Real-time detection device and method based on man-machine coupling oscillation

Abstract

The invention provides a real-time detection device and method based on man-machine coupling oscillation, and is applied to the technical field of aircraft control. The device comprises a real-time calculation unit, the real-time calculation unit comprises a signal input socket, an adapter plate and a CPU board, and the adapter plate is connected with the signal input socket and the CPU board; wherein the signal input socket collects a plurality of flight control differential signal data within a preset duration; sending the plurality of flight control differential signal data to the CPU board through the adapter board; the CPU board analyzes the plurality of flight control differential signal data to obtain a plurality of aircraft states; according to the normal phase overload and the pitch angle in each aircraft state in the plurality of aircraft states, determining man-machine coupling oscillation PIO characteristics within a preset duration; according to the method, the PIO features in the multiple preset duration are continuously obtained, the alarm information and the PIO feature parameter curve corresponding to the multiple PIO features are determined, the PIO feature parameter curve is used for forming a PIO real-time detection picture, and a pilot can be assisted to rapidly take effective measures when it is determined that PIO is generated so as to guarantee flight safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft control technology, and in particular to a real-time detection device and method based on pilot-induced oscillations. BACKGROUND

[0002] Pilot-Induced Oscillations (PIO) is an unstable dynamic motion of a human-machine closed loop system, which is a complex and unstable coupled oscillation motion caused by the pilot trying to perform precise flight control tasks. Modern high-gain aircraft (such as airplanes) have a wide range of applications of complex flight control systems, which increases the modal number and order of the aircraft system, making the high performance and high gain characteristics of the aircraft more prone to PIO than traditional aircraft. Since PIO often comes suddenly, the pilot cannot take appropriate and effective measures in the first time, so that the aircraft enters an uncontrollable state during flight, which cannot guarantee flight safety, and in severe cases, can lead to disaster accidents. SUMMARY

[0003] The embodiments of the present application provide a real-time detection device and method based on pilot-induced oscillations, which realizes the selection, extraction and online identification of PIO characteristics through real-time analysis of flight control differential signal data by a real-time calculation unit, and can obtain a PIO characteristic calculation result (i.e. alarm information and PIO characteristic parameter curve) with high accuracy, so that the pilot can view the current PIO state of the aircraft in real time while executing the task tracking instruction, and then assist the pilot in determining the occurrence of PIO when performing flight control tasks, so that the pilot can take appropriate and effective measures quickly to ensure flight safety and avoid disaster accidents.

[0004] The embodiments of the present application provide a real-time detection device based on pilot-induced oscillations, which comprises a real-time calculation unit, the real-time calculation unit comprises a signal input socket, an adapter plate and a CPU board, the adapter plate is connected with the signal input socket and the CPU board respectively; wherein the signal input socket is used to collect a plurality of flight control differential signal data within a preset time length; and send the plurality of flight control differential signal data to the CPU board through the adapter plate. The CPU board is used to analyze the plurality of flight control differential signal data to obtain a plurality of aircraft states; determine the pilot-induced oscillation PIO characteristics within the preset time length according to the normal phase overload and the pitch angle in each aircraft state in the plurality of aircraft states; continuously obtain the PIO characteristics within a plurality of preset time lengths, and determine the alarm information and the PIO characteristic parameter curve corresponding to the plurality of PIO characteristics, the PIO characteristic parameter curve is used to form a PIO real-time detection picture.

[0005] According to the embodiment of the present application, a real-time detection device based on human-machine coupling oscillation is provided. The CPU board is configured to determine the PIO feature in the preset time period according to the normal overload and the pitch angle in each of the plurality of aircraft states, and includes the following steps: the CPU board is specifically configured to perform the following operations on the normal overload and the pitch angle in each of the aircraft states: determining the first average of all normal overloads and the second average of all pitch angles; determining the PIO feature in the preset time period according to the normal overload, the first average, the pitch angle and the second average.

[0006] According to the embodiment of the present application, a real-time detection device based on human-machine coupling oscillation is provided. The CPU board is configured to determine the PIO feature in the preset time period according to the normal overload, the first average, the pitch angle and the second average, and includes the following steps: the CPU board is specifically configured to determine the first difference value between the normal overload and the first average, and the second difference value between the pitch angle and the second average; and determine the product result of the first difference value and the second difference value, the square result of the first difference value and the square result of the second difference value; determine the product result between the first sum value of the square result of all first difference values and the second sum value of the square result of all second difference values; and divide the third sum value of all product results by the square root of the product result to obtain the PIO feature in the preset time period.

[0007] According to the embodiment of the present application, a real-time detection device based on human-machine coupling oscillation is provided. The CPU board is configured to determine the PIO feature in the preset time period according to the normal overload, the first average, the pitch angle and the second average, and includes the following steps: the CPU board is specifically configured to determine the first difference value between the normal overload and the first average, and the second difference value between the pitch angle and the second average; and determine the product result of the first difference value and the second difference value, the square result of the first difference value and the square result of the second difference value; determine the product result between the first sum value of the square result of all first difference values and the second sum value of the square result of all second difference values; and divide the third sum value of all product results by the square root of the product result to obtain the PIO feature in the preset time period.

[0008] According to the real-time detection device based on human-machine coupling oscillation provided by the embodiment of the application, the display control unit comprises a front shell and a rear shell, the front shell comprises a peripheral key, the rear shell comprises a comprehensive circuit board and an external interface connector, and the comprehensive circuit board is connected with the peripheral key and the external interface connector respectively; the real-time calculation unit further comprises an external docking socket, and the external docking socket is connected with the external interface connector and the adapter board respectively; the peripheral key is used for generating a current trigger instruction in response to an interactive operation input by a pilot for an aircraft, and sending the current trigger instruction to the comprehensive circuit board; the comprehensive circuit board is used for converting the current trigger instruction into a differential bus signal, and sending the differential bus signal to the CPU board via the external interface connector, the external docking socket and the adapter board; the CPU board is further used for analyzing a tracking task instruction corresponding to the differential bus signal to obtain a current target machine state, and generating a display signal carrying the current target machine state, the plurality of aircraft states, all PIO features, all alarm information and the PIO feature parameter curve.

[0009] According to the real-time detection device based on human-machine coupling oscillation provided by the embodiment of the application, the front shell comprises a liquid crystal screen, and the liquid crystal screen is connected with the comprehensive circuit board; the CPU board is further used for sending the display signal to the liquid crystal screen via the adapter board, the external docking socket, the external interface connector and the comprehensive circuit board; and the liquid crystal screen is used for analyzing the display signal and displaying the current target machine state, the plurality of aircraft states, all PIO features, all alarm information and the PIO feature parameter curve.

[0010] According to the real-time detection device based on human-machine coupling oscillation provided by the embodiment of the application, the real-time calculation unit further comprises a data storage module, and the data storage module is connected with the adapter board; the comprehensive circuit board is further used for sending the differential bus signal to the data storage module via the external interface connector, the external docking socket and the adapter board; the signal input socket is further used for sending the flight control differential signal data to the data storage module through the adapter board; the data storage module is used for storing the tracking task instruction corresponding to the differential bus signal and the flight control differential signal data; the CPU board is further used for sending the current target machine state, the plurality of aircraft states, all PIO features, all alarm information and the PIO feature parameter curve to the data storage module through the adapter board; and the data storage module is further used for storing the current target machine state, the plurality of aircraft states, all PIO features, all alarm information and the PIO feature parameter curve.

[0011] According to the real-time detection device based on human-machine coupling oscillation provided in the embodiment, the number of the peripheral keys is 8, which are peripheral key L1, peripheral key L2, peripheral key L3, peripheral key L4, peripheral key L5, peripheral key +, peripheral key - and peripheral key K1 respectively; wherein the current trigger instruction corresponding to the peripheral key L1 is used to instruct to display a lower display picture; the current trigger instruction corresponding to the peripheral key L2 is used to instruct to display a task tracking picture; the current trigger instruction corresponding to the peripheral key L3 is used to instruct to display the PIO characteristic parameter curve; the current trigger instruction corresponding to the peripheral key L4 is used to instruct to switch the task in the task tracking picture; the current trigger instruction corresponding to the peripheral key L5 is used to instruct to trigger the task start in the task tracking picture; the current trigger instruction corresponding to the peripheral key + is used to instruct to increase the brightness of the liquid crystal screen; the current trigger instruction corresponding to the peripheral key - is used to instruct to weaken the brightness of the liquid crystal screen; and the peripheral key K1 is a power switch, and the current trigger instruction corresponding to the power switch is used to turn on or turn off the power supply of the real-time detection device.

[0012] According to the real-time detection device based on human-machine coupling oscillation provided in the embodiment, the real-time calculation unit further comprises a power board, and the power board is connected with the adapter board, the CPU board and the data storage module respectively; wherein the power board is used to supply power for the adapter board, the CPU board and the data storage module; the power board is further used to generate a power supply signal, and send the power supply signal to the integrated circuit board via the adapter board, the external interface socket and the external interface connector; the integrated circuit board is further used to convert the power supply signal, and the converted power supply signal is used to supply power for the liquid crystal screen.

[0013] The embodiment further provides a real-time detection method based on human-machine coupling oscillation, which is applied to the real-time detection device based on human-machine coupling oscillation as described in any one of the above embodiments, and the method comprises the following steps: Collecting a plurality of flight control differential signal data within a preset time length; Analyzing the plurality of flight control differential signal data to obtain a plurality of aircraft states; Determining a human-machine coupling oscillation PIO feature within the preset time length according to the normal overload and the pitch angle in each aircraft state in the plurality of aircraft states; Continuously obtaining a plurality of PIO features within a plurality of preset time lengths, and determining alarm information and a PIO characteristic parameter curve corresponding to the plurality of PIO features, wherein the PIO characteristic parameter curve is used to form a PIO real-time detection picture.

[0014] The embodiment of the present application also provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the real-time detection method based on human-machine coupling oscillation.

[0015] The embodiment of the present application also provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to realize the real-time detection method based on human-machine coupling oscillation.

[0016] The real-time detection device and method based on human-machine coupling oscillation provided by the embodiment of the present application can first collect a plurality of flight control differential signal data in a preset time period through a signal input socket, and simultaneously send the plurality of flight control differential signal data to a CPU board through a adapter board; after receiving the plurality of flight control differential signal data through the adapter board, the CPU board can respectively perform real-time analysis on the plurality of flight control differential signal data to obtain respective corresponding aircraft states; then, each aircraft state in the plurality of aircraft states is identified and extracted to obtain a lateral overload and a pitch angle, and the lateral overload and the pitch angle are calculated to obtain a PIO feature in the preset time period; then, the CPU board continuously obtains PIO features in a plurality of preset time periods, and determines alarm information and a PIO feature parameter curve corresponding to the plurality of PIO features, and the PIO feature parameter curve is used to form a PIO real-time detection picture to assist the pilot to obtain the PIO state of the aircraft in real time. It should be noted that the real-time calculation unit realizes selection, extraction and online identification of the PIO feature by real-time analysis of the flight control differential signal data, can obtain a PIO feature calculation result (i.e. alarm information and a PIO feature parameter curve) with high accuracy, so that the pilot can view the current PIO state of the aircraft in real time while executing a task tracking instruction, and then assist the pilot to determine the occurrence of PIO when performing a flight control task, so that the pilot can take corresponding effective measures quickly to ensure flight safety and avoid disaster accidents. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0018] Figure 1 is one of the structural schematic diagrams of the real-time detection device based on human-machine coupling oscillation provided by the embodiment of the present application; Figure 2 is the second structural schematic diagram of the real-time detection device based on human-machine coupling oscillation provided by the embodiment of the present application; Figure 3 Figure 3 is a structural schematic diagram of a real-time detection device based on human-machine coupling oscillation provided by an embodiment of the present application; Figure 4 Figure 4 is a structural schematic diagram of a real-time detection device based on human-machine coupling oscillation provided by an embodiment of the present application; Figure 5 Figure 5 is a structural schematic diagram of a real-time detection device based on human-machine coupling oscillation provided by an embodiment of the present application; Figure 6 Figure 6 is a structural schematic diagram of a real-time detection device based on human-machine coupling oscillation provided by an embodiment of the present application; Figure 7 Figure 7 is a flow schematic diagram of a real-time detection method based on human-machine coupling oscillation provided by an embodiment of the present application. DETAILED DESCRIPTION

[0019] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0020] In order to better understand the embodiments of the application, first, the application scenarios of the real-time detection device and method based on human-machine coupling oscillation provided by the embodiments of the present application will be described in detail: The application scenarios of the real-time detection device and method based on human-machine coupling oscillation can be not only aircraft / aircraft flight test testing, but also any scene existing "human intelligence real-time controls a physical entity with dynamic response through a certain controller (such as mechanical, electrical signal, software, etc.)", such as automobile industry, industrial automation and robot, ship and ocean engineering, and virtual reality and human-computer interaction.

[0021] The real-time detection device based on human-machine coupling oscillation provided by the embodiments of the present application will be described in detail below: Figure 1 Figure 1 is a structural schematic diagram of a real-time detection device based on human-machine coupling oscillation provided by an embodiment of the present application. As shown in Figure 1 Figure 1, the real-time detection device can include a real-time computing unit 10, which can include a signal input socket 101, an adapter plate 102 and a CPU (Central Processing Unit) board 103, and the adapter plate 102 is connected with the signal input socket 101 and the CPU board 103 respectively.

[0022] The signal input socket 101 is used to collect a plurality of flight control differential signal data within a preset time length, and send the plurality of flight control differential signal data to the CPU board 103 through the adapter board 102. The CPU board 103 is used to analyze the plurality of flight control differential signal data to obtain a plurality of aircraft states, determine the PIO feature within the preset time length according to the normal overload and the pitch angle in each aircraft state of the plurality of aircraft states, continuously obtain the PIO feature within a plurality of preset time lengths, and determine the alarm information and the PIO feature parameter curve corresponding to the plurality of PIO features. The PIO feature parameter curve is used to form a PIO real-time detection picture.

[0023] The real-time calculation unit 10 has high-performance mathematical calculation capability, peripheral device data acquisition and processing, and graphic display output functions.

[0024] In the embodiment, the signal input socket 101 can first collect a plurality of flight control differential signal data (such as flight control RS422 data) within a preset time length, and simultaneously send the plurality of flight control differential signal data to the CPU board 103 through the adapter board 102. After receiving the plurality of flight control differential signal data through the adapter board 102, the CPU board 103 can analyze the plurality of flight control differential signal data in real time to obtain the corresponding aircraft state of each. Then, the CPU board 103 identifies and extracts each aircraft state in the plurality of aircraft states to obtain the normal overload and the pitch angle, and calculates the normal overload and the pitch angle to obtain the PIO feature within the preset time length. Then, the CPU board 103 continuously obtains the PIO feature within a plurality of preset time lengths, and determines the alarm information and the PIO feature parameter curve corresponding to the plurality of PIO features. The PIO feature parameter curve is used to form a PIO real-time detection picture to assist the pilot to obtain the PIO state of the aircraft in real time. It should be noted that the real-time calculation unit 10 realizes the selection, extraction and online identification of the PIO feature by real-time analysis of the flight control differential signal data, can obtain a PIO feature calculation result (i.e. alarm information and PIO feature parameter curve) with high accuracy, so that the pilot can view the current PIO state of the aircraft in real time while executing the task tracking instruction, and then assist the pilot to determine the occurrence of PIO when executing the flight control task, so as to take corresponding effective measures to ensure flight safety and avoid disaster accidents.

[0025] It should be noted that the PIO feature parameter curve is determined after all the PIO features are superimposed on the preset PIO feature parameter curve.

[0026] Optionally, each aircraft state can at least include angle of attack, sideslip angle, normal overload, altitude, speed, radio altitude, pitch angle, roll angle and yaw angle data.

[0027] It should be noted that a specific moment within one of the multiple preset durations is the current moment when the pilot is executing the mission tracking command. At this moment, the aircraft state at this characteristic moment within this preset duration is the current aircraft state.

[0028] In some embodiments, the CPU board 103 is used to determine the PIO characteristics of human-machine coupling oscillation within a preset time period based on the normal overload and pitch angle of each aircraft state in multiple aircraft states. This may include: the CPU board 103 is specifically used to perform the following operations for the normal overload and pitch angle of each aircraft state: determine the first average value of all normal overloads and the second average value of all pitch angles; determine the PIO characteristics within a preset time period based on the normal overload, the first average value, the pitch angle and the second average value.

[0029] In this embodiment, the CPU board 103 can first acquire the data to be calculated, i.e., the data within a preset time period. Each aircraft status, The integer is greater than 1, where each of the M aircraft states can be analyzed to obtain the corresponding normal overload and pitch angle. Then, the CPU board 103 determines the first mean of all normal overloads corresponding to all aircraft states and the second mean of all pitch angles corresponding to all aircraft states. Then, combining each normal overload and each pitch angle, the PIO characteristics within the preset time period are calculated. The entire process effectively filters out random noise and instantaneous disturbances in the data through mean calculation, thereby improving the accuracy and reliability of PIO feature detection. Furthermore, by subsequently conducting joint analysis of multiple state parameters (i.e., multiple PIO features) within a continuous time period, it is possible to more stably capture trend changes reflecting the essence of human-machine coupling oscillations, rather than isolated events, thus effectively improving the accuracy of PIO features.

[0030] In some embodiments, the CPU board 103 is used to determine the PIO characteristics within a preset time period based on the normal phase overload, the first mean, the pitch angle, and the second mean. This may include: the CPU board 103 is specifically used to determine a first difference between the normal phase overload and the first mean, and a second difference between the pitch angle and the second mean; and to determine the product of the first difference and the second difference, the square of the first difference, and the square of the second difference; to determine the product between the first sum of the squares of all the first differences and the second sum of the squares of all the second differences; and to divide the third sum of all the product results by the square root of the product result to obtain the PIO characteristics within the preset time period.

[0031] Optionally, the formula for calculating the dynamic coupling characteristics of the above PIO features is as follows: .

[0032] in, The eigenvalues ​​representing the PIO characteristics; This indicates the length of the data to be calculated, i.e., the total number of PIO features; express The first normal overload One normal overload; This represents the first mean of all normal overloads; express The first pitch angle One pitch angle; This represents the second mean of all pitch angles; Indicates the first The first difference between the normal overload and the first mean; Indicates the first The second difference between the pitch angle and the second mean; This represents the product of the first difference and the second difference; This represents the square of the first difference; This represents the squared result of the second difference; This represents the product of the first sum and the second sum; This represents the third sum.

[0033] In this embodiment, the above-mentioned dynamic coupling feature calculation formula quantifies the correlation between normal overload and pitch angle oscillation through the covariance principle. It can accurately capture the cooperative fluctuation features that reflect the essence of human-machine coupling oscillation, significantly improve detection sensitivity, and effectively improve the accuracy of PIO features. In addition, it effectively eliminates the influence of dimensions and absolute amplitude, making PIO feature judgment more focused on dynamic correlation and enhancing adaptability and reliability in different application scenarios.

[0034] In some embodiments, the CPU board 103 is used to determine alarm information and PIO feature parameter curves corresponding to multiple PIO features. Specifically, the CPU board 103 is used to generate alarm information corresponding to each PIO feature if the absolute value of the difference between the PIO feature and the preset threshold is less than the preset difference threshold for each PIO feature within a preset time period; and to generate PIO feature parameter curves corresponding to the aircraft based on multiple PIO features.

[0035] In this embodiment, the CPU board 103 continuously acquires multiple PIO features within a preset time period. For each PIO feature within a preset time period, it determines whether the PIO feature meets the alarm logic (i.e., the PIO discrimination standard). The PIO discrimination standard refers to a set of preset, quantified technical thresholds used to automatically identify the occurrence of PIO events based on PIO features. During the judgment process, if the criteria are not met, no operation needs to be performed. If the criteria are met, it indicates that the aircraft may enter an uncontrollable PIO state during flight. At this time, alarm information corresponding to the PIO feature is directly generated to assist the pilot in taking appropriate and effective measures when a PIO is determined to occur, so as to ensure flight safety. At the same time, the CPU board 103 can generate a PIO feature parameter curve corresponding to the aircraft based on multiple PIO features. The horizontal axis of the PIO feature parameter curve is the continuous preset time period, and the vertical axis is the PIO features within different preset time periods. This allows the pilot to view the current PIO status of the aircraft in real time while executing mission tracking instructions, thereby enhancing the assistance to the pilot.

[0036] Specifically, during the aforementioned judgment process, the CPU board 103 can obtain the absolute value of the difference between the PIO feature and a preset threshold (e.g., 1) in real time, and compare the absolute value of the difference with the preset threshold. If the absolute value of the difference is greater than or equal to the preset threshold, it indicates that the PIO feature is further away from 1, which in turn indicates that the aircraft's PIO is weaker. In this case, no operation is required. If the absolute value of the difference is less than the preset threshold, it is determined that the PIO feature meets the PIO discrimination standard, indicating that the PIO feature is closer to 1, which in turn indicates that the aircraft's PIO is stronger. In this case, it is necessary to generate alarm information corresponding to the PIO feature to assist the pilot in taking appropriate and effective measures quickly when a PIO is determined to occur, so as to ensure flight safety.

[0037] In some embodiments, combined with Figure 1 , Figure 2 This is a schematic diagram of the structure of the real-time detection device based on human-machine coupling oscillation provided in an embodiment of this application. Figure 2 As shown, the real-time detection device may include a display control unit 20, which may include a front housing and a rear housing. The front housing may include peripheral keys 201, and the rear housing may include an integrated circuit board 202 and an external interface connector 203. The integrated circuit board 202 is connected to the peripheral keys 201 and the external interface connector 203, respectively. The real-time calculation unit 10 may also include an external docking socket 104, which is connected to the external interface connector 203 and the adapter board 102, respectively.

[0038] Among them, the peripheral key 201 is used to respond to the pilot's interactive operation on the aircraft input, generate the current trigger command, and send the current trigger command to the integrated circuit board 202; The integrated circuit board 202 is used to convert the current trigger instruction into a differential bus signal; and send the differential bus signal to the CPU board 103 via the external interface connector 203, the external docking socket 104 and the adapter board 102. CPU board 103 is also used to parse the tracking task instructions corresponding to the differential bus signals to obtain the current target aircraft status; and to generate display signals, which carry the current target aircraft status, multiple aircraft statuses, all PIO characteristics, all alarm information and PIO characteristic parameter curves.

[0039] The display control unit 20 has graphics processing capabilities, enabling it to display task tracking screens and alarm information, as well as adjust brightness and operate multiple function buttons.

[0040] It should be noted that the display control unit 20 is electrically connected to the real-time computing unit 10 via an external interface connector 203 and an external docking socket 104. Physically, it is secured to the display control unit 20 by long screws passing through the four corners of the real-time computing unit 10, together forming a real-time detection device. Furthermore, this real-time detection device utilizes a modular design to achieve physical and electrical decoupling between the display control unit 20 and the real-time computing unit 10, i.e., electrical isolation. When either the display control unit 20 or the real-time computing unit 10 fails, it can be efficiently replaced, improving the operational reliability of either the display control unit 20 or the real-time computing unit 10.

[0041] The display control unit 20 consists of two parts: a front housing and a rear housing. The front housing and the rear housing are connected by screws, and the circuit between the front housing and the rear housing is connected by wires.

[0042] Optionally, the electrical signal output of the peripheral key 201 is a matrix interface, which is connected to the integrated circuit board 202 using 9 wires.

[0043] For the real-time computing unit 10, the CPU board 103 connects all the pins through the adapter board 102, and the adapter board 102 performs the data transfer in a unified manner.

[0044] In this embodiment, the peripheral key 201 generates a current trigger command in response to the pilot's input interaction and sends the current trigger command to the integrated circuit board 202. Upon receiving the current trigger command from the peripheral key 201, the integrated circuit board 202 converts the current trigger command into a differential bus signal (such as an RS422 bus signal) and sends the differential bus signal to the CPU board 103 via the external interface connector 203, the external docking socket 104, and the adapter board 102. During the pilot's execution of the tracking mission command, the CPU board 103, via the adapter board 102 and the external docking socket 104... When the external interface connector 203 receives the differential bus signal sent by the integrated circuit board 202, it indicates that the CPU board 103 can realize the signal input in the peripheral key 201. At this time, the CPU board 103 can parse the tracking task command corresponding to the differential bus signal in real time to obtain the current target aircraft status. This target aircraft status is used to characterize a complete set of information about the dynamic and static attributes of the target aircraft at a specific moment. Then, the CPU board 103 generates a display signal carrying data such as the current target aircraft status, multiple aircraft statuses, all PIO features, all alarm information, and PIO feature parameter curves. This display signal is a Video Graphics Array (VGA) signal. The entire process can intuitively display the PIO feature calculation results (i.e., alarm information and PIO feature parameter curves) and the target aircraft status, allowing the pilot to view the current PIO status of the aircraft in real time while executing the mission tracking command. This helps the pilot to quickly take corresponding effective measures when a PIO occurs during flight control tasks, in order to ensure flight safety and avoid disasters.

[0045] Optionally, the tracking mission instructions may include at least: 3 types of pitch tracking missions, 1 type of roll tracking mission, and 1 type of yaw tracking mission.

[0046] It should be noted that the CPU board 103 mentioned above adopts multi-processing technology to run the peripheral key 201 data thread, flight control data thread, data storage thread and main thread in parallel, to complete the cyclic monitoring, data processing and graphical display of flight control RS422 data, and finally realize accurate task tracking and real-time detection and alarm of PIO.

[0047] In some embodiments, combined with Figure 2 , Figure 3 This is a schematic diagram of the structure of the real-time detection device based on human-machine coupling oscillation provided in an embodiment of this application. Figure 3 As shown, the aforementioned front housing may also include an LCD screen 204, which is connected to the integrated circuit board 202.

[0048] The CPU board 103 is also used to send display signals to the LCD screen 204 via the adapter board 102, external docking socket 104, external interface connector 203 and integrated circuit board 202. The LCD screen 204 is used to analyze and display signals, and to display the current target aircraft status, multiple aircraft statuses, all PIO characteristics, all alarm information, and PIO characteristic parameter curves.

[0049] In this embodiment, the CPU board 103 sends display signals to the LCD screen 204 via the adapter board 102, external interface socket 104, external interface connector 203, and integrated circuit board 202. Upon receiving the display signals from the CPU board 103 via the integrated circuit board 202, external interface connector 203, external interface socket 104, and adapter board 102, the LCD screen 204 can perform real-time analysis of the display signals to drive the LCD screen 204 to display data such as the current target aircraft status, multiple aircraft statuses, all PIO characteristics, all alarm information, and PIO characteristic parameter curves. This intuitive display via the display control unit 20 allows the pilot to view the aircraft's current PIO status in real time while executing mission tracking commands. This assists the pilot in quickly taking appropriate and effective measures when a PIO occurs during flight control tasks, ensuring flight safety and preventing disasters.

[0050] Optionally, the LCD screen 204 is also used to display the target machine status corresponding to each of the multiple tracking task instructions in a pre-set sequence of task instructions.

[0051] Optionally, the LCD screen 204 is specifically used to overlay and display the current target aircraft status and the status of multiple aircraft.

[0052] It should be noted that the intuitive display of alarm information on the LCD screen 204 can provide pilots with intuitive PIO trend alarm information.

[0053] It should be noted that the CPU board 103 can control the graphics generation of the display control unit 20 to display the various data carried by the above display signals on the LCD screen 204.

[0054] In some embodiments, combined with Figure 3 , Figure 4 This is a schematic diagram of the structure of the real-time detection device based on human-machine coupling oscillation provided in an embodiment of this application. Figure 4 As shown, the real-time computing unit 10 may also include a data storage module 105, which is connected to the adapter board 102.

[0055] Among them, the integrated circuit board 202 is also used to send differential bus signals to the data storage module 105 via the external interface connector 203, the external docking socket 104 and the adapter board 102. The signal input socket 101 is also used to send flight control differential signal data to the data storage module 105 through the adapter board 102; Data storage module 105 is used to store tracking mission commands and flight control differential signal data corresponding to differential bus signals; CPU board 103 is also used to send the current target machine status, multiple aircraft statuses, all PIO characteristics, all alarm information and PIO characteristic parameter curves to data storage module 105 through adapter board 102. The data storage module 105 is also used to store the current target aircraft status, multiple aircraft statuses, all PIO characteristics, all alarm information, and PIO characteristic parameter curves.

[0056] The data storage module 105 is embedded within the real-time computing unit 10.

[0057] In this embodiment, the data in the display control unit 20 can be stored in the data storage module 105. Specifically, the data storage module 105 receives and stores the differential bus signals sent by the integrated circuit board 202 via the adapter board 102, the external docking socket 104, and the external interface connector 203. Simultaneously, it receives and stores the flight control differential signal data sent by the data storage module 105 via the adapter board 102. The data in the real-time computing unit 10 can also be stored in the data storage module 105. Specifically, the data storage module 105 receives and stores data such as the current target aircraft status, multiple aircraft statuses, all PIO characteristics, all alarm information, and PIO characteristic parameter curves sent by the CPU board 103 via the adapter board 102. It should be noted that the data storage module 105 uniformly stores various key data generated within the real-time detection device (such as mission tracking instructions, PIO real-time detection and analysis calculation results (i.e., alarm information and PIO characteristic parameter curves), and flight status parameters (i.e., the current target aircraft status and the status of multiple aircraft), providing complete data basis for subsequent analysis. As a data hub, all stored data can effectively ensure the integrity of the information chain and support offline data processing and in-depth data mining.

[0058] Optionally, the CPU board 103 is also used to send the normal overload and pitch angle of all aircraft states within multiple preset time periods to the data storage module 105 via the adapter board 102. The data storage module 105 is also used to store data on all aircraft states, including at least normal overload and pitch angle.

[0059] Optionally, the data storage module 105 is also used to store multiple tracing task instructions and PIO discrimination criteria.

[0060] It should be noted that the data storage module 105 stores multiple tracking mission instructions and displays the human-machine coupled oscillation precise mission tracking screen through the display control unit 20, which can intuitively assist the pilot in completing the execution of each tracking mission instruction in sequence.

[0061] In some embodiments, the number of peripheral keys 201 is 8, namely peripheral key L1, peripheral key L2, peripheral key L3, peripheral key L4, peripheral key L5, peripheral key +, peripheral key - and peripheral key K1.

[0062] Among them, the current trigger command corresponding to the peripheral key L1 is used to indicate the display of the lower screen; The current trigger command corresponding to the peripheral key L2 is used to indicate the display of the task tracking screen; The current trigger instruction corresponding to peripheral key L3 is used to indicate the display of PIO characteristic parameter curves; The current trigger command corresponding to the peripheral key L4 is used to indicate task switching in the task tracking screen; The current trigger command corresponding to the peripheral key L5 is used to indicate the start of a task in the task tracking screen; The peripheral button plus the corresponding current trigger command is used to indicate an increase in the brightness of the LCD screen; Peripheral buttons - the corresponding current trigger command is used to instruct the brightness of the LCD screen to be reduced; Peripheral key K1 is the power switch. The current trigger command corresponding to the power switch is used to turn the power of the real-time detection device on or off.

[0063] It should be noted that the above-mentioned eight peripheral keys 201 are used to provide the pilot with real-time interaction functions between detection devices. These eight peripheral keys 201 are located on the panel of the front housing. Specifically, from top to bottom on the left side of the panel, they are: peripheral key L1, peripheral key L2, peripheral key L3 and peripheral key L4; from top to bottom on the right side of the panel, they are: peripheral key L5, peripheral key +, peripheral key - and peripheral key K1.

[0064] The aforementioned lower display screen usually refers to the most basic integrated status display interface of an aircraft, which is an integrated instrument panel or status overview interface.

[0065] The aforementioned task tracking screen specifically refers to a dedicated data display and monitoring interface related to the tracking task; it is a specialized user interface.

[0066] For example, regarding peripheral keys L4 and L5, during the process of operating the aircraft from multiple aircraft states to the target aircraft state, after completing each task, the pilot can input an interactive operation to peripheral key L4. Peripheral key L4 responds to the interactive operation to switch to the next task and waits for execution. Then, the pilot inputs a pressing operation to peripheral key L5. Peripheral key L5 responds to the pressing operation to start the execution of the current task, and so on, completing multiple tracking task instructions stored in data storage module 205 in sequence.

[0067] In some embodiments, combined with Figure 4 , Figure 5 This is a schematic diagram of the structure of the real-time detection device based on human-machine coupling oscillation provided in an embodiment of this application. Figure 5 As shown, the real-time computing unit 10 may also include a power board 106, which is connected to the adapter board 102, the CPU board 103 and the data storage module 105 respectively.

[0068] Among them, the power board 106 is used to supply power to the adapter board 102, the CPU board 103 and the data storage module 105; The power board 106 is also used to generate power supply signals and send the power supply signals to the integrated circuit board 202 via the adapter board 102, the external docking socket 104 and the external interface connector 203; The integrated circuit board 103 is also used to convert the power supply signal, and the converted power supply signal is used to power the LCD screen 204.

[0069] In this embodiment, the power board 106 can directly supply power to the adapter board 102, CPU board 103, and data storage module 105. Simultaneously, it can generate a power supply signal and send this signal to the integrated circuit board 202 via the adapter board 102, external socket 104, and external interface connector 203. Upon receiving the power supply signal from the external interface connector 203, external socket 104, and adapter board 102, the integrated circuit board 202 performs a secondary conversion to provide stable and matched power to the LCD screen 204, ensuring reliable operation of the display function. It should be noted that by adding the power board 106 to the real-time computing unit 10, centralized and unified power supply to multiple core components within the real-time computing unit 10 is achieved, optimizing the internal power management structure. Furthermore, by utilizing existing connection paths to transmit the power supply signal in reverse to the display control unit 20, cross-unit resource sharing is realized without the need for additional wiring.

[0070] In some embodiments, combined with Figure 5 , Figure 6 This is a schematic diagram of the structure of the real-time detection device based on human-machine coupling oscillation provided in an embodiment of this application. Figure 6As shown, the aforementioned front housing may also include electromagnetic shielding glass 205.

[0071] Among them, electromagnetic shielding glass 205 is used to protect the LCD screen 204.

[0072] In this embodiment, an electromagnetic shielding glass 205 is provided in the front housing, which can effectively shield external electromagnetic interference, ensure the clarity and stability of the LCD screen 204 display, and at the same time, provide physical protection for the LCD screen 204, thereby improving the overall reliability of the real-time detection device.

[0073] The real-time detection method based on human-machine coupling oscillation provided in the embodiments of this application is described below. The real-time detection method based on human-machine coupling oscillation described below can be referred to in correspondence with the real-time detection device based on human-machine coupling oscillation described above.

[0074] Figure 7 This is a flowchart illustrating the real-time detection method based on human-machine coupled oscillation provided in an embodiment of this application. Figure 7 As shown, this method is applied to, for example Figures 1-6 The real-time detection device based on human-machine coupling oscillation shown in any of the methods includes the following steps 701-704.

[0075] Step 701: Collect multiple flight control differential signal data within a preset time period.

[0076] Step 702: Analyze multiple flight control differential signal data to obtain multiple aircraft states.

[0077] Step 703: Determine the human-machine coupling oscillation (PIO) characteristics within a preset time period based on the normal phase overload and pitch angle of each aircraft state in multiple aircraft states.

[0078] Optionally, based on the normal overload and pitch angle in each of the multiple aircraft states, the PIO characteristics of human-machine coupling oscillation within a preset time period are determined, including: performing the following operations for the normal overload and pitch angle in each aircraft state: determining the first mean of all normal overloads and the second mean of all pitch angles; determining the PIO characteristics within a preset time period based on the normal overload, the first mean, the pitch angle and the second mean.

[0079] Optionally, based on the normal phase overload, the first mean, the pitch angle, and the second mean, the PIO characteristics within a preset time period are determined, including: determining the first difference between the normal phase overload and the first mean, and the second difference between the pitch angle and the second mean; determining the product of the first difference and the second difference, the square of the first difference, and the square of the second difference; determining the product between the first sum of the squares of all the first differences and the second sum of the squares of all the second differences; and dividing the third sum of all the product results by the square root of the product result to obtain the PIO characteristics within the preset time period.

[0080] Step 704: Continuously acquire multiple PIO features within a preset time period, and determine the alarm information and PIO feature parameter curves corresponding to the multiple PIO features. The PIO feature parameter curves are used to form a real-time PIO detection screen.

[0081] Optionally, determining alarm information and PIO feature parameter curves corresponding to multiple PIO features includes: for each PIO feature within a preset time period, if the absolute value of the difference between the PIO feature and a preset threshold is less than a preset difference threshold, generating alarm information corresponding to the PIO feature; and generating PIO feature parameter curves corresponding to the aircraft based on multiple PIO features.

[0082] Optionally, the method further includes: responding to the pilot's interactive operation input to the aircraft and generating a current trigger command; converting the current trigger command into a differential bus signal; parsing the tracking mission command corresponding to the differential bus signal to obtain the current target aircraft status; and generating a display signal, the display signal carrying the current target aircraft status, multiple aircraft statuses, all PIO features, all alarm information, and PIO feature parameter curves.

[0083] In this embodiment of the application, the technical solution described in steps 701-704 above realizes the selection, extraction and online identification of PIO features through real-time analysis of flight control differential signal data by the real-time computing unit. The PIO feature calculation results can be displayed intuitively through the display control unit, so that the pilot can view the current PIO status of the aircraft in real time while executing mission tracking instructions. This helps the pilot to take corresponding effective measures quickly when a PIO is determined to occur, so as to ensure flight safety and avoid the occurrence of disasters.

[0084] On the other hand, this application also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the real-time detection method based on human-machine coupled oscillation (PIO) provided by the above methods. The method includes: acquiring multiple flight control differential signal data within a preset time period; parsing the multiple flight control differential signal data to obtain multiple aircraft states; determining the human-machine coupled oscillation (PIO) characteristics within the preset time period based on the normal phase overload and pitch angle of each aircraft state; continuously acquiring the PIO characteristics within the multiple preset time periods, and determining the alarm information and PIO characteristic parameter curves corresponding to the multiple PIO characteristics. The PIO characteristic parameter curves are used to form a real-time PIO detection screen.

[0085] In another aspect, embodiments of this application also provide a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the real-time detection method based on human-machine coupled oscillation (PIO) provided by the above-described methods. The method includes: acquiring multiple flight control differential signal data within a preset time period; parsing the multiple flight control differential signal data to obtain multiple aircraft states; determining the human-machine coupled oscillation (PIO) characteristics within the preset time period based on the normal phase overload and pitch angle of each aircraft state; continuously acquiring the PIO characteristics within the multiple preset time periods, and determining the alarm information and PIO characteristic parameter curves corresponding to the multiple PIO characteristics, wherein the PIO characteristic parameter curves are used to form a real-time PIO detection screen.

[0086] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0087] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A real-time detection device based on human-machine coupled oscillation, characterized in that, The system includes a real-time computing unit, which comprises a signal input socket, an adapter board, and a CPU board. The adapter board is connected to both the signal input socket and the CPU board. The signal input socket is used to collect multiple flight control differential signal data within a preset time period; and to send the multiple flight control differential signal data to the CPU board through the adapter board; The CPU board is used to parse the multiple flight control differential signal data to obtain multiple aircraft states; based on the normal phase overload and pitch angle of each aircraft state, it determines the human-machine coupling oscillation (PIO) characteristics within a preset time period; it continuously acquires multiple PIO characteristics within a preset time period and determines the alarm information and PIO characteristic parameter curves corresponding to the multiple PIO characteristics, wherein the PIO characteristic parameter curves are used to form a real-time PIO detection screen.

2. The real-time detection device based on human-machine coupled oscillation according to claim 1, characterized in that, The CPU board is used to determine the human-machine coupling oscillation (PIO) characteristics within the preset time period based on the normal phase overload and pitch angle of each of the multiple aircraft states, including: The CPU board is specifically used to perform the following operations for normal phase overload and pitch angle in each of the aircraft states: Determine the first mean of all normal overloads and the second mean of all pitch angles; Based on the phase overload, the first mean, the pitch angle, and the second mean, the PIO characteristics within the preset time period are determined.

3. The real-time detection device based on human-machine coupled oscillation according to claim 2, characterized in that, The CPU board is used to determine the PIO characteristics within the preset time period based on the normal phase overload, the first average value, the pitch angle, and the second average value, including: The CPU board is specifically used to determine the first difference between the normal phase overload and the first mean, and the second difference between the pitch angle and the second mean; and to determine the product of the first difference and the second difference, the square of the first difference, and the square of the second difference; Determine the product between the first sum of the squared results of all first differences and the second sum of the squared results of all second differences; and divide the third sum of all product results by the square root of the product result to obtain the PIO feature within the preset time period.

4. The real-time detection device based on human-machine coupled oscillation according to any one of claims 1-3, characterized in that, The CPU board is used to determine alarm information and PIO feature parameter curves corresponding to multiple PIO features, including: The CPU board is specifically used to generate alarm information corresponding to the PIO feature if the absolute value of the difference between the PIO feature and the preset threshold is less than the preset difference threshold for each preset time period. Based on the multiple PIO features, a PIO feature parameter curve corresponding to the aircraft is generated.

5. The real-time detection device based on human-machine coupled oscillation according to any one of claims 1-3, characterized in that, Also includes: The display control unit includes a front housing and a rear housing. The front housing includes peripheral keys, and the rear housing includes a circuit board and an external interface connector. The circuit board connects to the peripheral keys and the external interface connector. The real-time computing unit also includes an external docking socket, which connects to both the external interface connector and the adapter board. The peripheral keys are used to respond to the pilot's interactive operations on the aircraft input, generate a current trigger command, and send the current trigger command to the integrated circuit board; The integrated circuit board is used to convert the current trigger instruction into a differential bus signal; and to send the differential bus signal to the CPU board via the external interface connector, the external docking socket, and the adapter board; The CPU board is also used to parse the tracking task instructions corresponding to the differential bus signal to obtain the current target aircraft status; and generate a display signal, which carries the current target aircraft status, the status of the multiple aircraft, all PIO features, all alarm information and the PIO feature parameter curves.

6. The real-time detection device based on human-machine coupled oscillation according to claim 5, characterized in that, The front housing includes an LCD screen, which is connected to the integrated circuit board. The CPU board is also used to send the display signal to the LCD screen via the adapter board, the external docking socket, the external interface connector and the integrated circuit board; The LCD screen is used to parse the display signal and display the current target aircraft status, the status of the multiple aircraft, all PIO features, all alarm information, and the PIO feature parameter curves.

7. The real-time detection device based on human-machine coupled oscillation according to claim 6, characterized in that, The real-time computing unit further includes a data storage module, which is connected to the adapter board; wherein... The integrated circuit board is also used to send the differential bus signal to the data storage module via the external interface connector, the external docking socket and the adapter board; The signal input socket is also used to send the flight control differential signal data to the data storage module through the adapter board; The data storage module is used to store the tracking task instructions corresponding to the differential bus signals and the flight control differential signal data; The CPU board is also used to send the current target machine status, the multiple aircraft statuses, all PIO features, all alarm information and the PIO feature parameter curves to the data storage module through the adapter board; The data storage module is also used to store the current target aircraft status, the multiple aircraft statuses, all PIO features, all alarm information, and the PIO feature parameter curves.

8. The real-time detection device based on human-machine coupled oscillation according to claim 6, characterized in that, The number of peripheral keys is eight, namely peripheral key L1, peripheral key L2, peripheral key L3, peripheral key L4, peripheral key L5, peripheral key +, peripheral key -, and peripheral key K1; among which, The current trigger command corresponding to the peripheral key L1 is used to indicate the display of the lower screen. The current trigger command corresponding to the peripheral key L2 is used to indicate the display of the task tracking screen; The current trigger instruction corresponding to peripheral key L3 is used to indicate the display of the PIO characteristic parameter curve; The current trigger command corresponding to the peripheral key L4 is used to indicate task switching in the task tracking screen; The current trigger command corresponding to the peripheral key L5 is used to indicate the start of the task in the task tracking screen; The peripheral key plus the corresponding current trigger command is used to instruct the brightness of the LCD screen to be increased; The peripheral key - the corresponding current trigger command is used to instruct the brightness of the LCD screen to be reduced; Peripheral key K1 is a power switch, and the current trigger command corresponding to the power switch is used to turn the power of the real-time detection device on or off.

9. The real-time detection device based on human-machine coupled oscillation according to claim 7, characterized in that, The real-time computing unit further includes a power supply board, which is connected to the adapter board, the CPU board, and the data storage module; wherein... The power board is used to supply power to the adapter board, the CPU board and the data storage module; The power board is also used to generate a power supply signal; and to send the power supply signal to the integrated circuit board via the adapter board, the external docking socket and the external interface connector; The integrated circuit board is also used to convert the power supply signal, and the converted power supply signal is used to power the LCD screen.

10. A real-time detection method based on human-machine coupled oscillation, characterized in that, The method, applied to the real-time detection device based on human-machine coupling oscillation as described in any one of claims 1-9, comprises: Collect multiple flight control differential signal data within a preset time period; By analyzing the multiple flight control differential signal data, multiple aircraft states can be obtained; Based on the normal phase overload and pitch angle of each of the multiple aircraft states, determine the human-machine coupling oscillation (PIO) characteristics within the preset time period; Multiple PIO features within a preset time period are continuously acquired, and alarm information and PIO feature parameter curves corresponding to the multiple PIO features are determined. The PIO feature parameter curves are used to form a real-time PIO detection screen.

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