Multi-axis manipulation system command control and processing method

Abstract

This invention belongs to the field of aircraft control technology and relates to a command control and processing method for a multi-axis control system, comprising the following steps: acquiring the output voltage signal of the control axis command sensor; acquiring the power supply voltage of the control axis command sensor; calculating the control axis angle based on the output voltage signal and power supply voltage of the control axis command sensor; obtaining the transient self-monitoring result of the control axis based on the output voltage signal and power supply voltage of the pitch axis command sensor through a control axis sensor self-monitoring algorithm; exchanging control axis data between two redundant channels of the control system through inter-channel data link transmission; during the inter-channel data link transmission, obtaining the control angle of other channels and the transient self-monitoring result of the control axis of other channels for voting processing through CCDL monitoring and data processing algorithms.

Description

Technical Field

[0001] This invention belongs to the field of aircraft control technology and relates to a method for command control and processing of a multi-axis control system. Background Technology

[0002] With the rapid development of aviation technology, electric vertical takeoff and landing (eVTOL) aircraft have attracted widespread attention due to their unique performance and application prospects. eVTOLs possess advantages such as vertical takeoff and landing, high efficiency, and flexibility, and have enormous potential in fields such as urban transportation, logistics, emergency rescue, and tourism.

[0003] Manned eVTOL is an important branch of eVTOL, requiring pilots to operate the eVTOL to address safety issues in emergency situations under current technological conditions. Existing aircraft control systems typically consist of several components (side sticks, pedals, throttle consoles) to achieve multi-axis control, and lack self-detection capabilities, making it difficult to meet the requirements of manned eVTOL for high detection rates, small size, and light weight. With the development of manned eVTOL, the concept of multi-axis control systems has been proposed, integrating multi-axis control tasks and signal processing to output reliable and trustworthy digital command signals, achieving the goals of high detection rates, high safety, high reliability, high precision, and small size / weight in manned eVTOL control systems. However, currently, there is still a lack of methods for command control and processing in multi-axis control systems.

[0004] In summary, in order to improve the performance and operational safety of manned eVTOLs and meet the growing market demand, there is an urgent need for a new multi-axis control system command control and processing method to achieve high fault detection rate, high safety, high reliability and high operational precision. Summary of the Invention

[0005] This invention proposes a command control and processing method for a multi-axis control system, which can realize the control and processing of control commands in the four-axis control directions of pitch, roll, yaw and vertical of the multi-axis control device.

[0006] The technical solution adopted by this invention to solve its technical problem is: A method for controlling and processing commands of a multi-axis control system, wherein the control and processing methods for the pitch, roll, and yaw axes of the multi-axis control device are the same.

[0007] The following describes the technical solution of the present invention using a specific control direction (pitch axis) as an example, and involves the following steps: Step 1: Set the task cycle for controlling and processing operating system commands. ; Step 2: Output voltage signal from the sinusoidal terminal of the pitch axis command sensor of the multi-axis control device. Output voltage signal at the cosine terminal Synchronous acquisition is performed to ensure that the two output voltage signals are acquired at the same time. Step 3: Power supply voltage to the pitch axis command sensor of the multi-axis control device. Collect data; Step 4: Output voltage signal from the sinusoidal terminal of the sensor according to the pitch axis command. Output voltage signal at the cosine terminal and power supply voltage The pitch axis angle was calculated. ; Step 5: Output voltage signal from the sinusoidal terminal of the sensor according to the pitch axis command. Output voltage signal at the cosine terminal and power supply voltage The pitch axis transient self-monitoring results are obtained through the pitch axis sensor self-monitoring algorithm. ; Step 6: Through the inter-channel data link (CCDL) transmission, the two redundant channels of the control system exchange pitch axis data (angle values ​​and transient self-monitoring result values) with each other. Step 7: During the inter-channel data link transmission (CCDL) process, the pitch axis angles of other channels used for voting processing are obtained through pitch axis CCDL monitoring and data processing algorithms. Pitch axis transient self-monitoring results from other channels ; Step 8: Based on the pitch axis angle of this channel Other channel pitch axis angles The transient self-monitoring results of the pitch axis of this channel Pitch axis transient self-monitoring results from other channels The two-channel command signals are voted on to obtain the pitch axis control command voting value. and transient pitch axis control command flag ; Step 9: Vote on the pitch axis control command Perform amplitude limiting to obtain the pitch axis control command voting value after amplitude limiting. ; Step 10: Based on the transient pitch axis control command flags And the voting value of the pitch axis control command after the limit is set The pitch axis control command is calculated. and pitch axis control command flag ; Step 11: Process the pitch axis control commands Perform secondary limiting to obtain pitch axis control commands after secondary limiting. ; Step 12: Apply pitch axis control commands after secondary limiting. Perform neutral position processing to obtain pitch axis control commands for sending the CANFD / CAN bus. .

[0008] Preferably, in step two, the signal acquisition method is periodic acquisition, and the acquisition period is the same as the task cycle of the control and processing of the control system's control commands.

[0009] Preferably, in step three, the signal acquisition method is periodic acquisition, and the acquisition period is the same as the task cycle of the control and processing of the operating system commands. Power supply voltage Acquisition time and sinusoidal output voltage signal Output voltage signal at the cosine terminal The data collection times can be the same or different.

[0010] Preferably, in step four, the pitch axis angle The calculation formula is: Where pi is the mathematical constant π. The unit is °. , and The unit is V.

[0011] Preferably, in step five, the pitch axis sensor self-monitoring algorithm comprises the following steps: S1. Determine the sinusoidal output voltage signal of the pitch axis sensor. Does it exceed the pitch axis self-monitoring threshold range (the upper threshold value of the pitch axis self-monitoring threshold range is...) The lower threshold value is If the pitch axis self-monitoring threshold is exceeded, it is determined that the pitch axis sensor has experienced a transient self-monitoring fault, and the pitch axis transient self-monitoring result is... Set as faulty; S2. Determine the output voltage signal of the cosine terminal of the pitch axis sensor. Does it exceed the pitch axis self-monitoring threshold range (the upper threshold value of the pitch axis self-monitoring threshold range is...) The lower threshold value is If the pitch axis self-monitoring threshold is exceeded, it is determined that the pitch axis sensor has experienced a transient self-monitoring fault, and the pitch axis transient self-monitoring result is... Set as faulty; S3. Determine the sinusoidal output voltage signal of the pitch axis sensor. Output voltage signal at the cosine terminal combination +Whether it exceeds the pitch axis combination threshold range (the upper threshold value of the pitch axis combination threshold range is...) The lower threshold value is If the pitch axis combination threshold is exceeded, it is determined that the pitch axis sensor has experienced a transient self-monitoring fault. The pitch axis transient self-monitoring result is then displayed. Set as faulty.

[0012] Preferably, in step seven, the algorithm for CCDL monitoring and data processing specifically includes the following steps: S1, the interval after data is sent via CCDL in this channel. Next, the transient fault status of CCDL is detected; S2. If a CCDL transient fault occurs and lasts for 5 frames, it is considered a permanent CCDL fault. The pitch axis angles of other channels acquired by this channel will be... Pitch axis transient self-monitoring results from other channels All are set to fail-safe values; S3. If a CCDL transient fault occurs and does not last for 5 frames, then the pitch axis angles of other channels acquired by this channel will be... Pitch axis transient self-monitoring results from other channels All values ​​are set to the normal values ​​of the previous beat.

[0013] Preferably, in step eight, the voting algorithm for the two-channel command signals is as follows: if the pitch axis angle of this channel... Other channel pitch axis angles The absolute value of the difference is less than or equal to the pitch axis command threshold. Furthermore, the pitch axis transient self-monitoring results of this channel Pitch axis transient self-monitoring results from other channels If all are valid, then the pitch axis control command voting value is... Set as Transient pitch axis control command flag Set to valid; otherwise, the pitch axis control command voting value. Set to fail-safe value Transient pitch axis control command flag Set to invalid.

[0014] Preferably, in step nine, the pitch axis control command voting value The algorithm for amplitude limiting is as follows: if the pitch axis control command voting value Exceeding the pitch axis limit upper threshold Then the pitch axis control command voting value after the amplitude is limited Set as pitch axis limit upper threshold If the pitch axis control command voting value Exceeding the pitch axis limit lower threshold Then the pitch axis control command voting value after the amplitude is limited Set as pitch axis limiting lower threshold Otherwise, the pitch axis control command voting value after the amplitude is limited. Set as the pitch axis control command voting value .

[0015] Preferably, in step ten, the pitch axis control command is calculated. and pitch axis control command flag The method is as follows: if the transient pitch axis control command flag is set... If an action is invalid and continues for more than 10 cycles, a permanent fault is determined, and the pitch axis control command flag is deactivated. The command is invalid, and the flag is not restored; the processed pitch axis control command... Set to a fail-safe value; if the transient pitch axis control command flag is set... The pitch axis control command was invalid and did not last for more than 10 cycles. Set as the pitch axis control command voting value after limiting. The previous normal value; if the transient pitch axis control command flag is set... For valid pitch axis control command flags If valid, then the processed pitch axis control command Set as the pitch axis control command voting value after limiting. If the transient pitch axis control command flag is set... For valid pitch axis control command flags If invalid, then the processed pitch axis control command Set to a fail-safe value.

[0016] Preferably, in step eleven, the algorithm for the secondary amplitude limiting process is as follows: if the processed pitch axis control command It is a positive value and within the positive threshold range of the pitch axis secondary limiting (the positive upper threshold of the pitch axis secondary limiting is...). The pitch axis secondary limiting positive lower threshold is Then, the pitch axis control command after the second limiting is executed. Set as the pitch axis secondary limiting positive lower threshold If the processed pitch axis control command It is a positive value and outside the positive threshold range of the pitch axis secondary limiting (the positive upper threshold of the pitch axis secondary limiting is...). The pitch axis secondary limiting positive lower threshold is Then, the pitch axis control command after the second limiting is executed. Set as processed pitch axis control command If the processed pitch axis control command It is negative and within the negative threshold range of the pitch axis secondary limiting (the negative upper threshold of the pitch axis secondary limiting is...). The pitch axis secondary limiting negative lower threshold is Then, the pitch axis control command after the second limiting is executed. Set as pitch axis secondary limiting negative upper threshold If the processed pitch axis control command It is negative and outside the negative threshold range of the pitch axis secondary limiting (the negative upper threshold of the pitch axis secondary limiting is...). The pitch axis secondary limiting negative lower threshold is Then, the pitch axis control command after the second limiting is executed. Set as processed pitch axis control command .

[0017] Preferably, in step twelve, the algorithm for neutral position processing is as follows: if the pitch axis control command is applied after secondary limiting... Within the pitch axis neutral position no-travel threshold range (the upper threshold of the no-travel threshold is...) The lower threshold of the empty travel threshold is Send pitch axis control commands via CANFD / CAN bus. Set to zero; if the pitch axis control command is applied after the second limiting... Outside the neutral position travel range of the pitch axis (- ,+ Send pitch axis control commands via CANFD / CAN bus. Set to secondary limit and then pitch axis control command .

[0018] Preferably, step 12 is optional. If step 12 is not used, a pitch axis control command is sent via the CANFD / CAN bus. This refers to the pitch axis control command after the second amplitude limiting. .

[0019] The vertical axis command control and processing method of the present invention comprises the following steps: Step 1: Set the task cycle for controlling and processing operating system commands. ; Step 2: Analyze the output voltage signal of the vertical axis command sensor of the multi-axis control device. Collect data; Step 3: Power supply voltage to the vertical axis command sensor of the multi-axis control device. Collect data; Step 4: Analyze the sensor's output voltage signal according to the vertical axis command. and power supply voltage The vertical axis angle was calculated. ; Step 5: Analyze the sensor's output voltage signal according to the vertical axis command. and power supply voltage The transient self-monitoring results of the vertical axis are obtained through the vertical axis sensor self-monitoring algorithm. ; Step 6: Through the inter-channel data link (CCDL) transmission, the two redundant channels of the control system exchange vertical axis data (angle values ​​and transient self-monitoring result values) with each other. Step 7: During the inter-channel data link transmission (CCDL) process, the vertical axis angles of other channels used for voting processing are obtained through vertical axis CCDL monitoring and data processing algorithms. Vertical axis transient self-monitoring results of other channels ; Step 8: Based on the vertical axis angle of this channel other channel vertical axis angles The transient self-monitoring results of the vertical axis of this channel. Vertical axis transient self-monitoring results of other channels The two-channel command signals are voted on to obtain the voting value of the vertical axis manipulation command. and transient vertical axis manipulation command flag ; Step 9: Voting on the vertical axis manipulation command. Amplitude limiting is performed to obtain the voting value of the vertical axis manipulation command after amplitude limiting. ; Step 10: Based on the transient vertical axis manipulation command flag. And the voting value of the vertical axis control command after the amplitude limit The vertical axis manipulation command was calculated. and vertical axis manipulation command flag ; Step 11: Process the vertical axis control commands. Perform secondary limiting processing to obtain the vertical axis manipulation command after secondary limiting. ; Step 12: Execute vertical axis control commands after secondary amplitude limiting. Perform neutral position processing to obtain the vertical axis manipulation command for sending 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 cycle of the control and processing of the control system's control commands.

[0021] Preferably, in step three, the signal acquisition method is periodic acquisition, and the acquisition period is the same as the task cycle of the control and processing of the operating system commands. Power supply voltage The acquisition time and the output voltage signal of the vertical axis sensor The data collection times can be the same or different.

[0022] Preferably, in step four, the vertical axis angle The calculation formula is: ,in The unit is °. and The unit is V.

[0023] Preferably, in step five, the vertical axis sensor is self-monitored, and the specific algorithm is as follows: determine the output voltage signal of the vertical axis sensor. Does it exceed 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 experienced a transient self-monitoring fault, and the vertical axis transient self-monitoring result is... Set as faulty.

[0024] Preferably, in step seven, the algorithm for CCDL monitoring and data processing specifically includes the following steps: S1, the interval after data is sent via CCDL in this channel. Next, the transient fault status of CCDL is detected; S2. If a CCDL transient fault occurs and lasts for 5 cycles, it is considered a permanent CCDL fault. The vertical axis angles of other channels acquired by this channel will be... and vertical axis transient self-monitoring results All are set to fail-safe values; S3. If a CCDL transient fault occurs and does not last for 5 frames, then the vertical axis angles of other channels acquired by this channel will be... and vertical axis transient self-monitoring results All values ​​are set to the normal values ​​of the previous beat.

[0025] Preferably, in step eight, the voting algorithm for the two-channel command signals is as follows: if the vertical axis angle of this channel... Vertical axis angles of other channels The absolute value of the difference is less than or equal to the vertical axis command threshold. Furthermore, the transient self-monitoring results of the vertical axis of this channel... Vertical axis transient self-monitoring results of other channels If all are valid, then the vertical axis manipulation command voting value is... Set as Transient vertical axis manipulation command flag Set to valid; otherwise, the vertical axis manipulation command voting value. Set to fault-safe value, transient vertical axis control command flag. Set to invalid.

[0026] Preferably, in step nine, the voting value of the vertical axis manipulation command The algorithm for amplitude limiting is as follows: if the vertical axis manipulation command voting value Exceeding the vertical axis limit upper threshold Then the voting value of the vertical axis manipulation command after the amplitude is limited Set as the upper threshold of the vertical axis limiting If the vertical axis manipulation command voting value Exceeding the lower threshold of the vertical axis limit Then the voting value of the vertical axis manipulation command after the amplitude is limited Set as the lower threshold of vertical axis limiting Otherwise, the vertical axis manipulation command voting value after amplitude limiting. Set as the voting value for vertical axis control commands .

[0027] Preferably, in step ten, the calculation yields the vertical axis manipulation command. and vertical axis manipulation command flag The method is as follows: if the transient vertical axis manipulation command flag is... If the error persists for more than 10 cycles, a permanent fault is determined, and the vertical axis manipulation command flag is deactivated. The command is invalid, and the flag is not restored; the processed vertical axis manipulation command... Set to a fail-safe value; if the transient vertical axis control command flag is set... The processed vertical axis manipulation command was invalid and did not last for more than 10 cycles. Set as the voting value for vertical axis control commands after amplitude limiting The previous normal value; if the transient vertical axis manipulation command flag is... The vertical axis manipulation command flag is valid. If valid, then the processed vertical axis manipulation command Set as the voting value for vertical axis control commands after amplitude limiting If the transient vertical axis manipulation command flag is set... The vertical axis manipulation command flag is valid. If invalid, then the processed vertical axis manipulation command Set to a fail-safe value.

[0028] Preferably, in step eleven, the algorithm for the secondary amplitude limiting process is as follows: if the processed vertical axis manipulation command It is a positive value and within the positive threshold range of the second vertical axis limiting (the positive upper threshold of the second vertical axis limiting is...). The lower threshold of the vertical axis secondary limiting is Then, the vertical axis control command after the second amplitude limiting. Set as the lower threshold of the vertical axis secondary limiting. If the processed vertical axis manipulation command It is a positive value and outside the positive threshold range of the vertical axis secondary limiting (the positive upper threshold of the vertical axis secondary limiting is...). The lower threshold of the vertical axis secondary limiting is Then, the vertical axis control command after the second amplitude limiting. Set as processed vertical axis control command If the processed vertical axis manipulation command It is negative and within the negative threshold range of the second-order vertical axis limiting (the upper negative threshold of the second-order vertical axis limiting is...). The lower vertical threshold of the second-order limiting is: Then, the vertical axis control command after the second amplitude limiting. Set as the vertical axis secondary limiting negative upper threshold If the processed vertical axis manipulation command It is negative and outside the negative threshold range of the vertical axis secondary limiting (the negative upper threshold of the vertical axis secondary limiting is...). The lower vertical threshold of the second-order limiting is: Then, the vertical axis control command after the second amplitude limiting. Set as processed vertical axis control command .

[0029] Preferably, in step twelve, the algorithm for neutral position processing is as follows: if the vertical axis manipulation command is executed after the second amplitude limiting... Within the vertical axis neutral position no-travel threshold range (the upper threshold of the no-travel threshold is...) The lower threshold of the empty travel threshold is Send vertical axis manipulation commands from the CANFD / CAN bus. Set to zero; if the vertical axis control command is applied after secondary limiting. Outside the neutral travel range of the vertical axis (- ,+ Send vertical axis manipulation commands from the CANFD / CAN bus. Set as secondary limiter vertical axis control command .

[0030] Preferably, step 12 is optional. If step 12 is not used, a vertical axis manipulation command for the CANFD / CAN bus is sent. This refers to the vertical axis control command after secondary amplitude limiting. .

[0031] The advantages of this invention are: (1) High fault detection rate. This invention adopts multiple self-monitoring methods, complete CCDL monitoring algorithm and two-channel voting and other detection measures, which greatly improves the fault detection rate of four-axis commands of multi-axis control system and improves the reliability of the sent four-axis control command signals. (2) High safety: By combining CCDL monitoring and self-monitoring, and using a strict voting method, the risk of outputting erroneous command signals is greatly reduced. At the same time, multiple amplitude limiting processing is adopted to prevent large command output caused by command overflow, thereby improving the control safety of the aircraft. (3) High reliability: The present invention adopts multiple transient fault markers and permanent fault markers. It can record occasional faults through transient fault markers and use permanent fault markers as the final judgment condition, avoiding false alarms caused by interference and improving the reliability of command control and processing. (4) High control accuracy: The present invention compensates the collected power supply voltage into the calculation formula of the four-axis angle, reducing the interference caused by sensor power supply fluctuations and making the calculated four-axis angle more accurate. (5) Good applicability: The present invention adopts a neutral position processing algorithm, which can solve the problem of inconsistent neutral position output command signals caused by manufacturing errors in mass-produced control device products, effectively preventing the output of non-control command signals and having good product applicability. Attached Figure Description

[0032] Figure 1 This is a flowchart of the pitch axis control and processing method.

[0033] Figure 2 This is a flowchart of the vertical axis manipulation command control and processing method. Detailed Implementation

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

[0035] like Figure 1 As shown, taking the pitch axis as an example, the technical solution of the present invention is explained by the following steps: Step 1: Set the task cycle for controlling and processing operating system commands. ( =10ms); Step 2: Output voltage signal from the sinusoidal terminal of the pitch axis command sensor of the multi-axis control device. Output voltage signal at the cosine terminal Synchronous acquisition is performed to ensure that the two output voltage signals are acquired at the same time. Step 3: Power supply voltage to the pitch axis command sensor of the multi-axis control device. Collect data; Step 4: Output voltage signal from the sinusoidal terminal of the sensor according to the pitch axis command. Output voltage signal at the cosine terminal and power supply voltage The pitch axis angle was calculated. ; Step 5: Output voltage signal from the sinusoidal terminal of the sensor according to the pitch axis command. Output voltage signal at the cosine terminal and power supply voltage The pitch axis transient self-monitoring results are obtained through the pitch axis sensor self-monitoring algorithm. ; Step 6: Through the inter-channel data link (CCDL) transmission, the two redundant channels of the control system exchange pitch axis data (angle values ​​and transient self-monitoring result values) with each other. Step 7: During the inter-channel data link transmission (CCDL) process, the pitch axis angles of other channels used for voting processing are obtained through pitch axis CCDL monitoring and data processing algorithms. Pitch axis transient self-monitoring results from other channels ; Step 8: Based on the pitch axis angle of this channel Other channel pitch axis angles The transient self-monitoring results of the pitch axis of this channel Pitch axis transient self-monitoring results from other channels The two-channel command signals are voted on to obtain the pitch axis control command voting value. and transient pitch axis control command flag ; Step 9: Vote on the pitch axis control command Perform amplitude limiting to obtain the pitch axis control command voting value after amplitude limiting. ; Step 10: Based on the transient pitch axis control command flags And the voting value of the pitch axis control command after the limit is set The pitch axis control command is calculated. and pitch axis control command flag ; Step 11: Process the pitch axis control commands Perform secondary limiting to obtain pitch axis control commands after secondary limiting. ; Step 12: Apply pitch axis control commands after secondary limiting. Perform neutral position processing to obtain pitch axis control commands for sending the CANFD / CAN bus. .

[0036] Preferably, in step two, the signal acquisition method is periodic acquisition, and the acquisition period is the same as the task cycle of the control and processing of the control system's control commands.

[0037] Preferably, in step three, the signal acquisition method is periodic acquisition, and the acquisition period is the same as the task cycle of the control and processing of the operating system commands. Power supply voltage Acquisition time and sinusoidal output voltage signal Output voltage signal at the cosine terminal The data collection times can be the same or different.

[0038] Preferably, in step four, the pitch axis angle The calculation formula is: Where pi is the mathematical constant π. The unit is °. , and The unit is V.

[0039] Preferably, in step five, the pitch axis sensor self-monitoring algorithm comprises the following steps: S1. Determine the sinusoidal output voltage signal of the pitch axis sensor. Does it exceed the pitch axis self-monitoring threshold range (the upper threshold value of the pitch axis self-monitoring threshold range is...) The lower threshold value is If the pitch axis self-monitoring threshold is exceeded, it is determined that the pitch axis sensor has experienced a transient self-monitoring fault, and the pitch axis transient self-monitoring result is... Set as fault ("1" indicates a fault); S2. Determine the output voltage signal of the cosine terminal of the pitch axis sensor. Does it exceed the pitch axis self-monitoring threshold range (the upper threshold value of the pitch axis self-monitoring threshold range is...) The lower threshold value is If the pitch axis self-monitoring threshold is exceeded, it is determined that the pitch axis sensor has experienced a transient self-monitoring fault, and the pitch axis transient self-monitoring result is... Set as fault ("1" indicates a fault); S3. Determine the sinusoidal output voltage signal of the pitch axis sensor. Output voltage signal at the cosine terminal combination Does it exceed the pitch axis combination threshold range (the upper threshold value of the pitch axis combination threshold range is...)? The lower threshold value is If the pitch axis combination threshold is exceeded, it is determined that the pitch axis sensor has experienced a transient self-monitoring fault. The pitch axis transient self-monitoring result is then displayed. Set as fault ("1" indicates a fault).

[0040] Preferably, in step seven, the algorithm for CCDL monitoring and data processing specifically includes the following steps: S1, the interval after data is sent via CCDL in this channel. ( After that, the transient fault status of CCDL is detected; S2. If a CCDL transient fault occurs and lasts for 5 frames, it is considered a permanent CCDL fault. The pitch axis angles of other channels acquired by this channel will be... Pitch axis transient self-monitoring results from other channels All are set to fail-safe values ​​(pitch axis angles). The failsafe value is 0°. S3. If a CCDL transient fault occurs and does not last for 5 frames, then the pitch axis angles of other channels acquired by this channel will be... Pitch axis transient self-monitoring results from other channels All values ​​are set to the normal values ​​of the previous beat.

[0041] Preferably, in step eight, the voting algorithm for the two-channel command signals is as follows: if the pitch axis angle of this channel... Other channel pitch axis angles The absolute value of the difference is less than or equal to the pitch axis command threshold. ( Furthermore, the pitch axis transient self-monitoring results of this channel... Pitch axis transient self-monitoring results from other channels If all are valid ("1" indicates valid), then the pitch axis control command voting value is... Set as Transient pitch axis control command flag Set to valid ("1" indicates 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 command voting value The algorithm for amplitude limiting is as follows: if the pitch axis control command voting value Exceeding the pitch axis limit upper threshold ( Then, the pitch axis control command voting value after the amplitude is limited. Set as pitch axis limit upper threshold If the pitch axis control command voting value Exceeding the pitch axis limit lower threshold ( Then, the pitch axis control command voting value after the amplitude is limited. Set as pitch axis limiting lower threshold Otherwise, the pitch axis control command voting value after the amplitude is limited. Set as the pitch axis control command voting value .

[0043] Preferably, in step ten, the pitch axis control command is calculated. and pitch axis control command flag The method is as follows: if the transient pitch axis control command flag is set... If an error message is invalid ("0" indicates invalid) and persists for more than 10 cycles, a permanent fault is determined, and the pitch axis control command flag is reset. If the value is invalid ("0" indicates invalid) and the flag is not restored, the processed pitch axis control command will be invalid. Set to the fault-safe value (fault-safe value is 0°); if the transient pitch axis control command flag is set... If the command is invalid ("0" indicates invalid) and does not last for more than 10 cycles, the processed pitch axis control command will be... Set as the pitch axis control command voting value after limiting. The previous normal value; if the transient pitch axis control command flag is set... The pitch axis control command flag is active ("1" indicates active). If valid ("1" indicates valid), then the processed pitch axis control command... Set as the pitch axis control command voting value after limiting. If the transient pitch axis control command flag is set... The pitch axis control command flag is active ("1" indicates active). If invalid ("0" means invalid), then the processed pitch axis control command Set to the fault-safe value (fault-safe value is 0°).

[0044] Preferably, in step eleven, the algorithm for the secondary amplitude limiting process is as follows: if the processed pitch axis control command It is a positive value and within the positive threshold range of the pitch axis secondary limiting (the positive upper threshold of the pitch axis secondary limiting is...). ( The pitch axis secondary limiting positive lower threshold is... Then, the pitch axis control command after the second limiting is executed. Set as the pitch axis secondary limiting positive lower threshold If the processed pitch axis control command It is a positive value and outside the positive threshold range of the pitch axis secondary limiting (the positive upper threshold of the pitch axis secondary limiting is...). The pitch axis secondary limiting positive lower threshold is Then, the pitch axis control command after the second limiting is executed. Set as processed pitch axis control command If the processed pitch axis control command It is negative and within the negative threshold range of the pitch axis secondary limiting (the negative upper threshold of the pitch axis secondary limiting is...). ( The pitch axis secondary limiting negative lower threshold is... Then, the pitch axis control command after the second limiting is executed. Set as pitch axis secondary limiting negative upper threshold If the processed pitch axis control command It is negative and outside the negative threshold range of the pitch axis secondary limiting (the negative upper threshold of the pitch axis secondary limiting is...). The pitch axis secondary limiting negative lower threshold is Then, the pitch axis control command after the second limiting is executed. Set as processed pitch axis control command .

[0045] Preferably, in step twelve, the algorithm for neutral position processing is as follows: if the pitch axis control command is applied after secondary limiting... Within the pitch axis neutral position no-travel threshold range (the upper threshold of the no-travel threshold is...) ( The lower threshold for the empty travel limit is... Send pitch axis control commands via CANFD / CAN bus. Set to zero; if the pitch axis control command is applied after the second limiting... Outside the neutral position travel range of the pitch axis (- ,+ Send pitch axis control commands via CANFD / CAN bus. Set to secondary limit and then pitch axis control command .

[0046] Preferably, step 12 is optional. If step 12 is not used, a pitch axis control command is sent via the CANFD / CAN bus. This refers to the pitch axis control command after the second amplitude limiting. .

[0047] Example 2 like Figure 2 As shown, taking the vertical axis as an example, the technical solution of the present invention is explained by the following steps: Step 1: Set the task cycle for controlling and processing operating system commands. ; Step 2: Analyze the output voltage signal of the vertical axis command sensor of the multi-axis control device. Collect data; Step 3: Power supply voltage to the vertical axis command sensor of the multi-axis control device. Collect data; Step 4: Analyze the sensor's output voltage signal according to the vertical axis command. and power supply voltage The vertical axis angle was calculated. ; Step 5: Analyze the sensor's output voltage signal according to the vertical axis command. and power supply voltage The transient self-monitoring results of the vertical axis are obtained through the vertical axis sensor self-monitoring algorithm. ; Step 6: Through the inter-channel data link (CCDL) transmission, the two redundant channels of the control system exchange vertical axis data (angle values ​​and transient self-monitoring result values) with each other. Step 7: During the inter-channel data link transmission (CCDL) process, the vertical axis angles of other channels used for voting processing are obtained through vertical axis CCDL monitoring and data processing algorithms. Vertical axis transient self-monitoring results of other channels ; Step 8: Based on the vertical axis angle of this channel other channel vertical axis angles The transient self-monitoring results of the vertical axis of this channel. Vertical axis transient self-monitoring results of other channels The two-channel command signals are voted on to obtain the voting value of the vertical axis manipulation command. and transient vertical axis manipulation command flag ; Step 9: Voting on the vertical axis manipulation command. Amplitude limiting is performed to obtain the voting value of the vertical axis manipulation command after amplitude limiting. ; Step 10: Based on the transient vertical axis manipulation command flag. And the voting value of the vertical axis control command after the amplitude limit The vertical axis manipulation command was calculated. and vertical axis manipulation command flag ; Step 11: Process the vertical axis control commands. Perform secondary limiting processing to obtain the vertical axis manipulation command after secondary limiting. ; Step 12: Execute vertical axis control commands after secondary amplitude limiting. Perform neutral position processing to obtain the vertical axis manipulation command for sending the CANFD / CAN bus. .

[0048] Preferably, in step two, the signal acquisition method is periodic acquisition, and the acquisition period is the same as the task cycle of the control and processing of the control system's control commands.

[0049] Preferably, in step three, the signal acquisition method is periodic acquisition, and the acquisition period is the same as the task cycle of the control and processing of the operating system commands. Power supply voltage The acquisition time and the output voltage signal of the vertical axis sensor The data collection times can be the same or different.

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

[0051] Preferably, in step five, the vertical axis sensor is self-monitored, and the specific algorithm is as follows: determine the output voltage signal of the vertical axis sensor. Does it exceed the vertical axis self-monitoring threshold range (the upper threshold of the vertical axis self-monitoring threshold range)? Lower threshold If the vertical axis self-monitoring threshold is exceeded, it is determined that the pitch axis sensor has experienced a self-monitoring transient, and the vertical axis transient self-monitoring result is... Set as fault ("1" indicates a fault).

[0052] Preferably, in step seven, the algorithm for CCDL monitoring and data processing specifically includes the following steps: S1, the interval after data is sent via CCDL in this channel. ( After that, the transient fault status of CCDL is detected; S2. If a CCDL transient fault occurs and lasts for 5 cycles, it is considered a permanent CCDL fault. The vertical axis angles of other channels acquired by this channel will be... and vertical axis transient self-monitoring results All are set to fail-safe values ​​(vertical axis angle). The failsafe value is 0°. S3. If a CCDL transient fault occurs and does not last for 5 frames, then the vertical axis angles of other channels acquired by this channel will be... and vertical axis transient self-monitoring results All values ​​are set to the normal values ​​of the previous beat.

[0053] Preferably, in step eight, the voting algorithm for the two-channel command signals is as follows: if the vertical axis angle of this channel... Vertical axis angles of other channels The absolute value of the difference is less than or equal to the vertical axis command threshold. ( Furthermore, the transient self-monitoring results of the vertical axis of this channel... Vertical axis transient self-monitoring results of other channels If all are valid ("1" indicates valid), then the vertical axis manipulation command voting value is... Set as Transient vertical axis manipulation command flag Set to valid ("1" indicates valid); otherwise, the vertical axis manipulation command voting value. Set to the fault-safe value (fault-safe value is 0°), transient vertical axis control command flag. Set to invalid ("0" means invalid).

[0054] Preferably, in step nine, the voting value of the vertical axis manipulation command The algorithm for amplitude limiting is as follows: if the vertical axis manipulation command voting value Exceeding the vertical axis limit upper threshold ( Then, the voting value of the vertical axis manipulation command after the amplitude is limited. Set as the upper threshold of the vertical axis limiting If the vertical axis manipulation command voting value Exceeding the lower threshold of the vertical axis limit ( Then, the voting value of the vertical axis manipulation command after the amplitude is limited. Set as the lower threshold of vertical axis limiting Otherwise, the vertical axis manipulation command voting value after amplitude limiting. Set as the voting value for vertical axis control commands .

[0055] Preferably, in step ten, the calculation yields the vertical axis manipulation command. and vertical axis manipulation command flag The method is as follows: if the transient vertical axis manipulation command flag is... If the value is invalid ("0" indicates invalid) and continues for more than 10 cycles, a permanent fault is determined, and the vertical axis manipulation command flag is reset. If the value is invalid ("0" indicates invalid) and the flag is not restored, the processed vertical axis manipulation command will be invalid. Set to the fault-safe value (fault-safe value is 0°); if the transient vertical axis control command flag is set... If the command is invalid ("0" indicates invalid) and does not last for more than 10 cycles, the processed vertical axis manipulation command will be invalid. Set as the voting value for vertical axis control commands after amplitude limiting The previous normal value; if the transient vertical axis manipulation command flag is... The vertical axis manipulation command flag is active ("1" indicates active). If valid ("1" indicates valid), then the processed vertical axis manipulation command... Set as the voting value for vertical axis control commands after amplitude limiting If the transient vertical axis manipulation command flag is set... The vertical axis manipulation command flag is active ("1" indicates active). If invalid ("0" means invalid), then the processed vertical axis manipulation command Set to the fault-safe value (fault-safe value is 0°).

[0056] Preferably, in step eleven, the algorithm for the secondary amplitude limiting process is as follows: if the processed vertical axis manipulation command It is a positive value and within the positive threshold range of the second vertical axis limiting (the positive upper threshold of the second vertical axis limiting is...). ( The lower threshold of the vertical axis secondary limiting is... Then, the vertical axis control command after the second amplitude limiting. Set as the lower threshold of the vertical axis secondary limiting. If the processed vertical axis manipulation command It is a positive value and outside the positive threshold range of the vertical axis secondary limiting (the positive upper threshold of the vertical axis secondary limiting is...). The lower threshold of the vertical axis secondary limiting is Then, the vertical axis control command after the second amplitude limiting. Set as processed vertical axis control command If the processed vertical axis manipulation command It is negative and within the negative threshold range of the second-order vertical axis limiting (the upper negative threshold of the second-order vertical axis limiting is...). ( The lower vertical threshold of the second-order limiting is: Then, the vertical axis control command after the second amplitude limiting. Set as the vertical axis secondary limiting negative upper threshold If the processed vertical axis manipulation command It is negative and outside the negative threshold range of the vertical axis secondary limiting (the negative upper threshold of the vertical axis secondary limiting is...). The lower vertical threshold of the second-order limiting is: Then, the vertical axis control command after the second amplitude limiting. Set as processed vertical axis control command .

[0057] Preferably, in step twelve, the algorithm for neutral position processing is as follows: if the vertical axis manipulation command is executed after the second amplitude limiting... Within the vertical axis neutral position no-travel threshold range (the upper threshold of the no-travel threshold is...) ( The lower threshold for the empty travel limit is... Send vertical axis manipulation commands from the CANFD / CAN bus. Set to zero; if the vertical axis control command is applied after secondary limiting. Outside the neutral travel range of the vertical axis (- ,+ Send vertical axis manipulation commands from the CANFD / CAN bus. Set as secondary limiter vertical axis control command .

[0058] Preferably, step 12 is optional. If step 12 is not used, a vertical axis manipulation command for the CANFD / CAN bus is sent. This refers to the vertical axis control command after secondary amplitude limiting. .

[0059] The embodiments described above are merely preferred embodiments of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A method for command control and processing of a multi-axis control system, characterized in that, Includes the following steps: Step 1: Set the task cycle T for controlling and processing operating system commands. p ; Step 2: Acquire the output voltage signal of the control axis command sensor; simultaneously acquire the sinusoidal voltage signal Pitch_Sin and the cosine voltage signal Pitch_Cos output by the pitch axis command sensor; Step 3: Collect the power supply voltage 4V_PS of the control axis command sensor; Step 4: Calculate the control axis angle based on the output voltage signal of the control axis command sensor and the supply voltage 4V_PS; calculate the pitch axis angle based on the sinusoidal voltage signal Pitch_Sin, the cosine voltage signal Pitch_Cos, and the supply voltage 4V_PS. The calculation formula is as follows: Where pi is the mathematical constant π, and θ P The unit is °, while the units for Pitch_Sin, Pitch_Cos, and 4V_PS are V; Step 5: Based on the output voltage signal of the pitch axis command sensor and the power supply voltage 4V_PS, obtain the transient self-monitoring result of the control axis through the control axis sensor self-monitoring algorithm; based on the sine voltage signal Pitch_Sin and the cosine voltage signal Pitch_Cos and the power supply voltage 4V_PS, obtain the transient self-monitoring result theta_P_VF of the pitch axis through the pitch axis sensor self-monitoring algorithm. The pitch axis sensor self-monitoring algorithm process is as follows: S51. Determine whether the pitch axis sensor sinusoidal voltage signal Pitch_Sin exceeds the pitch axis self-monitoring threshold range. The upper threshold value is 93%*4V_PS, and the lower threshold value is 7%*4V_PS. If it exceeds the pitch axis self-monitoring threshold range, it is determined that the pitch axis sensor has experienced a self-monitoring transient fault, and the pitch axis transient self-monitoring result theta_P_VF is set to fault. S52. Determine whether the pitch axis sensor cosine voltage signal Pitch_Cos exceeds the pitch axis self-monitoring threshold range. If it exceeds the pitch axis self-monitoring threshold range, determine that the pitch axis sensor has experienced a self-monitoring transient fault, and set the pitch axis transient self-monitoring result theta_P_VF to fault. S53. Determine the combination of the sinusoidal voltage signal Pitch_Sin and the cosine voltage signal Pitch_Cos from the pitch axis sensor. Whether the pitch axis combination threshold range is exceeded, the upper threshold value of the pitch axis combination threshold range is... 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, and the pitch axis transient self-monitoring result theta_P_VF is set to fault. Step 6: Through the inter-channel data link, the two redundant channels of the control system exchange control axis data with each other; Step 7: During the data link transmission between channels, the control angles of other channels and the transient self-monitoring results of the control axes of other channels used for voting processing are obtained through CCDL monitoring and data processing algorithms. Step 8: Based on the control axis angle of this channel, the control axis angle of other channels, the transient self-monitoring results of the control axis of this channel and the transient self-monitoring results of the control axes of other channels, perform voting processing on the command signals of the two channels to obtain the control axis control command voting value and the transient control axis control command flag bit; Step 9: Limit the voting value of the control axis control command to obtain the limited control axis control command voting value; Step 10: Calculate the control axis control command and control axis control command flag based on the transient control axis control command flag and the control axis control command voting value after the amplitude limit; Step 11: Perform secondary amplitude limiting on the processed control axis control commands to obtain secondary amplitude-limited control axis control commands; Step 12: Perform neutral bit processing on the control axis control commands after secondary limiting to obtain control axis control commands to be sent to the CANFD / CAN bus.

2. The method according to claim 1, characterized in that: The control axes include: pitch axis, roll axis, yaw axis and vertical axis. The control and processing of the control commands for the pitch axis, roll axis and yaw axis are the same.

3. The method according to claim 1, characterized in that: Control and processing of manipulation commands for the vertical axis: Step 2: Acquire the output voltage signal Vert_Out from the vertical axis command sensor; In step four, the vertical axis angle θ is calculated based on the output voltage signal Vert_Out of the vertical axis command sensor and the power supply voltage 4V_PS. V ; In step five, based on the output voltage signal Vert_Out of the vertical axis command sensor and the power supply voltage 4V_PS, the transient self-monitoring result theta_V_VF of the vertical axis is obtained through the vertical axis sensor self-monitoring algorithm.

4. The method according to claim 3, characterized in that: In step four, the vertical axis angle θ V The calculation formula is as follows: Where θ V The unit is °, while the units for Vert_Out and 4V_PS are V.

5. The method according to claim 4, characterized in that: In step five, the self-monitoring algorithm process for the vertical axis sensor is as follows: Determine whether the vertical axis sensor output voltage signal Vert_Out exceeds the vertical axis self-monitoring threshold range. The upper threshold of the vertical axis self-monitoring threshold range is Vert_Thup, and the lower threshold is Ver_Thdown. If it exceeds the vertical axis self-monitoring threshold range, it is determined that the vertical axis sensor has experienced a transient self-monitoring fault, and the vertical axis transient self-monitoring result theta_V_VF is set to fault.

6. The method according to claim 1, characterized in that: In step seven, the CCDL monitoring and data processing algorithm process is as follows: S71, the interval T after this channel sends data via CCDL. J Next, the transient fault status of CCDL is detected; S72. If a CCDL transient fault occurs and lasts for 5 frames, it is considered a permanent CCDL fault. The control axis angles of other channels and the control axis transient self-monitoring results of other channels obtained by this channel are all set to the fault-safe value. S73. If a CCDL transient fault occurs and does not last for 5 frames, the control axis angles of other channels and the control axis transient self-monitoring results of other channels acquired by this channel will all be set to the normal values ​​of the previous frame.

7. The method according to claim 6, characterized in that: In step eight, the voting process is as follows: If the control axis angle of this channel is θ P Other channel manipulation axis angles θ P1 The absolute value of the difference is less than or equal to the control axis command threshold θ P_th Furthermore, if the transient self-monitoring result theta_P_VF of this channel and the transient self-monitoring result theta_P1_VF of other channels are both valid, then the voting value θ of the control axis control command is valid. P_J Set to (θ) P +θ P1 If the transient control axis control command flag PthVD is set to valid (2), then the control axis control command voting value θ is set to valid. P_J Set to the fault-safe value θ P_J_S The transient control axis control command flag PthVD is set to invalid.

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