Force sensor-based control device drag mitigation flight control system and method

Abstract

This invention relates to a force sensor-based control device drag mitigation flight control system and method. The force sensor-based control device drag mitigation flight control system includes: a pilot control device, a co-pilot control device, and a linkage with a mechanical disengagement mechanism; each control device is equipped with a redundant position sensor, a force sensor, and a force sensing mechanism; a flight control computer is configured to: perform an initial vote on the redundant position sensor signals of the pilot and co-pilot control devices respectively, generating first vote values ​​for the pilot and co-pilot sides; when both first vote values ​​are valid and the difference is greater than a first position difference threshold, initiate a two-dimensional verification process; based on the comparison result, determine whether both first vote values ​​are valid position signals or only one is a valid position signal, thereby controlling the aircraft control surfaces accordingly.

Description

Technical Field

[0001] This invention relates to the field of aircraft flight control, and more specifically to a force sensor-based control system and method for mitigating drag on control devices. Background Technology

[0002] Airworthiness Clause M-2 25.671(c) stipulates that analysis, testing, or both must demonstrate that, within the normal flight envelope, the aircraft can continue to fly and land safely without special piloting skills or physical exertion, should any of the following failures of the flight control systems and control surfaces (including trim, lift, drag, and feel systems) occur, including jamming. The potential failure must have only a minor impact and must be easily manageable by the pilot.

[0003] According to Airworthiness Clause M-2 25.671(c), when aircraft control systems malfunction, the pilot does not require special flying skills or physical strength, and the aircraft can still continue to fly and land safely. For example, the rudder and brake pedal units of the captain and co-pilot are kept in synchronized motion via mechanical linkages, and the probability of rudder and brake pedal assembly malfunction is <1. 10E-07 / FH. When the rudder brake pedal assembly jams at any position during its full travel, the position sensors of the pilot / co-pilot rudder pedal unit will continuously output position command signals to the flight control computer, keeping the rudder actuator in the corresponding position. This causes inconvenience to the pilot's yaw control and poses a certain risk. Summary of the Invention

[0004] To better address the jamming problem of the mechanical linkage control devices between the pilot and co-pilot, comply with airworthiness clause M-225.671(c), and improve the safety of the control devices, this invention proposes a flight control system for mitigating control device jamming based on force sensors, comprising: The system includes a driver's control device, a passenger's control device, and a linkage with a mechanical disengagement mechanism. The driver's control device and the passenger's control device move synchronously through the linkage with the mechanical disengagement mechanism. The mechanical disengagement mechanism is configured to permanently disconnect the linkage between the driver's control device and the passenger's control device when the unilateral operating force exceeds the disengagement threshold. Each of the driver's control device and the passenger's control device is respectively equipped with a redundant position sensor, a force sensor, and a force sensing mechanism; Flight control computer, wherein the flight control computer is configured as follows: The redundant position sensor signals of the driver's control device and the passenger's control device are voted on for the first time to generate the first voting value on the driver's side and the first voting value on the passenger side. When both sides' first voting values ​​are valid and the difference between them is greater than the first position difference threshold, the dual-dimensional verification process is initiated. That is, the pre-stored control force-displacement standard curve is called, and the measured values ​​of the force sensors on each side are compared with the theoretical values ​​of the control force corresponding to the current position, and / or the measured values ​​of the redundant position sensors on each side are compared with the theoretical values ​​of the displacement corresponding to the current control force. Based on the comparison results, it is determined whether both first voting values ​​are valid position signals or only one side is a valid position signal, thereby controlling the aircraft control surfaces accordingly.

[0005] Preferably, in the dual-dimensional verification process, if the difference between the measured value and the theoretical value is greater than the force threshold or displacement threshold, and the duration exceeds the time threshold, the flight control computer determines that the position signal of the control device on that side is an invalid position signal and suppresses the invalid position signal. If the difference between the measured value and the theoretical value is less than or equal to the force threshold or displacement threshold, the flight control computer determines that the position signal of the control device on that side is a valid position signal and adopts the valid position signal.

[0006] Preferably, if both position signals are determined to be valid position signals, the flight control computer determines that one side of the linkage has broken or the disengagement mechanism has accidentally disengaged. The flight control computer then makes a logical selection based on the first voting value of the two signals and uses the logical selection value to control the aircraft control surfaces.

[0007] Preferably, if it is determined that only one of the position signals on both sides is a valid position signal, the flight control computer determines that one of the pilot's control devices and the co-pilot's control devices is jammed, and the flight control computer uses the valid position signal to control the aircraft control surfaces.

[0008] Preferably, the flight control computer is further configured as follows: The system receives force sensor signals from the driver's control device and the passenger's control device. When the difference between the force sensor signals on both sides is greater than a preset force verification threshold, the system determines that the force sensor is faulty and outputs an alarm prompt.

[0009] Preferably, the flight control computer is further configured as follows: When both first voting values ​​are valid and the difference between them is less than or equal to the first position difference threshold, a second vote is made based on the two first voting values, and the second voting value is used to control the aircraft control surfaces.

[0010] Preferably, the flight control computer is further configured as follows: When only one side's first vote value is valid, the effective side's position signal is used to control the aircraft's control surfaces; When both sides' first voting values ​​are invalid, the control surface authority of the control device is terminated.

[0011] Preferably, the logical selection includes taking the maximum value of the two and taking the sum of the two.

[0012] Preferably, the driver's control device and the co-driver's control device are a steering wheel or a steering pedal assembly.

[0013] This invention also proposes a flight control method for mitigating drag on control devices based on force sensors, comprising: The redundant position sensor signals of the driver's control device and the passenger's control device are voted on for the first time to generate the first voting value on the driver's side and the first voting value on the passenger side. Each of the driver's control device and the passenger's control device is equipped with a redundant position sensor, a force sensor and a force sensing mechanism. When both sides' first voting values ​​are valid and the difference between them is greater than the first position difference threshold, the dual-dimensional verification process is initiated. That is, the pre-stored control force-displacement standard curve is called, and the measured values ​​of the force sensors on each side are compared with the theoretical values ​​of the control force corresponding to the current position, and / or the measured values ​​of the redundant position sensors on each side are compared with the theoretical values ​​of the displacement corresponding to the current control force. Based on the comparison results, it is determined whether both first voting values ​​are valid position signals or only one side is a valid position signal, thereby controlling the aircraft control surfaces accordingly.

[0014] Preferably, in the dual-dimensional verification process, if the difference between the measured value and the theoretical value is greater than the force threshold or the displacement threshold, and the duration exceeds the time threshold, then the position signal of the control device on that side is determined to be an invalid position signal, and the invalid position signal is suppressed. If the difference between the measured value and the theoretical value is less than or equal to the force threshold or displacement threshold, the position signal of the control device on that side is determined to be a valid position signal, and the valid position signal is adopted.

[0015] Preferably, if both position signals are determined to be valid position signals, it is determined that one side of the linkage has broken or the disengagement mechanism has accidentally disengaged. A logical selection is made based on the first voting value of the two, and the logical selection value is used to control the aircraft control surfaces.

[0016] Preferably, if it is determined that only one of the two position signals is a valid position signal, it is determined that one of the pilot's control device and the co-pilot's control device is jammed, and the valid position signal is used to control the aircraft control surfaces.

[0017] According to the above technical solution, the force sensor-based control device drag mitigation flight control system or method of the present invention can achieve the following beneficial technical effects: The pilot's and co-pilot's control devices move synchronously via a linkage with a mechanical disengagement mechanism. If one side of the linkage breaks or the disengagement mechanism unexpectedly disengages, the flight control computer determines a malfunction based on the difference between the initial voting values ​​of the position sensor signals from both control devices exceeding a first threshold. It then determines a valid signal based on the control force and displacement curve to control the aircraft's control surfaces. Compared to existing flight control systems or methods, this system allows control of all aircraft control surfaces from either control device even in the event of a linkage breakage or disengagement mechanism failure. When either the pilot's or co-pilot's control devices become jammed, the pilot can forcefully manipulate the unjammed control device to mechanically disengage the disengagement mechanism. The flight control computer determines a malfunction based on the difference between the initial voting values ​​of the position sensor signals from both control devices exceeding a first threshold. It then uses the force-displacement curve to identify valid signals and control the aircraft's control surfaces, invalidating the position sensor signal of the jammed control device. Compared to existing flight control systems or methods, when either the pilot's or co-pilot's control devices become jammed, the unjammed control device can control all aircraft control surfaces.

[0018] In addition, the present invention adds a single-sided independent force sensor, and adds force signal as a verification dimension of position signal, making the judgment dimensions richer and the logic error rate lower. It can effectively distinguish multiple failure modes such as linkage breakage (unexpected disengagement of the disengagement mechanism), single-sided jamming, and sensor failure. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a force sensor-based control device drag mitigation flight control system according to an embodiment of the present invention.

[0020] Figure 2 This is a logic diagram of a force sensor-based control device for mitigating flight control according to an embodiment of the present invention. Detailed Implementation

[0021] The following describes specific embodiments of the present invention. It should be noted that, in order to provide a concise description, this specification cannot exhaustively describe all features of the actual embodiments. It should be understood that, in the actual implementation of any embodiment, just as in any engineering or design project, various specific decisions are often made to achieve the developer's specific goals and to meet system-related or business-related constraints, and this can change from one embodiment to another. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this invention, some design, manufacturing, or production modifications based on the technical content disclosed herein are merely conventional technical means and should not be construed as insufficient content of this disclosure.

[0022] Unless otherwise defined, the technical or scientific terms used in the claims and description shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in the patent application description and claims of this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "comprising" or "including" and similar terms mean that the element or object preceding "comprising" or "including" encompasses the element or object listed following "comprising" or "including" and its equivalents, and do not exclude other elements or objects. The terms "connected" or "linked" and similar terms are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0023] Figure 1 This is a schematic diagram of a force sensor-based control device drag mitigation flight control system according to an embodiment of the present invention. Figure 2 This is a logic diagram of a force sensor-based control device for mitigating flight control according to an embodiment of the present invention.

[0024] like Figures 1 to 2 As shown, this invention proposes a flight control system for mitigating drag on control devices based on a force sensor, comprising: The driver's control device, the passenger's control device (hereinafter, unless otherwise distinguished, they may be collectively referred to as "control devices"), and the linkage with a mechanical disengagement mechanism. The driver's control device and the passenger's control device move synchronously through the linkage with the mechanical disengagement mechanism. The mechanical disengagement mechanism is configured to permanently disconnect the linkage between the driver's control device and the passenger's control device when the unilateral control force exceeds the disengagement threshold. Each of the driver's and passenger's control devices is equipped with a redundant position sensor, force sensor, and force sensing mechanism.

[0025] In the force sensor-based flight control system for mitigating drag on control devices according to one embodiment of this disclosure, the force-sensing mechanism can be a component that can sense the application of force, such as a spring or friction device, rather than a component like a force sensor that quantifies and measures the magnitude of the applied force. In other words, in the force sensor-based flight control system for mitigating drag on control devices according to one embodiment of this disclosure, the force-sensing mechanism and the force sensor are two different types (functional) of mechanisms or components.

[0026] In a force sensor-based flight control system for mitigating control device jamming according to one embodiment of this disclosure, when neither the pilot's nor the co-pilot's control devices are jammed, the control devices (pilot's and co-pilot's) move synchronously with each other via a linkage with a mechanical disengagement mechanism. However, when one control device (e.g., the co-pilot's) jams, the pilot forcefully manipulates the other control device (e.g., the pilot's), utilizing the mechanical disengagement mechanism to permanently disengage the control devices from each other, allowing them to move independently. Here, "permanently" does not mean that the control devices are permanently unable to move synchronously again due to complete mechanical damage, but rather that the control devices cannot be synchronized again until the mechanical disengagement mechanism is restored. Once the mechanical disengagement mechanism is restored, the control devices can still move synchronously.

[0027] like Figures 1 to 2 As shown, the force sensor-based control device drag mitigation flight control system of the present invention also includes a flight control computer (or flight control system computer).

[0028] In a force sensor-based flight control system for mitigating control device jamming according to one embodiment of this disclosure, the flight control computer is configured to simultaneously receive force sensor signals from the pilot's control device and the co-pilot's control device. When the difference between the force sensor signals on both sides is less than or equal to a preset force verification threshold, the flight control computer determines that the force sensor signals on both sides are valid. When the difference between the force sensor signals on both sides is greater than the preset force verification threshold, the flight control computer determines that the force sensor signals on both sides are invalid, indicating a force sensor malfunction, and outputs an alarm prompt (to the pilot).

[0029] like Figures 1 to 2 As shown, the flight control computer is configured to: perform the first vote on the redundant position sensor signals of the pilot control device and the co-pilot control device respectively, and generate the first vote value (or first vote value) on the pilot side and the first vote value (or first vote value) on the co-pilot side.

[0030] like Figures 1 to 2 As shown, the flight control computer is also configured to: when both first voting values ​​are valid and the difference between them is less than or equal to the first position difference threshold, perform a second vote based on the two first voting values, and use the second voting value (or second voting value) to control the aircraft control surfaces. This situation indicates that the control devices are in normal condition, without breakage, disengagement, or jamming, and the pilot's control devices and co-pilot's control devices are moving synchronously without abnormalities.

[0031] like Figures 1 to 2 As shown, the flight control computer is also configured to: when both sides of the first voting value are valid and the difference between them is greater than the first position difference threshold, start the dual-dimensional verification process, that is, call the pre-stored control force-displacement standard curve of each control device, compare the measured value of each side force sensor with the theoretical value of the control force corresponding to the current position, and / or compare the measured value of each side redundant position sensor with the theoretical value of the displacement corresponding to the current control force. Based on the comparison results, it is determined whether both position signals (first voting value) are valid position signals or only one side is a valid position signal, thereby controlling the aircraft control surfaces accordingly.

[0032] Preferably, in the force sensor-based control device drag mitigation flight control system of one embodiment of this disclosure, such as Figures 1 to 2 As shown, in the dual-dimensional verification process, if the difference between the two (measured value and theoretical value) is greater than the force threshold or displacement threshold, and the duration exceeds the time threshold, the flight control computer determines that the position signal of the control device on that side is an invalid position signal and suppresses the invalid position signal. If the difference between the two is less than or equal to the force threshold or displacement threshold, the flight control computer determines that the position signal of the control device on that side is a valid position signal and adopts the valid position signal.

[0033] Preferably, in the force sensor-based control device drag mitigation flight control system of one embodiment of this disclosure, such as Figures 1 to 2 As shown, if both position signals are determined to be valid, the flight control computer determines that one side of the linkage has broken or the disengagement mechanism has unexpectedly disengaged. The flight control computer then makes a logical selection based on the first voting values ​​of both signals, using the selected logical value to control the aircraft control surfaces. Preferably, the logical selection includes taking the maximum value of the two signals or taking their sum.

[0034] Preferably, in the force sensor-based control device drag mitigation flight control system of one embodiment of this disclosure, such as Figures 1 to 2As shown, if only one of the position signals on both sides is determined to be a valid position signal, the flight control computer determines that one side of the pilot's control device and the co-pilot's control device is jammed, and the flight control computer uses the valid position signal to control the aircraft's control surfaces.

[0035] Specifically, when either the pilot's or co-pilot's control devices become jammed, due to their mechanical linkage, both devices will simultaneously become jammed in the same position. At this point, the pilot can forcefully manipulate the unjammed control device to mechanically disengage the disengagement mechanism. The jammed control device will remain in the jammed position and continuously output a position signal; the unjammed control device will move in response to the pilot's manipulation. The signal after voting is processed as follows: The flight control computer obtains the theoretical value of the control force (or displacement) corresponding to the current position (or control force) based on the control force-displacement standard curve of each control device. The measured value of the force (or displacement) sensor is compared with the theoretical value of the control force (or displacement). If the difference between the two is greater than the force threshold (or displacement threshold) and the duration exceeds the time threshold, the flight control computer determines that the position signal of the control device on that side is an invalid position signal (i.e., the side is blocked) and suppresses the invalid position signal. If the difference between the two is less than or equal to the force threshold (or displacement threshold), the flight control computer determines that the position signal of the control device on that side is a valid position signal (i.e., the side is not blocked) and uses the valid position signal (i.e., the position signal of the unblocked side) to control the aircraft control surfaces.

[0036] like Figures 1 to 2 As shown, the flight control computer is also configured as follows: When only one of the first voting values ​​(in the pilot's control system and the co-pilot's control system) is valid, the effective side position signal is used to control the aircraft control surfaces (this situation indicates that one side of the redundant position sensor is normal, while the other side of the redundant position sensor is faulty). When both first voting values ​​(in the pilot's and co-pilot's control devices) are invalid, the control device's control authority for the control surfaces is terminated, meaning that the control device cannot control the aircraft's control surfaces (this situation indicates that both redundant position sensors on both sides have malfunctioned).

[0037] In a force sensor-based flight control system for mitigating control device jamming according to one embodiment of this disclosure, the control devices (i.e., the pilot control device and the co-pilot control device) are a control stick or rudder pedal assembly.

[0038] like Figures 1 to 2 As shown, this invention also proposes a flight control method for mitigating drag on a control device based on a force sensor, comprising: The redundant position sensor signals of the driver's control device and the passenger's control device are voted on for the first time to generate the first voting value on the driver's side and the first voting value on the passenger side. Each control device in the driver's control device and the passenger's control device is equipped with a redundant position sensor, a force sensor and a force sensing mechanism. When both sides of the first voting value are valid and the difference between them is greater than the first position difference threshold, the two-dimensional verification process is started. That is, the pre-stored control force-displacement standard curve of each control device is called, the measured value of each side force sensor is compared with the theoretical value of the control force corresponding to the current position, and / or the measured value of each side redundant position sensor is compared with the theoretical value of the displacement corresponding to the current control force. Based on the comparison results, it is determined whether both position signals (first voting value) are valid position signals or only one side is a valid position signal, thereby controlling the aircraft control surfaces accordingly.

[0039] Preferably, in the force sensor-based flight control method for mitigating drag on a control device according to one embodiment of this disclosure, such as... Figures 1 to 2 As shown, in the dual-dimensional verification process, if the difference between the two (measured value and theoretical value) is greater than the force threshold or displacement threshold, and the duration exceeds the time threshold, then the position signal of the control device on that side is determined to be an invalid position signal, and the invalid position signal is suppressed. If the difference between the two is less than or equal to the force threshold or displacement threshold, the position signal of the control device on that side is determined to be a valid position signal, and the valid position signal is adopted.

[0040] Preferably, in the force sensor-based flight control method for mitigating drag on a control device according to one embodiment of this disclosure, such as... Figures 1 to 2 As shown, if both position signals are determined to be valid, it is determined that one side of the linkage has broken or the disengagement mechanism has unexpectedly disengaged. A logical selection is then performed based on the first voting values ​​of both signals, and the logical selection value is used to control the aircraft control surfaces. Preferably, the logical selection includes taking the maximum value of the two signals or taking the sum of the two signals.

[0041] Preferably, in the force sensor-based flight control method for mitigating drag on a control device according to one embodiment of this disclosure, such as... Figures 1 to 2 As shown, if only one of the position signals on both sides is determined to be a valid position signal, it is determined that one side of the pilot's control device and the co-pilot's control device is jammed, and the valid position signal is used to control the aircraft control surfaces.

[0042] According to the above technical solution, the force sensor-based control device drag mitigation flight control system or method of the present invention can achieve the following beneficial technical effects: The pilot's and co-pilot's control devices move synchronously via a linkage with a mechanical disengagement mechanism. If one side of the linkage breaks or the disengagement mechanism unexpectedly disengages, the flight control computer determines a malfunction based on the difference between the initial voting values ​​of the position sensor signals from both control devices exceeding a first threshold. It then determines a valid signal based on the control force and displacement curve to control the aircraft's control surfaces. Compared to existing flight control systems or methods, this system allows control of all aircraft control surfaces from either control device even in the event of a linkage breakage or disengagement mechanism failure. When either the pilot's or co-pilot's control devices become jammed, the pilot can forcefully manipulate the unjammed control device to mechanically disengage the disengagement mechanism. The flight control computer determines a malfunction based on the difference between the initial voting values ​​of the position sensor signals from both control devices exceeding a first threshold. It then uses the force-displacement curve to identify valid signals and control the aircraft's control surfaces, invalidating the position sensor signal of the jammed control device. Compared to existing flight control systems or methods, when either the pilot's or co-pilot's control devices become jammed, the unjammed control device can control all aircraft control surfaces.

[0043] In addition, the present invention adds a single-sided independent force sensor, and adds force signal as a verification dimension of position signal, making the judgment dimensions richer and the logic error rate lower. It can effectively distinguish multiple failure modes such as linkage breakage (unexpected disengagement of the disengagement mechanism), single-sided jamming, and sensor failure.

[0044] The specific embodiments of the present invention have been described above. However, those skilled in the art will understand that the above specific embodiments do not constitute a limitation on the present invention. Those skilled in the art can make various modifications based on the above disclosure without exceeding the scope of the present invention.

Claims

1. A force sensor-based control device drag mitigation flight control system, comprising: The system includes a driver's control device, a passenger's control device, and a linkage with a mechanical disengagement mechanism. The driver's control device and the passenger's control device move synchronously through the linkage with the mechanical disengagement mechanism. The mechanical disengagement mechanism is configured to permanently disconnect the linkage between the driver's control device and the passenger's control device when the unilateral operating force exceeds the disengagement threshold. Each of the driver's control device and the passenger's control device is respectively equipped with a redundant position sensor, a force sensor, and a force sensing mechanism; Flight control computer, wherein the flight control computer is configured as follows: The redundant position sensor signals of the driver's control device and the passenger's control device are voted on for the first time to generate the first voting value on the driver's side and the first voting value on the passenger side. When both sides' first voting values ​​are valid and the difference between them is greater than the first position difference threshold, the dual-dimensional verification process is initiated. That is, the pre-stored control force-displacement standard curve is called, and the measured values ​​of the force sensors on each side are compared with the theoretical values ​​of the control force corresponding to the current position, and / or the measured values ​​of the redundant position sensors on each side are compared with the theoretical values ​​of the displacement corresponding to the current control force. Based on the comparison results, it is determined whether both first voting values ​​are valid position signals or only one side is a valid position signal, thereby controlling the aircraft control surfaces accordingly.

2. The force sensor-based control device drag mitigation flight control system as described in claim 1, characterized in that, In the dual-dimensional verification process, if the difference between the measured value and the theoretical value is greater than the force threshold or displacement threshold, and the duration exceeds the time threshold, the flight control computer determines that the position signal of the control device on that side is an invalid position signal and suppresses the invalid position signal. If the difference between the measured value and the theoretical value is less than or equal to the force threshold or displacement threshold, the flight control computer determines that the position signal of the control device on that side is a valid position signal and adopts the valid position signal.

3. The force sensor-based control device drag mitigation flight control system as described in claim 2, characterized in that, If both position signals are determined to be valid, the flight control computer determines that one side of the linkage has broken or the disengagement mechanism has accidentally disengaged. The flight control computer then makes a logical selection based on the first voting value of the two signals and uses the logical selection value to control the aircraft control surfaces.

4. The force sensor-based control device drag mitigation flight control system as described in claim 2, characterized in that, If only one of the position signals on both sides is determined to be a valid position signal, the flight control computer determines that one of the pilot's control devices and the co-pilot's control devices is jammed, and the flight control computer uses the valid position signal to control the aircraft's control surfaces.

5. The force sensor-based control device drag mitigation flight control system as described in claim 1, characterized in that, The flight control computer is also configured to: The system receives force sensor signals from the driver's control device and the passenger's control device. When the difference between the force sensor signals on both sides is greater than a preset force verification threshold, the system determines that the force sensor is faulty and outputs an alarm prompt.

6. The force sensor-based control device drag mitigation flight control system as described in claim 1, characterized in that, The flight control computer is also configured to: When both first voting values ​​are valid and the difference between them is less than or equal to the first position difference threshold, a second vote is made based on the two first voting values, and the second voting value is used to control the aircraft control surfaces.

7. The force sensor-based control device drag mitigation flight control system as described in claim 1, characterized in that, The flight control computer is also configured to: When only one side's first vote value is valid, the effective side's position signal is used to control the aircraft's control surfaces; When both sides' first voting values ​​are invalid, the control surface authority of the control device is terminated.

8. The force sensor-based control device drag mitigation flight control system as described in claim 3, characterized in that, The logical selection includes taking the maximum value of the two and taking the sum of the two.

9. The force sensor-based control device drag mitigation flight control system as described in claim 1, characterized in that, The driver's control device and the co-driver's control device are a steering wheel or a steering pedal assembly.

10. A flight control method for mitigating drag on a control device based on a force sensor, comprising: The redundant position sensor signals of the driver's control device and the passenger's control device are voted on for the first time to generate the first voting value on the driver's side and the first voting value on the passenger side. Each of the driver's control device and the passenger's control device is equipped with a redundant position sensor, a force sensor and a force sensing mechanism. When both sides' first voting values ​​are valid and the difference between them is greater than the first position difference threshold, the dual-dimensional verification process is initiated. That is, the pre-stored control force-displacement standard curve is called, and the measured values ​​of the force sensors on each side are compared with the theoretical values ​​of the control force corresponding to the current position, and / or the measured values ​​of the redundant position sensors on each side are compared with the theoretical values ​​of the displacement corresponding to the current control force. Based on the comparison results, it is determined whether both first voting values ​​are valid position signals or only one side is a valid position signal, thereby controlling the aircraft control surfaces accordingly.

11. The flight control method for mitigating drag on a control device based on a force sensor as described in claim 10, characterized in that, In the dual-dimensional verification process, if the difference between the measured value and the theoretical value is greater than the force threshold or displacement threshold, and the duration exceeds the time threshold, then the position signal of the control device on that side is determined to be an invalid position signal, and the invalid position signal is suppressed. If the difference between the measured value and the theoretical value is less than or equal to the force threshold or displacement threshold, the position signal of the control device on that side is determined to be a valid position signal, and the valid position signal is adopted.

12. The flight control method for mitigating drag on a control device based on a force sensor as described in claim 11, characterized in that, If both position signals are determined to be valid, it is determined that one side of the linkage has broken or the disengagement mechanism has accidentally disengaged. A logical selection is made based on the first voting value of the two, and the logical selection value is used to control the aircraft control surfaces.

13. The flight control method for mitigating drag on a control device based on a force sensor as described in claim 11, characterized in that, If it is determined that only one of the position signals on both sides is a valid position signal, then it is determined that one side of the pilot's control device and the co-pilot's control device is jammed, and the valid position signal is used to control the aircraft control surfaces.

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