Auxiliary monitoring method and device for displacement signal of rod for training plane

Abstract

The invention belongs to the technical field of flight control, and particularly relates to a rod displacement signal auxiliary monitoring method and device for a training plane, and the method comprises the steps: configuring three-axis two-redundancy force sensors in a front cabin and a rear cabin; resolving the rod force signal into an analysis rod displacement signal; comparing the single-cabin two-redundancy analysis signals, judging the validity of the analysis signals, and if the analysis signals are invalid, cutting off the signals; if so, carrying out the next step; the analysis signals of the front cabin and the rear cabin are subjected to cross comparison, and an analysis signal representing current control is selected; when the redundancy monitoring votes that a singular fault occurs, introducing the obtained analysis signal as an analysis redundancy to participate in fault judgment; and if the original redundancy signal has a full fault, taking the analysis redundancy as a degradation signal to participate in flight control. By using the method provided by the invention, a fault signal can be effectively discriminated, and an effective signal is extracted for flight control.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of flight control, and particularly relates to a method and device for auxiliary monitoring of lever displacement signals for a training aircraft. BACKGROUND

[0002] A manned fly-by-wire flight control system uses three-axis lever displacement signals as input to control the attitude and movement of an aircraft, including pitch lever displacement, roll lever displacement, and footrest displacement. To ensure the safety and reliability of the signals, a four-redundancy sensor configuration is generally used, a majority principle is used, four redundancies are cross-compared, and signals exceeding the threshold are judged for faults; when the signals are singular, auxiliary discrimination is performed in combination with self-monitoring of the signals, i.e., the signal fault is judged when self-monitoring is invalid.

[0003] The traditional algorithm has the following problems: 1) When self-monitoring is fully valid, 1:1 or 2:2 singular faults occur, and the valid signal cannot be determined. Only the median value can be taken to ensure the controllability of the aircraft, but at the same time, the faulty signal is brought into the control loop, and the control accuracy inevitably decreases, the response of the control lags, the flight quality degrades, and in severe cases, even PIO is triggered. 2) When only one redundancy of the three-redundancy signal is valid, the credibility of the redundancy is reduced for four-redundancy similar redundancies, and effective monitoring or disposal cannot be performed. 3) When all four redundancies of the signal are faulty, there is no valid signal available, and for the pitch lever displacement, only the last redundancy can be retained, and the pilot determines the controllability of the aircraft. When the aircraft is uncontrollable, the pilot must parachute. SUMMARY

[0004] The present application proposes an auxiliary monitoring method for lever displacement sensor signals for a dual-cabin training aircraft, which can effectively determine the faulty signal and extract the valid value when a singular fault occurs in the lever displacement sensor signal. In addition, when all the lever displacement signals are faulty, a backup signal is provided to control the attitude of the aircraft, ensuring the minimum safety and improving the reliability of the system.

[0005] Technical solution: In order to achieve the above-mentioned application purpose, the present application proposes a method for auxiliary monitoring of lever displacement signals for a training aircraft, which comprises the following steps: Step S1, three-axis two-redundancy force sensors are configured in the front and rear cabins. Step S2, the lever force signals are calculated into analytical lever displacement signals. Step S3, the two-redundancy analytical signals in a single cabin are compared to determine the validity of the analytical signals, and if the signals are invalid, the signals are removed; if the signals are valid, the next step is performed. Step S4, the analytical signals in the front and rear cabins are cross-compared to select the analytical signals representing the current control. Step S5: When a strange fault occurs in the redundancy monitoring vote, the analytical signal obtained in step S3 is introduced as analytical redundancy to participate in fault judgment. Step S6: If the original redundancy signal fails completely, the analytical redundancy will be used as a degraded signal in flight control.

[0006] Furthermore, in step S2, the specific solution process is as follows: the solution is performed based on the fitting function of the rod force signal and the rod displacement signal.

[0007] Furthermore, the force signals under different rod displacements are fitted; the fitting function is as follows:

[0008] in: The force voltage signal is the rod force, and a0, a1, a2, b1, b2, and w are all fitting parameters.

[0009] Furthermore, in step S3, during the comparison, the absolute value of the difference between the analytical rod displacement signals in the two redundancies is taken, and the difference is compared with a set threshold. If the difference is greater than the threshold, the signal is invalidated; if it is less than the threshold, the signal is valid.

[0010] Furthermore, in step S3, when determining the validity of the analytical signal, reasonable monitoring thresholds and monitoring delays are set for the monitoring and validity of the two redundant force signals. The specific design is as follows: When the difference between the two redundancies exceeds the threshold for 150 ms for a continuous period, it is considered a permanent fault. The fault transient uses the effective value of the previous clock cycle, and the fault is unrecoverable. The dual-redundancy monitoring threshold is a fixed threshold, with 10% of the full scale as the monitoring threshold value.

[0011] Furthermore, in step S3, when all signals are valid, the analytical redundancy is taken as the average of the two redundancy analytical rod displacement signals.

[0012] Furthermore, in step S2, the stick force signal is sent to the flight control system via two buses through the force sensor acquisition device.

[0013] Furthermore, in step S4, the parsing signal representing the current operation is selected by the big-value logic.

[0014] Furthermore, in step S4, when the front and rear cabin analytical signals are cross-compared, the one with the larger absolute value is the one being controlled.

[0015] In another aspect, the present invention also proposes a stick displacement signal-assisted monitoring device for trainer aircraft, the device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described monitoring method.

[0016] Technical Effects: The stick displacement signal-assisted monitoring method for trainer aircraft proposed in this invention utilizes signals from other sensors as analytical redundancy for monitoring without increasing hardware resources. Redundancy management of the three-axis stick displacement signals is introduced into the auxiliary monitoring. When a 1:1 or 2:2 singular fault occurs in the stick displacement sensor signal, the fault signal can be effectively identified, and valid signals can be extracted for flight control, preventing a decrease in control accuracy and a degradation in flight quality. After three or four stick displacement faults, analytical redundancy is used for auxiliary monitoring and voting, preserving the possibility of attempting a safe return. Attached Figure Description

[0017] Figure 1 This is a flowchart for calculating longitudinal analytical displacement. Detailed Implementation

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below with reference to the accompanying drawings or specific implementation examples. It should be noted that some (but not all) of the disclosed examples are shown in the drawings. In fact, many different examples can be described, and these examples should not be construed as limited to the examples set forth herein. Rather, these examples are described to better demonstrate the positive effects of the present invention, and all aspects not detailed herein are considered to be well-known or conventional techniques in the art.

[0019] Since both the front and rear cockpit control systems of trainer aircraft require the installation of three-axis stick force sensors to determine the direction of the control action, and since the stick force signal and stick displacement signal have a linear relationship, the stick force signal can be used to calculate the stick displacement. This calculated displacement can then be incorporated as analytical redundancy into the redundancy monitoring and voting algorithm. (See Appendix) Figure 1 The specific implementation process of this invention is as follows: 1) All three-axis force sensors are configured with dual redundancy to monitor the validity of the force signal, and are configured separately in the front and rear cabins.

[0020] 2) The rod displacement signal is calculated from the two redundant force signals and cross-compared. If the difference is within the monitoring threshold range, the signal is valid and the analytical redundancy is the average of the two; otherwise, the axial force signal is invalid and the signal is cut off. 3) When both the current rear cabin force signals are valid, the analytical rod displacements of the front and rear cabins are compared to determine the current control position, and the analytical margin of the control position is used for subsequent calculations. 4) Auxiliary monitoring is unavailable if any force signal in the current rear cabin is invalid; 5) When a 1:1 or 2:2 singular fault occurs in the displacement signal of the quadruple redundant rod, analytical displacement is introduced for auxiliary monitoring: the absolute value of the difference between the singular signal and the analytical signal is taken, and the larger difference is the fault, while the smaller difference is the valid signal.

[0021] 6) When a triple redundancy fault occurs in the displacement of a quadruple redundancy rod, leaving only one redundancy, analytical redundancy is introduced for auxiliary monitoring. When the monitoring is effective, the value of the displacement sensor is used for subsequent flight control; otherwise, the analytical redundancy value is used.

[0022] 7) When all rod displacement sensors fail, if the resolution margin is valid, the voting value is the resolution margin; otherwise, the voting value is the fault safety value.

[0023] In the specific implementation of this invention, to prevent false alarms, reasonable monitoring thresholds and monitoring delays should be set for the monitoring and effectiveness of the dual-redundancy force signal. The specific design is as follows: When the difference between the two redundancies exceeds the threshold for 150 ms for a continuous period, it is considered a permanent fault. The fault transient uses the effective value of the previous clock cycle, and the fault is unrecoverable.

[0024] The dual-redundancy monitoring threshold is a fixed threshold, with 10% of the full scale as the threshold value.

[0025] In addition, the coaxial force signals of the front and rear cabins are cross-compared, and the one with the larger absolute value is the one in control.

[0026] In the specific implementation process, the specific calculation process is as follows: The calculation is performed based on the fitting function between the rod force signal and the rod displacement signal; the force signal under different rod displacements is fitted; the fitting function is as follows:

[0027] in: The force voltage signal is the rod force, and a0, a1, a2, b1, b2, and w are all fitting parameters.

[0028] In a specific implementation, the present invention also provides a pole displacement signal auxiliary monitoring device for a trainer aircraft, which is a computer device. The device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the monitoring method proposed in the above-mentioned technical solution or implementation.

[0029] The stick displacement signal-assisted monitoring method for trainer aircraft proposed in the above embodiments of the present invention uses signals from other sensors as analytical redundancy for monitoring without increasing hardware resources. Redundancy management of the three-axis stick displacement signals is introduced into the auxiliary monitoring. When a 1:1 or 2:2 singular fault occurs in the stick displacement sensor signal, the fault signal can be effectively identified, and the valid signal can be extracted for flight control, preventing a decrease in control accuracy and a degradation in flight quality.

[0030] The above specific embodiments or examples are only used to explain the technical solutions of the present invention and are not intended to limit the present application. Parts not described in detail are considered to be conventional technical means or common knowledge in the field. It can be understood by those skilled in the art that, based on the design concept of the present application, the technical solutions described in the foregoing embodiments can be adapted or some or all of the technical features can be equivalently replaced. These modifications, equivalent replacements, and adaptive improvements do not depart from the technical essence of the present invention and should all be covered within the protection scope of the present application.

Claims

1. A method for assisting monitoring of a stick displacement signal for a flight trainer, characterized by, The monitoring method comprises the following steps: Step S1, three-axis two-redundancy force sensors are arranged in front and rear cabins; Step S2, the rod force signal is calculated into an analytical rod displacement signal; Step S3, the single-cabin two-redundancy analytical signals are compared to determine the effectiveness of the analytical signals, if invalid, the signal is cut off, if valid, the next step is performed; Step S4, the analytical signals of the front and rear cabins are cross-compared to select the analytical signal representing the current manipulation; Step S5, when a singular fault occurs in the multi-redundancy monitoring voting, the analytical signal obtained in step S3 is introduced as an analytical redundancy to participate in fault discrimination; Step S6, if all the original multi-redundancy signals are faulty, the analytical redundancy is used as a degraded signal to participate in flight control.

2. A method of monitoring the displacement of a control column of a flight simulator as claimed in claim 1, wherein, In step S2, the specific calculation process is as follows: the force signal under different rod displacements is fitted according to the fitting function of the rod force signal and the rod displacement signal.

3. A method of monitoring the displacement of a control column of a flight simulator as claimed in claim 2, wherein, The force signal under different rod displacements is fitted; the fitting function is as follows: where: are the rod force voltage signals, a0, a1, a2, b1, b2, w are fitting parameters.

4. The method of claim 1, wherein the method further comprises: determining a distance between the first and second locations; and displaying the distance on the display device. In step S3, when comparing, the analytical rod displacement signals in the two redundancies are subtracted to take the absolute value, the difference value is compared with the set threshold value, if greater than the threshold value, the signal is invalid; if less than the threshold value, the signal is valid.

5. The method of claim 1, wherein the method further comprises: determining a distance between the first and second locations; and displaying the distance on the display device. In step S3, when determining the effectiveness of the analytical signal, the two-redundancy force signal monitoring and effectiveness are set with reasonable monitoring threshold and monitoring time delay, the specific design is as follows: When the difference between the two redundancies exceeds the threshold value for 150 ms, it is considered as a permanent fault, the last valid value is used in the fault transient state, and the fault cannot be recovered; The two-redundancy monitoring threshold is a fixed threshold, and 10% of the full scale is used as the monitoring threshold value.

6. A method of monitoring the displacement of a control column of a flight simulator as claimed in claim 5, wherein, In step S3, when the signals are all valid, the analytical redundancy is the average value of the two-redundancy analytical rod displacement signals.

7. The method for assisting in the monitoring of stick displacement signals for trainer aircraft as described in claim 1, characterized in that, In step S2, the rod force signal is sent to the flight control system through the force sensor acquisition device in two bus lines.

8. The method for assisting in the monitoring of stick displacement signals for trainer aircraft as described in claim 1, characterized in that, In step S4, the analytical signal representing the current manipulation is selected according to the maximum logic.

9. A method of monitoring a stick displacement signal for a flight simulator as recited in claim 8, wherein, In step S4, when the analytical signals of the front and rear cabins are cross-compared, the absolute value of the larger one is the manipulation side.

10. A rod displacement signal auxiliary monitoring device for a trainer, the device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the monitoring method according to any one of claims 1-9 when executing the computer program.

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