A flight control actuation control system and method with force limiting function.

Abstract

This disclosure relates, in one aspect, to a flight control actuation control system with force limiting functionality, comprising a main flight control law calculation module for determining actuator control commands based on a flight control law algorithm; a force limiting function module for determining force limiting compensation commands based on the pressure difference between the two chambers of each actuator and a target limiting force; and a force conflict balancing module for determining force conflict balancing compensation commands for balancing the differences in output forces of each actuator based on the pressure signals of each actuator. The flight control actuation control system is implemented in a flight control computer (FCM) to adjust the actuator control commands based on the force limiting compensation commands before the actuator control commands determined by the main flight control law calculation module are output to the actuator control electronics (ACE) to achieve global force balance. Other aspects of this disclosure include a flight control actuation control method with force limiting functionality.

Description

Technical Field

[0001] This application generally relates to fly-by-wire flight control systems, and more particularly to a flight control actuation control system and method with force limiting function. Background Technology

[0002] Currently, new-generation large wide-body aircraft have begun to apply high-pressure power fly-by-wire flight control systems. These systems typically employ electro-hydraulic servo actuators (EHSA) while also selecting electromechanical actuators (EMA), electro-hydraulic actuators (EHA), and electro-backup hydraulic actuators (EBHA) as backup actuators, achieving significant weight reduction and fuel efficiency from an overall aircraft perspective. However, the high-pressure system also brings the following problems.

[0003] On the one hand, the design of EHA (Electrically Driven Actuator) actuators can lead to localized forces exceeding the controlled load, posing a risk of structural damage. On the other hand, hydraulic actuator designs are constrained by both maximum output force and actuator stiffness. Actuator stiffness results in a larger actuator cylinder, and under high pressure (e.g., 5000 psi), there is also a risk that the output force will exceed the controlled load, causing structural damage. Furthermore, traditional load limiting valves are typically designed to protect against increased output force during hydraulic system malfunctions. However, they have poor dynamic response to excessive output forces that may occur frequently during normal operation, and frequent opening can cause larger pressure pulses, leading to a high failure rate.

[0004] Therefore, there is a need in this field for improved technical solutions to address at least one or more of the aforementioned technical problems. Summary of the Invention

[0005] One aspect of this disclosure relates to a flight control actuation control system with force limiting function, comprising a main flight control law calculation module for determining actuator control commands for each actuator according to a flight control law algorithm; a force limiting function module for determining force limiting compensation commands for each actuator based on the pressure difference between the two chambers of each actuator and a target limiting force; and a force conflict balancing module for determining force conflict balancing compensation commands for balancing the difference in output forces of each actuator based on the pressure signals of each actuator. The flight control actuation control system, implemented in a flight control computer (FCM), adjusts the actuator control commands based on the force limiting compensation commands for each actuator determined by the force limiting function module before the actuator control commands determined by the main flight control law calculation module are output to the actuator control electronics (ACE), thereby achieving global force balance.

[0006] According to some exemplary embodiments, the force limiting function module determines the force limiting compensation command based on the difference between the pressure difference between the two chambers of each actuator and the target limiting force. This includes the force limiting function module determining the actuator displacement increment as the force limiting compensation command by performing a proportional integral on the difference between the pressure difference between the two chambers of each actuator and the target limiting force.

[0007] According to some exemplary embodiments, the flight control actuation control system adjusts the actuator control command based on the force limitation compensation command determined by the force limitation function module, including superimposing the actuator displacement increment onto the actuator control command.

[0008] According to some exemplary embodiments, the force limiting function module's force limiting compensation is enabled only when the pressure difference between the two chambers of each actuator is greater than the target limiting force; and if the force limiting compensation is enabled, the force limiting function module applies a first gain to the difference between the pressure difference between the two chambers of each actuator and the target limiting force to determine the force limiting compensation command; or if the force limiting compensation is not enabled, the force limiting function module fades the integral to zero through a second gain.

[0009] According to some exemplary embodiments, when the force limiting compensation is enabled, the force limiting compensation command is determined based on the integral of the difference between the pressure differences between the two chambers of multiple actuators on the same control surface.

[0010] Another aspect of this disclosure relates to a flight control actuation control method with force limiting function, comprising receiving actuator pressure signals of each actuator from an actuator control electronics (ACE); determining actuator control commands for each actuator according to a flight control law algorithm; determining a two-chamber pressure difference of each actuator based on the actuator pressure signals of each actuator; determining a force limiting compensation command for each actuator based on the two-chamber pressure difference of each actuator and a target limiting force; and determining a force dispute equalization compensation command for balancing the difference in output forces of each actuator based on the pressure signals of each actuator, wherein the actuator control commands are adjusted based on the force dispute equalization compensation command and the force limiting compensation command before the actuator control commands are output to the actuator control electronics (ACE).

[0011] According to some exemplary embodiments, determining a force limitation compensation command for each actuator based on the pressure difference between the two chambers of each actuator and a target limiting force includes determining an actuator displacement increment as the force limitation compensation command by proportionally integrating the difference between the pressure difference between the two chambers of each actuator and the target limiting force, and wherein adjusting the actuator control command based on the force limitation compensation command includes superimposing the actuator displacement increment onto the actuator control command.

[0012] According to some exemplary embodiments, force limiting compensation is enabled only when the pressure difference between the two chambers of each actuator is greater than the target limiting force; and if the force limiting compensation is enabled, a first gain is applied to the difference between the pressure difference between the two chambers of each actuator and the target limiting force to determine the force limiting compensation command.

[0013] According to some exemplary embodiments, when the force limiting compensation of the flight control actuation control method is enabled, the force limiting compensation command is determined based on the integral of the difference between the pressure differences between the two chambers of multiple actuators on the same control surface.

[0014] According to some exemplary embodiments, the flight control actuation control method further includes, if the force limiting compensation is not enabled, fading the integral to zero through a second gain.

[0015] Other aspects of this disclosure include corresponding apparatus, devices, and computer-readable media. Attached Figure Description

[0016] Figure 1 A partial schematic diagram of an aircraft fly-by-wire flight control system architecture according to an exemplary aspect of this disclosure is shown.

[0017] Figure 2 A schematic diagram of a rudder loop control system scheme with force limiter function according to an exemplary aspect of this disclosure is shown.

[0018] Figure 3 A schematic diagram of an FCM force limiting functional architecture according to an exemplary aspect of this disclosure is shown.

[0019] Figure 4 A schematic diagram illustrating an implementation of a force dispute equalizer according to an exemplary aspect of this disclosure is shown.

[0020] Figure 5 A flowchart of a force limiting method for a flight control actuation control loop / system according to an exemplary aspect of this disclosure is shown. Detailed Implementation

[0021] Depending on several factors, a possible force-limiting function is a mechanical load-limiting valve. The two chambers of the actuator are connected by a pair of check valves. When the pressure exceeds the check valve's opening pressure, the two chambers of the actuator open, unloading the load. Load-limiting valves are currently widely used in the design of low-pressure hydraulic actuators. However, under high-pressure conditions, load-limiting valves tend to open frequently, resulting in a high failure rate, and their dynamic response to force limitation is poor.

[0022] According to some aspects of this disclosure, excess force generated by the actuator can be controlled by designing an active flight control system with force limiting control function. The actuator is constrained by output force requirements and actuator stiffness. High stiffness requirements for the actuator cylinder will lead to a direct increase in the size of the actuator cylinder, resulting in the output capacity exceeding the maximum load that the structure can withstand. Traditional load limiting valves not only increase the weight of the actuator, but also have a high failure rate due to frequent opening under high pressure. Therefore, the technical solution of this disclosure adds a force limiting module to the flight control system software to actively limit the actuator output force.

[0023] Figure 1 A partial schematic diagram of an aircraft fly-by-wire flight control system architecture 100 according to an exemplary aspect of this disclosure is shown. Figure 1 In an exemplary aspect, the aircraft fly-by-wire flight control system architecture 100 may include a cockpit control mechanism (SVO) 102, a flight control computer (FCM) 104, an actuator control electronics system (ACE) 108, a remote electronic control unit (REU), actuators 110, and control surfaces 112. Figure 1 According to an exemplary embodiment, the flight control actuation control system with force limiting function according to this disclosure may be implemented by a flight control computer (FCM) 104. According to other alternative exemplary embodiments, the flight control actuation control system with force limiting function according to this disclosure may include or be included in the flight control computer (FCM) 104.

[0024] According to an exemplary embodiment, the cockpit control mechanism (SVO) 102 is operable by the pilot to provide control signals / commands for various parts of the aircraft. For example, according to an exemplary embodiment, the cockpit control mechanism (SVO) 102 may include, but is not limited to, one or more of the following units: a control stick for providing stick position signals; pedals for providing pedal and trim position signals; a speed brake handle for providing speed brake handle position signals; a trim switch for providing pitch and yaw trim commands; a TAC switch for providing TAC signals; a direct mode switch for providing direct mode commands; a mode control panel for providing mode control signals; and flap and slat handles for providing flap and slat control commands, etc.

[0025] According to an exemplary embodiment, control signals / commands for corresponding parts of the aircraft provided by the various units in the cockpit control mechanism (SVO) 102 can be provided to the actuator control electronics (ACE) 108. The actuator control electronics (ACE) 108 provides basic control capabilities. Simultaneously, the actuator control electronics (ACE) 108 enables data transfer between the cockpit control mechanism (SVO) 102 and the flight control computer (FCM) 104.

[0026] According to an exemplary embodiment, the Flight Control Computer (FCM) 104 may implement, include, or be included in a flight control actuation control system with force limiting function according to the present disclosure for controlling the ACE. According to an exemplary embodiment, the Flight Control Computer (FCM) 104 may determine control commands for the Remote Electronic Control Unit (REU) / Actuator 110 based on control signals / instructions for corresponding parts of the aircraft provided by various units in the Cockpit Control System (SVO) 102 transmitted by the Actuator Control Electronic System (ACE) 108, and transmit these control commands to the Actuator Control Electronic System (ACE) 108.

[0027] According to an exemplary embodiment, the Actuator Control Electronic System (ACE) 108 can control the Remote Electronic Control Unit (REU) / Actuator 110 based on control commands provided by the Flight Control Computer (FCM) 104. According to an exemplary embodiment, the Remote Electronic Control Unit (REU) / Actuator 110 is controlled by the Actuator Control Electronic System (ACE) 108 and accordingly controls the Control Surfaces 112 to maneuver the aircraft.

[0028] According to an exemplary embodiment of the present disclosure, the flight control computer (FCM) 104 may include at least one or more of the following: a main flight control law calculation module 105, a force limiting function module 106, and / or a force conflict balancing module 107.

[0029] According to an exemplary embodiment, the main flight control law calculation module 105 can be used to determine actuator control commands for each actuator 110 based on the flight control law algorithm.

[0030] According to an exemplary embodiment, the force limiting function module 106 can be used to determine a force limiting compensation command for each actuator based on the pressure difference between the two chambers of each actuator and the target limiting force; and

[0031] According to an exemplary embodiment, the force dispute balancing module 107 can be used to determine a force dispute balancing compensation command for balancing the difference in output force of each actuator based on the pressure signal of each actuator.

[0032] By implementing the flight control actuation control system according to this disclosure in, or including, or being included in the flight control computer (FCM) 104, the actuator control commands can be adjusted based on the force limitation compensation commands and / or force conflict balancing compensation commands for each actuator 110 determined by the force limitation function module 106 before the actuator control commands determined by the main flight control law calculation module 105 are output to the actuator control electronics (ACE) 108, so as to achieve global force balance.

[0033] This is used to actively control the output (e.g., output force) of the remote electronic control unit (REU) / actuator 110 by adjusting the position commands of the REU / actuator 110. The force limiting function module 106 according to this disclosure can implement active force limiting functionality through non-mechanical hardware, achieving force limiting at the system level, thus solving the application difficulties of fly-by-wire flight control. Compared to traditional load limiting valves, it can adjust the actuator output force more quickly when the actuator speed is high, and reducing the number of load limiting valves can reduce weight and hidden sources of failure.

[0034] Figure 2 A schematic diagram of a rudder loop control system scheme 200 with force limiter function according to an exemplary aspect of this disclosure is shown. Figure 2 As shown, the rudder loop control system scheme 200 with force limiter function according to this disclosure may include the coordinated operation of a flight control computer (FCM) 204, an actuator control electronics (ACE) 211, and a remote electronic control unit (REU) / actuator 213.

[0035] According to an exemplary embodiment, the flight control computer (FCM) 204 may include a main flight control law calculation module 201 and a force limiting function module 203.

[0036] According to an exemplary embodiment, the force limiting function module 203 is used to receive actuator pressure signals 209, 210 from the actuator control electronics (ACE) 211 and determine the two-chamber pressure difference of each individual actuator based on the actuator pressure signals 209, 210. Based on the two-chamber pressure difference of each actuator, it determines and sends an output force limiting compensation command 205 to the main flight control law calculation module 201 to limit the output force of the individual actuator. According to an exemplary embodiment, the force limiting compensation command 205 may include adjusting the command gain. According to an exemplary embodiment, adjusting the command gain may include a displacement increment. Although this exemplary embodiment describes the force limiting function module 203 determining the two-chamber pressure difference of each actuator based on the actuator pressure signals 209, 210 received from the actuator control electronics (ACE) 211, in other exemplary embodiments, the actuator control electronics (ACE) 211 may also determine the two-chamber pressure difference of each actuator and directly provide the actuator two-chamber pressure difference associated with the individual actuator to the force limiting function module 203.

[0037] According to at least some further embodiments, the Flight Control Computer (FCM) 204 may also include a force conflict balancing module 202. According to an exemplary embodiment, the force conflict balancing module 202 is configured to receive actuator pressure signals 209, 210 from the Actuator Control Electronics (ACE) 211 for each actuator and, based on these actuator pressure signals 209, 210, determine and output to the main flight control law calculation module 201 a force conflict balancing compensation command 206 for balancing the differences in output forces of the various actuators. According to an exemplary embodiment, the force conflict balancing compensation command 206 may include adjusting command gain. According to an exemplary embodiment, adjusting command gain may include displacement increment.

[0038] According to these exemplary embodiments, the main flight control law calculation module 201 may receive a force limitation compensation command 205 from the force limitation function module 203 and a force conflict balancing compensation command 206 for actuator control from the force conflict balancing module 202. The main flight control law calculation module 201 may determine and output actuator control commands 207 and 208 to the actuator control electronics (ACE) 211 based on the received force limitation compensation command 205 and / or actuator control force conflict balancing compensation command 206. According to some exemplary embodiments, the main flight control law calculation module 201 determines the actuator control command 207 based on the received force limitation compensation command 205 and / or actuator control force conflict balancing compensation command 206. 208 may include superimposing the received force limitation compensation command 205 and / or actuator control force conflict balancing compensation command 206 onto the position command calculated by the main flight control law calculation module 201 as a command input to the backend remote electronic control unit (REU) / actuator 213.

[0039] Although the force conflict balancing module 202 and the force limiting function module 203 are described as separate modules in the above exemplary embodiments, this is merely for clarity. According to other exemplary embodiments, the force conflict balancing module 202 and the force limiting function module 203 may also be combined into a single module, and its functionality may be implemented by, for example, a general-purpose or special-purpose processor, an ASIC, etc.

[0040] According to an exemplary embodiment, the FCM superimposes the position command calculated by the main flight control law calculation module 201 with the force limitation compensation command 205 and the force conflict balance compensation command 206 to calculate the actuator control commands 207 and 208, and outputs the actuator control commands 207 and 208 to the actuator control electronics system (ACE) 211. This can be implemented, for example, through software.

[0041] According to an exemplary embodiment, the actuator control electronics (ACE) 211 can receive actuator pressure signals 216 and 217 corresponding to the two actuator chambers 214 and 215 respectively from the remote electronic control unit (REU) 213 and transmit them to the flight control computer (FCM) 204 (e.g., to the force conflict balancing module 202 and / or the force limiting function module 203).

[0042] According to an exemplary embodiment, the actuator control electronic system (ACE) 211 may receive actuator control commands 207, 208 from the flight control computer (FCM) 204 (e.g., from the master flight control law calculation module 201) and provide actuator control position command signals 212 to the remote electronic control unit (REU) / actuator 213.

[0043] According to an exemplary embodiment, the remote electronic control unit (REU) / actuator 213 can acquire actuator pressure signals 216 and 217 of each of the two actuator chambers 214 and 215, respectively, and transmit the actuator pressure signals 216 and 217 corresponding to the actuator chambers 214 and 215 to the actuator control electronics (ACE) 211, and receive actuator control position command signal 212 from the actuator control electronics (ACE) 211, so as to output displacement and force to the two actuator chambers 214 and 215 based on the actuator control position command signal 212.

[0044] According to an exemplary embodiment, when the steering loop control system with force limiter function according to the present disclosure is in operation, each remote electronic control unit (REU) / actuator 213 can acquire the actuator pressure signals 216, 217 of each of the two actuator chambers 214, 215, and transmit the actuator pressure signals 216, 217 corresponding to the actuator chambers 214 and 215, respectively, to the actuator control electronics (ACE) 211.

[0045] According to an exemplary embodiment, the actuator control electronics (ACE) 211 may receive actuator pressure signals 216, 217 corresponding to the two chambers 214, 215 of each actuator from each remote electronic control unit (REU) / actuator 213, and transmit the actuator pressure signals 216, 217 to the flight control computer (FCM) 204 (e.g., to the force conflict equalization module 202 and / or the force limiting function module 203).

[0046] According to an exemplary embodiment, the actuator control electronic system (ACE) 211 may receive actuator control commands 207, 208 from the flight control computer (FCM) 204 (e.g., from the master flight control law calculation module 201) and provide actuator control position command signals 212 to the remote electronic control unit (REU) / actuator 213.

[0047] According to an exemplary embodiment, the remote electronic control unit (REU) / actuator 213 can receive an actuator control position command signal 212 from the actuator control electronics system (ACE) 211 to output force to the actuator chambers 214 and 215 based on the actuator control position command signal 212.

[0048] The advantages of placing the force limiting function in the FCM compared to placing it in the remote electronic control unit (REU) include, but are not limited to, the ability to achieve global force balancing. Furthermore, the solution disclosed herein does not directly increase the size of the actuator, nor does it result in the output capacity exceeding the maximum load the structure can withstand, does not increase the actuator weight, and does not increase the failure rate under high-pressure conditions.

[0049] Figure 3 A schematic diagram of an FCM force limiting functional architecture 300 according to an exemplary aspect of this disclosure is shown. Figure 3 As shown, the FCM force limiting functional architecture 300 according to an exemplary embodiment of this disclosure may be, include, implement, or be included in the above combinations. Figure 2 The flight control computer (FCM) 204 is described.

[0050] According to an exemplary embodiment, Figure 3 The FCM force limiting function architecture 300 may include a main flight control law calculation module 301, which is used to output actuator control commands for each actuator according to the flight control law algorithm.

[0051] According to an exemplary embodiment, the remote electronic control unit (REU) / actuator (not shown) transmits the actuator pressure signals collected from the two chambers of the actuator to the actuator control electronics system (ACE) (not shown), and the actuator control electronics system (ACE) transmits the actuator pressure signals 309, 310 to the flight control computer (FCM).

[0052] Figure 3 The FCM force limiting function architecture 300 may also include a force limiting function module 303. Figure 3The force limiting function module 303 can calculate the difference between the actuator pressure signal and the target limiting force, and determine the actuator displacement adjustment command based on this difference. According to some exemplary embodiments, determining the actuator displacement adjustment command based on the difference between the actuator pressure signal and the target limiting force may include, for example, calculating the actuator displacement adjustment command by proportional-integral adjustment of the difference, wherein the actuator displacement adjustment command includes an actuator displacement increment. According to other exemplary embodiments, determining the actuator displacement adjustment command based on the difference between the actuator pressure signal and the target limiting force may include, for example, determining the actuator displacement adjustment command by a proportional-integral adjustment module. According to exemplary embodiments, by calculating the difference between the actuator pressure signal and the target limiting force, and determining the actuator displacement adjustment command based on this difference, the effect of actively limiting the actuator output force to not exceed a target value can be achieved.

[0053] According to an exemplary embodiment, the actuator displacement adjustment command may include the actuator displacement increment as a force limiting compensation command 305, so as to actively limit the actuator output force from not exceeding the target value.

[0054] The main flight control law calculation module 301 calculates actuator control commands for each actuator based on the flight control law algorithm, and then adjusts them based on actuator displacement adjustment commands from the force limiting function module 303. According to an exemplary embodiment, the actuator displacement adjustment command may include an actuator displacement increment. For example, according to some exemplary embodiments, the actuator control commands for each actuator calculated by the main flight control law calculation module 301 based on the flight control law algorithm may be superimposed with the actuator displacement increment 305 calculated by the force limiting function module 303 as a force limiting compensation command. Figure 3 In the illustrated embodiment, this superposition can be implemented, for example, by an adder. According to some further exemplary embodiments, the actuator displacement increment calculated by the force limiting function module 303 may be weighted and / or limited, or otherwise linearly or nonlinearly processed, before being superimposed. According to some other exemplary embodiments, the actuator displacement increment calculated by the force limiting function module 303 can be used as a force limiting compensation command 305 to adjust the actuator displacement adjustment command based on the force limiting function module 303, for example, by means of a lookup table or function.

[0055] According to at least some further embodiments, Figure 3The FCM force limiting function architecture 300 may also include a force conflict balancing module 302 for determining a force conflict balancing compensation command 306 based on actuator pressure signals 309, 310 to reduce or minimize the difference in output forces among multiple actuators. According to an exemplary embodiment, the force conflict balancing compensation command 306 may include actuator displacement increments. The actuator control command for each actuator calculated by the main flight control law calculation module 301 based on the flight control law algorithm is then superimposed with the actuator displacement increments calculated by the force conflict balancing module 302.

[0056] According to an exemplary embodiment, an actuator control command 307, 308, which superimposed at least one of the actuator displacement increment 305 calculated by the force limiting function module 303 as a force limiting compensation command and / or the force conflict balancing compensation command 306 calculated by the force conflict balancing module 302, or any combination thereof, is then output (e.g., to the corresponding remote electronic control unit (REU) / actuator (not shown)).

[0057] Figure 4 A schematic diagram illustrating the implementation of a force limiting function module 400 according to an exemplary aspect of this disclosure is shown. Figure 4 The force limiting function module 400 of the exemplary aspect may be, include, implement, or be included in the above combination. Figure 2 The described force limiting function module 203 and / or combination Figure 3 The force limiting function module 303 is described.

[0058] According to an exemplary embodiment, Figure 4 The force limiting function module 400 implements the force limiting compensation function as follows. Block 414 determines whether the pressure difference (DP) value 409 between the two chambers of the actuator is greater than the target limiting force. If the comparison result is that the pressure difference (DP) value 409 between the two chambers of the actuator is greater than the target limiting force 410, then the capacity limiting function is enabled; otherwise, the capacity limiting function is not enabled.

[0059] According to an exemplary embodiment, if the force limiting function is enabled 422, switch 412 switches to gain 1 406. Otherwise, if the force limiting function is disabled, switch 412 switches to gain 2 408.

[0060] According to an exemplary embodiment, when the force limiting function is enabled 422 and the switch 412 is switched to gain 1 406, the force limiting compensation command 420 is calculated by subtracting the actuator output force and the target limiting force in block 402, and then performing command gain calculation on the difference signal through gain 1 406 and integrator 416.

[0061] According to an exemplary embodiment, the function of block 402 can be implemented by using a comparator, wherein the target limiting force 410 and the pressure difference 409 between the two chambers of the actuator are respectively input to the positive and negative input terminals of the comparator of block 402, and the comparator output comparison result of block 402 is the difference between the actuator output force and the target limiting force.

[0062] According to at least some optional exemplary embodiments, in Figure 4 A block 404 may also be included between blocks 402 and 406. Block 404 provides a dead zone to ensure the validity of the pressure sensor signal. The dead zone, also known as the inactive zone, refers to the range of input signals in the transfer function of the control system where the corresponding output is zero. It is used to avoid oscillations caused by repeated enable-disable cycles, thereby improving performance.

[0063] According to at least some optional exemplary embodiments, after the instruction gain is calculated by the integrator 416, the force limiting compensation instruction 420 may also be limited by the saturation function 418.

[0064] According to some exemplary embodiments, if it is determined in block 414 that the force limiting function is not enabled, the force limiter fades the integrator to 0 by gain 2.

[0065] Figure 4 The force limiting function module 400 calculates a force limiting compensation command including displacement increment, which can be added alone or together with the displacement increment calculated by the force conflict balancing module (not shown) to the position command calculated by the control law as the command input of the back-end actuation system.

[0066] Figure 5 A flowchart of a force limiting method 500 for a flight control actuation control loop according to an exemplary aspect of this disclosure is shown. According to an exemplary embodiment, Figure 5 The force limiting method 500 of the flight control actuation control loop may include block 502, receiving actuator pressure signals for each actuator from the actuator control electronics (ACE).

[0067] According to an exemplary embodiment, a remote electronic control unit (REU) / actuator can acquire actuator pressure signals for each of the two actuator chambers and transmit the respective actuator pressure signals to the actuator control electronics (ACE). The actuator control electronics (ACE) can receive actuator pressure signals corresponding to each of the two actuator chambers from each REU / actuator and transmit the actuator pressure signals to the flight control computer (FCM), for example, to the force limiting function module and the force conflict equalization module, respectively. Although the exemplary embodiment describes the force limiting function module determining the pressure difference between the two actuator chambers based on the actuator pressure signals received from the actuator control electronics (ACE), in other exemplary embodiments, the actuator control electronics (ACE) may also determine the pressure difference between the two actuator chambers and directly provide the pressure difference between the two actuator chambers to the force limiting function module.

[0068] According to an exemplary embodiment, Figure 5 The force limiting method 500 for the flight control actuator control loop may include block 504, which determines actuator control commands for each actuator based on a flight control law algorithm. The actuator control commands for each actuator are output to the actuator control electronics (ACE). The actuator control electronics (ACE) may receive actuator control commands from the flight control computer (FCM) (e.g., from the main flight control law calculation module) and provide actuator control position command signals to the remote electronic control unit (REU) / actuator.

[0069] According to an exemplary embodiment, Figure 5 The force limiting method 500 of the flight control actuator control loop may include, in block 506, determining a force dispute equalization compensation command based on the pressure signals of each actuator to equalize the difference in output force of each actuator.

[0070] According to an exemplary embodiment, Figure 5 The force limiting method 500 of the flight control actuator control loop may include block 508, which determines the two-chamber pressure difference of each actuator based on the actuator pressure signal of each actuator, and determines the force limiting compensation command for each actuator based on the two-chamber pressure difference of each actuator and the target limiting force.

[0071] According to an exemplary embodiment, Figure 5The force limiting method 500 for the flight control actuation control loop may include, in block 510, adjusting the actuator control command based on the force conflict balancing compensation command and the force limiting compensation command before the actuator control command is output to the actuator control electronics (ACE). Subsequently, the adjusted actuator control command may be output to the actuator control electronics (ACE). According to an exemplary embodiment, the actuator control electronics (ACE) may receive actuator control commands from the flight control computer (FCM) (e.g., from the main flight control law calculation module) and provide actuator control position command signals to the remote electronic control unit (REU) / actuator. According to an exemplary embodiment, the remote electronic control unit (REU) / actuator may receive actuator control position command signals from the actuator control electronics (ACE) to output forces to both chambers of the actuator based on the actuator control position command signals.

[0072] This disclosed solution achieves active force limiting functionality through non-mechanical hardware. Compared to traditional load limiting valves, it allows for faster adjustment of actuator output force at high actuator speeds, while reducing the number of load limiting valves reduces weight and potential sources of hidden faults. This disclosed solution addresses the application challenges of fly-by-wire flight control, implementing force limiting functionality at the system level. It has broad applicability and its advantages are particularly significant in the design of main power limiters for high-pressure systems and high-power fly-by-wire actuators.

[0073] The scheme disclosed herein can better balance and limit the force conflict of the control surfaces and optimize the control surface load level globally by using the dwell force limiting function module and the force conflict balancing module in the flight control computer (FCM).

[0074] On the other hand, since the sensors required by the force conflict monitor are all already present in the flight control system, the solution disclosed herein does not require modification of the equipment. The force limiting algorithm design only needs to be completed in the flight control computer (FCM). The flight control system design scheme with active force limiting function disclosed herein has the characteristics of easy implementation, high dynamic adjustment, high safety, and strong adaptability.

[0075] The above descriptions are merely exemplary embodiments of the present invention. However, the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

[0076] The various illustrative logic blocks, modules, and circuits described in this disclosure can be implemented or executed using a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA) or other programmable logic device (PLD), discrete gate or transistor logic, discrete hardware components, or any combination thereof, designed to perform the functions described herein. The general-purpose processor may be a microprocessor, but in alternatives, the processor may be any commercially available processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors cooperating with a DSP core, or any other such configuration.

[0077] The steps of the methods or algorithms described in this disclosure can be implemented directly in hardware, in a software module executed by a processor, or in a combination of both. The software module can reside in any form of storage medium known in the art. Some examples of usable storage media include random access memory (RAM), read-only memory (ROM), flash memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs, and so on. The software module can include a single instruction or many instructions, and can be distributed across several different code segments, across different programs, and across multiple storage media. The storage medium can be coupled to the processor so that the processor can read and write information from / to the storage medium. Alternatively, the storage medium can be integrated into the processor.

[0078] The methods disclosed herein include one or more steps or actions for achieving the described methods. These method steps and / or actions may be interchanged with each other without departing from the scope of the claims. In other words, unless a specific order of steps or actions is specified, the order and / or use of specific steps and / or actions may be modified without departing from the scope of the claims.

[0079] A processor can execute software stored on a machine-readable medium. The processor may be implemented using one or more general-purpose and / or special-purpose processors. Examples include microprocessors, microcontrollers, DSP processors, and other circuit systems capable of executing software. Software should be interpreted broadly as instructions, data, or any combination thereof, whether referred to as software, firmware, middleware, microcode, hardware description language, or otherwise. As examples, a machine-readable medium may include RAM (random access memory), flash memory, ROM (read-only memory), PROM (programmable read-only memory), EPROM (erasable programmable read-only memory), EEPROM (electrically erasable programmable read-only memory), registers, disks, optical disks, hard drives, or any other suitable storage medium, or any combination thereof. The machine-readable medium may be implemented in a computer program product. This computer program product may include packaging materials.

[0080] In hardware implementations, machine-readable media can be a separate part of the processing system from the processor. However, as those skilled in the art will readily appreciate, machine-readable media or any portion thereof can be external to the processing system. As examples, machine-readable media may include transmission lines, data-modulated carrier waves, and / or computer products separate from wireless nodes, all accessible to the processor via a bus interface. Alternatively or additionally, machine-readable media or any portion thereof may be integrated into the processor, such as caches and / or general-purpose register files.

[0081] The processing system can be configured as a general-purpose processing system having one or more microprocessors providing processor functionality, and external memory providing at least a portion of machine-readable medium, all linked to other supporting circuitry via an external bus architecture. Alternatively, the processing system can be implemented using an ASIC (Application-Specific Integrated Circuit) with a processor, bus interface, user interface (in the case of an access terminal), supporting circuitry, and at least a portion of machine-readable medium integrated on a single chip, or using one or more FPGAs (Field-Programmable Gate Arrays), PLDs (Programmable Logic Devices), controllers, state machines, gated logic, discrete hardware components, or any other suitable circuitry, or any combination of circuitry capable of performing the various functionalities described throughout this disclosure. Depending on the specific application and the overall design constraints imposed on the system, those skilled in the art will recognize how best to implement the functionality described regarding the processing system.

[0082] Machine-readable media may include several software modules. These software modules include instructions that, when executed by a device such as a processor, cause the processing system to perform various functions. These software modules may include transfer modules and receive modules. Each software module may reside in a single storage device or be distributed across multiple storage devices. As an example, when a trigger event occurs, a software module may be loaded from a hard drive into RAM. During the execution of a software module, the processor may load some instructions into a cache to improve access speed. One or more cache lines may subsequently be loaded into a general-purpose register file for processor execution. In the context of the functionality of the software module described below, it will be understood that such functionality is implemented by the processor when the processor executes the instructions from the software module.

[0083] If implemented in software, the functions can be stored or transmitted as one or more instructions or codes on or through a computer-readable medium. Computer-readable media includes both computer storage media and communication media, encompassing any medium that facilitates the transfer of a computer program from one location to another. Storage media can be any available medium accessible to a computer. By way of example and not limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and is accessible to a computer. Any connection is also legitimately referred to as computer-readable media. For example, if the software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technology (such as infrared (IR), radio, and microwave), then that coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technology (such as infrared, radio, and microwave) is included in the definition of medium. As used herein, disk and disc include compact discs (CDs), laser discs, optical discs, digital multi-purpose discs (DVDs), floppy disks, and Blu-ray® discs, where disks typically reproduce data magnetically, while discs optically reproduce data using lasers. Therefore, in some aspects, computer-readable media may include non-transient computer-readable media (e.g., tangible media). Additionally, in other aspects, computer-readable media may include transient computer-readable media (e.g., signals). Combinations of the above should also be included within the scope of computer-readable media.

[0084] Therefore, certain aspects may include computer program products for performing the operations set forth herein. For example, such computer program products may include computer-readable media on which instructions are stored (and / or encoded) that can be executed by one or more processors to perform the operations described herein. In some aspects, computer program products may include packaging materials.

[0085] It will be understood that the claims are not limited to the precise configurations and components described above. Various modifications, substitutions, and variations can be made to the layout, operation, and details of the methods and apparatus described above without departing from the scope of the claims.

Claims

1. A flight control actuation control system with force limiting function, comprising: The main flight control law calculation module is used to determine the actuator control commands for each actuator based on the flight control law algorithm. The force limiting function module is used to determine the force limiting compensation command for each actuator based on the pressure difference between the two chambers of each actuator and the target limiting force; as well as The force dispute balancing module is used to determine force dispute balancing compensation commands based on the pressure signals of each actuator to balance the differences in the output forces of each actuator. The flight control actuation control system, implemented in the flight control computer (FCM), adjusts the actuator control commands based on the force limitation compensation commands for each actuator determined by the force limitation function module before the actuator control commands determined by the main flight control law calculation module are output to the actuator control electronics (ACE), thereby achieving global force balance. The force limiting compensation of the force limiting function module is enabled only when the pressure difference between the two chambers of each actuator is greater than the target limiting force.

2. The flight control actuation control system as described in claim 1, wherein, The force limiting function module determines the force limiting compensation command based on the difference between the pressure difference between the two chambers of each actuator and the target limiting force, including: The force limiting function module determines the actuator displacement increment as the force limiting compensation command by proportionally integrating the difference between the pressure difference between the two chambers of each actuator and the target limiting force.

3. The flight control actuation control system as described in claim 2, wherein, The flight control actuation control system adjusts the actuator control commands based on the force limitation compensation commands determined by the force limitation function module, including: The actuator displacement increment is superimposed on the actuator control command.

4. The flight control actuation control system as described in claim 1, wherein, If the force limiting compensation is enabled, the force limiting function module determines the force limiting compensation command by applying a first gain to the difference between the pressure difference between the two chambers of each actuator and the target limiting force; or If the force limiting compensation is not enabled, the force limiting function module will dilute the integral to zero through the second gain.

5. The flight control actuation control system as described in claim 4, wherein, When the force limiting compensation is enabled, the force limiting compensation command is determined based on the integral of the pressure difference between the two chambers of multiple actuators on the same control surface.

6. A flight control actuation method with force limiting function, comprising: Receive actuator pressure signals from each actuator from the actuator control electronics (ACE) system; The actuator control command for each actuator is determined based on the flight control law algorithm; Based on the actuator pressure signal of each actuator, determine the pressure difference between the two chambers of each actuator; Based on the pressure difference between the two chambers of each actuator and the target limiting force, determine the force limiting compensation command for each actuator; and Based on the pressure signals of each actuator, a force dispute balancing compensation command is determined to equalize the difference in output force among the actuators. The actuator control command is adjusted based on the force conflict balancing compensation command and the force limiting compensation command before it is output to the actuator control electronics (ACE), wherein... Force limiting compensation is enabled only when the pressure difference between the two chambers of the actuator is greater than the target limiting force.

7. The flight control actuation control method as described in claim 6, wherein, Based on the pressure difference between the two chambers of the actuator and the target limiting force, the force limiting compensation command for the actuator is determined as follows: The actuator displacement increment is determined by proportional integration of the difference between the pressure difference between the two chambers of each actuator and the target limiting force as the force limiting compensation command, and the actuator control command is adjusted based on the force limiting compensation command by superimposing the actuator displacement increment onto the actuator control command.

8. The flight control actuation control method as described in claim 6, wherein: If the force limiting compensation is enabled, the force limiting compensation command is determined by the difference between the pressure difference between the two chambers of the actuator and the target limiting force, which is applied by the first gain.

9. The flight control actuation control method as described in claim 8, wherein, When the force limiting compensation is enabled, the force limiting compensation command is determined based on the integral of the pressure difference between the two chambers of multiple actuators on the same control surface.

10. The flight control actuation control method as described in claim 8, further comprising: If the force-limiting compensation is not enabled, the integral is diluted to zero by the second gain.

Images