that a permanent fault occurs, the vertical shaft control instruction flag bit is invalid (invalidity is indicated by “0”), and the flag bit is not restored, and the processed vertical shaft control instruction is set as the fail-safe value (the fail-safe value is 0°); if the transient vertical shaft control instruction flag bit is invalid ("0" for invalid) and has not persisted for more than 10 beats, the processed vertical axis steering command is set to the post-clipping vertical axis steering command vote value ; if the transient vertical axis steering command flag bit is valid ("1" for valid) and the vertical axis steering command flag bit is valid ("1" for valid), the processed vertical axis steering command is set to the post-clipping vertical axis steering command vote value ; if the transient vertical axis steering command flag bit is valid ("1" for valid) and the vertical axis steering command flag bit is invalid ("0" for invalid), the processed vertical axis steering command is set to the failsafe value (the failsafe value is 0°).

[0056] Preferably, in step eleven, the algorithm for the secondary clipping process is: if the processed vertical axis steering command is positive and within the vertical axis secondary clipping positive threshold range (the vertical axis secondary clipping positive upper threshold is ( ), and the vertical axis secondary clipping positive lower threshold is ), the post-secondary clipping vertical axis steering command is set to the vertical axis secondary clipping positive lower threshold ; if the processed vertical axis steering command is positive and outside the vertical axis secondary clipping positive threshold range (the vertical axis secondary clipping positive upper threshold is , and the vertical axis secondary clipping positive lower threshold is ), the post-secondary clipping vertical axis steering command is set to the processed vertical axis steering command ; if the processed vertical axis steering command is negative and within the vertical axis secondary clipping negative threshold range (the vertical axis secondary clipping negative upper threshold is ( ), and the vertical axis secondary clipping negative lower threshold is ), the post-secondary clipping vertical axis steering command is set to the vertical axis secondary clipping negative upper threshold ; if the processed vertical axis steering command is negative and outside the vertical axis secondary clipping negative threshold range (the vertical axis secondary clipping negative upper threshold is , and the vertical axis secondary clipping negative lower threshold is ), the post-secondary clipping vertical axis steering command is set to the processed vertical axis steering command .

[0057] Preferably, in step twelve, the algorithm of the neutral position processing is: if the twice-amplitude-limited vertical-axis steering instruction is within the vertical-axis neutral position idle stroke threshold range (the upper idle stroke threshold is , and the lower idle stroke threshold is ), the vertical-axis steering instruction sent to the CANFD / CAN bus is set to zero; if the twice-amplitude-limited vertical-axis steering instruction is outside the vertical-axis neutral position idle stroke range (- , + ), the vertical-axis steering instruction sent to the CANFD / CAN bus is set to the twice-amplitude-limited vertical-axis steering instruction . .

[0058] Preferably, step twelve is optional, if step twelve is not used, the vertical-axis steering instruction sent to the CANFD / CAN bus is the twice-amplitude-limited vertical-axis steering instruction .

[0059] The above-described embodiments only express the preferred embodiments of the present application, which are described in a more specific and detailed manner, but should not be understood as a limitation on the patent scope of the present application. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A multi-axis control system command control and processing method, characterized in that: The steps include: Step 1: Set the task cycle for controlling and processing the operating system's operating instructions ; Step 2: collecting the output voltage signal of the control axis command sensor; Step 3: Supply voltage to the control axis command sensor Conduct collection; Step 4: According to the output voltage signal and power supply voltage of the control axis command sensor , calculate the steering axis angle; Step 5: According to the output voltage signal and power supply voltage of the pitch axis command sensor ,Through the control axis sensor self-monitoring algorithm, the control axis transient self-monitoring results are obtained; Step 6: The two redundant channels of the control system exchange control axis data with each other through the inter-channel data link transmission; Step 7: During the inter-channel data link transmission process, the control angles of other channels and the transient self-monitoring results of the control axes of other channels for voting are obtained through CCDL monitoring and data processing algorithms; Step 8: Voting the command signals of the two channels based on the control axis angle of the current channel, the control axis angles of other channels, the transient self-monitoring results of the control axis of the current channel, and the transient self-monitoring results of the control axis of other channels to obtain the control axis control command voting value and the transient control axis control command flag; Step nine, performing a clipping process on the control axis control command voting value to obtain the control axis control command voting value after clipping; Step 10: Calculate the control axis control command and the control axis control command flag according to the transient control axis control command flag and the control axis control command voting value after limiting; Step 11: performing secondary limiting processing on the processed control axis control command to obtain the control axis control command after secondary limiting; Step 12: Perform neutral position processing on the control shaft control command after secondary limiting to obtain the control shaft control command sent to the CANFD / CAN bus.

2. The method according to claim 1, wherein: The control axes include: pitch axis, roll axis, yaw axis and vertical axis. The control and processing of the control instructions of the pitch axis, roll axis and yaw axis are the same.

3. The method according to claim 2, wherein: Control and processing of pitch axis control commands: In step 2, the sinusoidal voltage signal output by the pitch axis command sensor is synchronously collected and cosine voltage signals ; In step 4, according to the sinusoidal voltage signal and cosine voltage signals and supply voltage , calculate the pitch axis angle ; In step 5, according to the sinusoidal voltage signal and cosine voltage signals and supply voltage , through the pitch axis sensor self-monitoring algorithm, the pitch axis transient self-monitoring results are obtained .

4. The method according to claim 3, wherein: In step 4, the pitch axis angle The calculation formula is as follows: Where pi is the circumference of a circle, The unit is °, 、 and The unit is V.

5. The method according to claim 4, characterized in that: In step 5, the pitch axis sensor self-monitoring algorithm process is as follows: S51, determine the pitch axis sensor sinusoidal voltage signal Whether it exceeds the pitch axis self-monitoring threshold range, the upper threshold is , the lower threshold is If the pitch axis self-monitoring threshold is exceeded, it is determined that the pitch axis sensor has a self-monitoring transient fault. The pitch axis transient self-monitoring result Set to fault; S52, determine the cosine voltage signal of the pitch axis sensor Whether it exceeds the pitch axis self-monitoring threshold range. If it exceeds the pitch axis self-monitoring threshold range, it is judged that the pitch axis sensor has a self-monitoring transient fault. The pitch axis transient self-monitoring result Set to fault; S53, judging the sinusoidal voltage signal of the pitch axis sensor and cosine voltage signals combination of +Whether the pitch axis combination threshold range is exceeded. The upper threshold value of the pitch axis combination threshold range is , the lower threshold is If the pitch axis combination threshold is exceeded, it is determined that the pitch axis sensor has a self-monitoring transient fault. The pitch axis transient self-monitoring result Set to fault.

6. The method according to claim 2, wherein: For the control and processing of vertical axis operation instructions: In step 2, the output voltage signal of the vertical axis command sensor is collected. ; In step 4, according to the output voltage signal of the vertical axis instruction sensor and supply voltage , calculate the vertical axis angle ; In step 5, according to the output voltage signal of the vertical axis instruction sensor and supply voltage , through the vertical axis sensor self-monitoring algorithm, the vertical axis transient self-monitoring results are obtained .

7. The method according to claim 6, characterized in that: In step 4, the vertical axis angle The calculation formula is as follows: in The unit is °, and The unit is V.

8. The method according to claim 7, wherein: In step 5, the vertical axis sensor self-monitoring algorithm process is as follows: Determine the output voltage signal of the vertical axis sensor Whether it exceeds the vertical axis self-monitoring threshold range, the upper threshold of the vertical axis self-monitoring threshold range is , the lower threshold is If the vertical axis self-monitoring threshold is exceeded, it is determined that the pitch axis sensor has a self-monitoring transient fault. The vertical axis transient self-monitoring result Set to fault.

9. The method according to claim 1, wherein: In step 7, the CCDL monitoring and data processing algorithm process is as follows: S71, the interval time after this channel sends data through CCDL Afterwards, the transient fault state of CCDL is detected; S72. If a CCDL transient fault occurs and lasts for 5 beats, the CCDL is considered to be permanently faulted, and the control axis angles of other channels and the control axis transient self-monitoring results of other channels obtained by this channel are set to fail-safe values. S73. If a CCDL transient fault occurs and does not last for 5 beats, the control axis angles of other channels obtained by this channel and the control axis transient self-monitoring results of other channels are set to the normal values ​​of the previous beat.

10. The method according to claim 9, characterized in that: In step eight, the voting process is as follows: If the control axis angle of this channel and other channels to manipulate axis angles The absolute value of the difference is less than or equal to the control axis command threshold And the transient self-monitoring result of the control axis of this channel and other channels' control axis transient self-monitoring results If both are valid, the control axis control instruction voting value Set to , transient control axis control instruction flag Set to valid; otherwise, the control axis control instruction voting value Set to fail-safe value , transient control axis control instruction flag Set to invalid.

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