A real-time loading control method and system for an aircraft landing gear

Abstract

This invention provides a real-time loading control method and system for aircraft landing gear, belonging to the field of aircraft landing gear control technology. The method includes, based on received test task instructions, parallel loading control parameters and a dynamic safety threshold parameter set generated based on preset loading task information to corresponding control threads and independent safety protection threads; calculating reference control instructions; simultaneously, the safety protection thread performs multi-threshold safety adjudication on landing gear load signals and landing gear position signals based on the dynamic safety threshold parameter set, generating safety intervention instructions; performing safety intervention processing on the reference control instructions according to the safety intervention instructions, generating drive instructions; and controlling actuators to perform real-time loading actions on the landing gear according to the drive instructions until all preset loading tasks are completed. This invention achieves decoupled parallel execution of control calculation and safety monitoring by setting independent control threads and safety protection threads and loading parameters in parallel into a dual-thread architecture.

Description

Technical Field

[0001] This invention relates to the field of aircraft landing gear control technology, specifically to a real-time loading control method and system for aircraft landing gear. Background Technology

[0002] As the core load-bearing component during takeoff, landing, and taxiing, the landing gear's load response characteristics and structural bearing capacity directly determine the safety of aircraft ground operations. Implementing high-precision and high-reliability real-time loading control of the landing gear is a key link in simulating and verifying various working conditions of the landing gear, and related technologies have become an important research direction in the field of aerospace engineering.

[0003] Existing technologies mostly employ a single-threaded, integrated control architecture, deeply coupling loading control calculations and safety monitoring functions within the same control thread. These two functions share system computing resources and cannot be independently scheduled. When processing control calculations involving complex pre-set loading task information, a significant amount of system resources are consumed by the control logic, leading to a reduction in the execution priority of the safety monitoring module and a significant increase in response latency, making it difficult to achieve millisecond-level real-time safety protection. Furthermore, when the landing gear encounters dangerous conditions such as sudden overload or position exceeding travel limits, the generation and execution of safety protection commands are easily interrupted by the blocked control calculation process, preventing timely intervention in control variables. This can easily cause overload damage to actuators or critical landing gear components, compromising the safety and reliability of the loading control process. Summary of the Invention

[0004] The purpose of this invention is to provide a real-time loading control method and system for aircraft landing gear, which enables high-precision and high-reliability real-time loading control of aircraft landing gear.

[0005] To achieve the above objectives, the present invention provides a real-time loading control method for aircraft landing gear, comprising: according to a received test task instruction, parallel loading control parameters and a dynamic safety threshold parameter set generated based on preset loading task information are sent to a corresponding control thread and an independent safety protection thread; the control thread calculates a reference control instruction based on the control parameters, real-time acquired landing gear load signals and landing gear position signals; simultaneously, the safety protection thread performs multi-threshold safety adjudication on the landing gear load signals and landing gear position signals based on the dynamic safety threshold parameter set, generating a safety intervention instruction; according to the safety intervention instruction, the reference control instruction is subjected to safety intervention processing to generate a drive instruction; according to the drive instruction, the actuator is controlled to perform a real-time loading action on the landing gear until all preset loading tasks are completed.

[0006] Optionally, the dynamic safety threshold parameter set generated based on the preset loading task information is segmented according to the loading stage of the preset loading task information, and different load thresholds and displacement thresholds are configured for different loading stages.

[0007] Optionally, the control thread and the independent security protection thread run in parallel in the real-time operating system with different task priorities, and periodically exchange synchronous data through the security instruction interaction area.

[0008] Optionally, when calculating the reference control command, the control thread performs online compensation on the calculation process based on the real-time acquired landing gear load signal and landing gear position signal to reduce control deviations caused by structural flexibility and friction.

[0009] Optionally, before performing multi-threshold safety decisions, the safety protection thread performs signal validity checks on the landing gear load signal and the landing gear position signal. The signal validity checks include at least range checks and abrupt change checks.

[0010] Optionally, the multi-threshold safety decision includes: comparing the landing gear load signal, the landing gear position signal, and the deviation between the landing gear load signal and the target load with the corresponding load threshold, displacement threshold, and error threshold, respectively; generating safety intervention commands of different levels according to the severity and duration of parameter exceedance; wherein, for exceedance within a single control cycle, a first-level decision result is generated, matching a first-level safety intervention command; for exceedance across multiple consecutive control cycles, a second-level decision result is generated, matching a second-level safety intervention command with an intervention level greater than the first level.

[0011] Optionally, the first level of security intervention instruction is a limiting instruction or a holding instruction, and the second level of security intervention instruction is an output zeroing instruction; the security protection thread selects to generate the corresponding level of security intervention instruction according to the severity of the parameter exceeding the limit.

[0012] Optionally, the security protection thread also receives an external security chain signal and arbitrates the external security chain signal with the result of the multi-threshold security decision to determine the final decision result level; wherein the external security chain signal is given the highest priority in the arbitration.

[0013] Optionally, the generation of driving instructions includes: when the safety intervention instruction is a correction instruction, the control thread adjusts the reference control instruction according to the safety intervention instruction and outputs the driving instruction.

[0014] On the other hand, the present invention provides a real-time loading control system for aircraft landing gear, for implementing a real-time loading control method for aircraft landing gear. The system includes a control module, the control module including a memory, a processor and a computer program stored in the memory and executable on the processor, the processor executing the computer program to implement the real-time loading control method for aircraft landing gear.

[0015] The above technical solution, by setting up independent control and safety protection threads and loading parameters in parallel into a dual-thread architecture, achieves decoupled parallel execution of control calculations and safety monitoring. The safety protection thread can dynamically generate thresholds based on preset loading task information, enabling rapid response to sudden operating conditions. This effectively eliminates the safety response delays and resource contention risks caused by single-thread coupling, improving the safety and reliability of landing gear loading control. The multi-threshold collaborative adjudication and flexible safety intervention mechanism avoids false alarms or abrupt stops caused by single signal fluctuations, ensuring both the continuity and stability of the loading task and improving the system's adaptation accuracy and execution efficiency to complex load spectra.

[0016] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of a real-time loading control method for aircraft landing gear.

[0018] Figure 2 This is a flowchart of the architecture of an aircraft landing gear real-time loading control and safety protection system. Detailed Implementation

[0019] The following is in conjunction with the appendix Figure 1 - Appendix Figure 2 The specific implementation methods of the embodiments of the present invention will be described in detail below. It should be understood that the specific implementation methods described herein are only for illustrating and explaining the embodiments of the present invention, and are not intended to limit the embodiments of the present invention.

[0020] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with the relevant provisions of national laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0021] In the process of realizing this invention, the inventors of this application discovered that the prior art adopts a single-threaded integrated control architecture, which deeply couples the landing gear loading control calculation with the safety monitoring function. This is prone to causing delays in safety monitoring response due to system resource contention, and cannot meet the high precision, high real-time performance and high reliability requirements of real-time loading control of aircraft landing gear.

[0022] Example 1 Reference Figures 1-2 This is the first embodiment of the present invention, which provides a real-time loading control method for aircraft landing gear, comprising: S100: Based on the received test task instructions, load control parameters and a set of dynamic security threshold parameters generated based on preset loading task information in parallel to the corresponding control thread and independent security protection thread.

[0023] In the embodiments of this application, the dynamic safety threshold parameter set generated based on the preset loading task information is segmented according to the loading stage of the preset loading task information, and different load thresholds and displacement thresholds are configured for different loading stages.

[0024] It should be noted that the control thread and the independent security protection thread run in parallel in the real-time operating system with different task priorities, and periodically exchange synchronization data through the security instruction interaction area.

[0025] In a preferred embodiment of this application, after the dedicated system for real-time loading control of the aircraft landing gear is powered on, a hardware self-test program is initiated and executed. This includes integrity and validity checks on the analog I / O module, the reflective memory I / O module, and the connection status of sensors and actuators to ensure that the hardware links are fault-free. After the hardware self-test passes, the software module initialization process is initiated, sequentially starting the configuration / command receiving thread, the control thread, the independent safety protection thread, and the real-time data upload thread, completing the initialization and construction of shared memory and data queues between threads. The safety command interaction area is functionally divided into parameter area, real-time data area, and safety command interaction area, etc. A globally unified clock synchronization mechanism also needs to be established to provide a time reference for the parallel operation of each thread. The safety protection thread preloads a set of basic safety parameters and constructs an initial safety model parameter set based on them. This parameter set includes basic load reference values, structural equivalent stiffness, and initial error weighting coefficients, which can provide basic model support for the real-time calculation of the subsequent dynamic safety threshold parameter set, thereby ensuring basic safety protection capabilities during the startup phase before dynamic threshold generation.

[0026] The parallel loading of test task instructions and control parameters is performed by the configuration / instruction receiving thread. This thread receives and parses test task instruction packets from the host computer by listening to a real-time UDP port and monitoring the safety instruction interaction area. The instruction packet contains at least control gain parameters, condition identifiers characterizing the landing type and impact level, and preset loading task information for generating safety thresholds. The preset loading task information may include one or more of the following: target load spectrum, safety envelope parameters derived from historical test data, or threshold benchmarks generated from offline simulation models. After parsing, the thread writes the control gain parameters and preset loading task information to a designated parameter area in the system's shared memory. Subsequently, the control thread reads and loads this parameter set from this area, thus completing its own initialization.

[0027] Furthermore, the safety protection thread reads the preset loading task information and operating condition identifiers from shared memory. Based on the initial safety model parameter set, and combined with this information (such as the dynamic change characteristics of the target load spectrum or the safety boundary given by the simulation model), it calculates and generates a dynamic safety threshold parameter set in real time. The dynamic safety threshold parameter set includes dynamic load threshold, dynamic displacement threshold, and dynamic error threshold. The calculation formula for each threshold can be adapted according to the specific type of the preset loading task information. For example, when the preset loading task information includes a target load spectrum, the dynamic load threshold can be calculated based on the target load spectrum, as shown in the following formula: Dynamic load threshold:

[0028] in, Indicates the dynamic load threshold. This represents the reference value for the base load, determined by the landing gear design manual. This represents the load change rate correction factor, ranging from 0.2 to 0.5 (with a larger value for flexible landing gear and a smaller value for rigid landing gear). The target load spectrum is represented by the test mission command package.

[0029] Dynamic displacement threshold:

[0030] in, Indicates the dynamic displacement threshold. This indicates the equivalent stiffness of the landing gear. The historical displacement deviation correction coefficient is initially calibrated through offline simulation under typical working conditions and inversion of historical test data, and finally verified and fine-tuned in ground safety margin tests. This represents the historical deviation value of the landing gear displacement.

[0031] Dynamic error threshold:

[0032] in, This represents a static baseline error threshold determined based on system noise and normal tracking error. Indicates the dynamic error threshold. The error correction coefficient is initially calibrated through offline simulation under typical operating conditions and inversion of historical test data, and finally verified and fine-tuned in ground safety margin tests. This represents the actual load value collected in real time.

[0033] A dynamic safety threshold parameter set is generated based on preset loading task information, and segmented settings are made according to the loading tasks defined by the preset loading task information (such as loading stages based on the target load spectrum). Combined with the landing gear operating condition characteristics corresponding to the operating condition identifier, differentiated load thresholds and displacement thresholds are configured for different loading stages to adapt to the structural bearing characteristics and safety protection requirements of the landing gear at different loading stages.

[0034] Furthermore, after the security protection thread completes the generation of the dynamic security threshold parameter set, it loads it into the local runtime parameter area, thus completing the parameter initialization of the security protection thread.

[0035] The control thread, having completed loading the control parameters, and the independent safety protection thread, having completed loading the dynamic safety threshold parameter set, are started and run in parallel within the real-time operating system. Different task priorities are configured for the control thread and the safety protection thread to ensure the high-priority execution and millisecond-level response of the safety protection thread. The system safety command interaction area is configured as a dedicated data interaction area for both threads, with a periodic data synchronization exchange frequency set. This allows the control thread and the safety protection thread to periodically synchronize data such as landing gear load signals, position signals, and target parameters through the safety command interaction area. Data exchange in the safety command interaction area employs mutex locks or atomic operation mechanisms to ensure consistency and real-time performance of data read / write operations between the two threads.

[0036] The above solution ensures that the safety monitoring function runs independently and with high priority from system startup by loading parameters in parallel for the control thread and the independent safety protection thread. Simultaneously, by dynamically generating safety thresholds based on preset loading task information, the safety defense system can intelligently match the mechanical characteristics of the landing gear at different loading stages, improving the accuracy of protection.

[0037] S200: The control thread calculates reference control commands based on control parameters, real-time acquired landing gear load signals and landing gear position signals. At the same time, the safety protection thread performs multi-threshold safety adjudication on the landing gear load signals and landing gear position signals based on a dynamic safety threshold parameter set, and generates safety intervention commands.

[0038] It should be noted that multi-threshold safety adjudication refers to the real-time comparison of multiple key parameters such as load, displacement, and error with their corresponding dynamically changing thresholds, i.e., "multiple thresholds." These dynamic thresholds together constitute a multi-dimensional dynamic safety envelope that changes with the stage of the loading task and the operating conditions. Essentially, it implements a parameterized envelope protection for complex loading processes.

[0039] In the embodiments of this application, during the real-time loading control process, the real-time load signal and position signal of the landing gear are synchronously acquired at the millisecond level by force sensor and displacement sensor, and the acquired raw signals are written into the designated data area of ​​the system shared memory in real time, so that the control thread and the independent safety protection thread can synchronously read the landing gear status information from the same source based on a unified system clock reference.

[0040] In the embodiments of this application, when calculating the reference control command, the control thread performs online compensation on the calculation process based on the real-time acquired landing gear load signal and landing gear position signal to reduce the control deviation caused by structural flexibility and friction.

[0041] In a preferred embodiment of this application, the control thread reads the loaded control parameters, preset loading task information (such as the target load spectrum), and real-time acquired load and position signals from the safety command interaction area. It first calculates the real-time load error using the following formula:

[0042] in, Indicates real-time load error. Represents the target load spectrum. This indicates the landing gear load signal acquired in real time.

[0043] Subsequently, based on real-time acquired load and position signals, online dynamic compensation is performed on the control calculation process to address systematic deviations introduced by the landing gear structural flexibility, actuator, and transmission friction. For example, based on a pre-established friction and structural model, combined with real-time acquired load and position signals, the system deviations are dynamically predicted and offset. The position signals (and their derived velocity and other states) are primarily used to directly calculate the feedforward compensation amount for frictional disturbance forces and structural deformation caused by motion. The real-time load signals provide crucial force state feedback for the core control algorithm. On one hand, they are used for online fine-tuning and adaptive correction of the aforementioned feedforward compensation model parameters or output gain, ensuring that the compensation force accurately matches the actual stress conditions. On the other hand, the error between the load and the target load also serves as an important input to the compensation logic. Ultimately, the dynamic compensation amount generated in this process is superimposed on the control output in the form of real-time feedforward, or directly used to correct the error signal, thereby proactively offsetting structural disturbances before they affect control performance, achieving dynamic and accurate compensation combined with the current actual operating conditions.

[0044] Finally, based on the compensated load error, real-time position signal, and control gain parameters, the reference control command is calculated using a preset core control algorithm to complete the core operation.

[0045] In the embodiments of this application, before performing multi-threshold safety decisions, the safety protection thread performs signal validity checks on the landing gear load signal and the landing gear position signal. The signal validity checks include at least range checks and abrupt change checks.

[0046] The measurement range check determines whether the signal value is within the sensor's rated measurement range; if it exceeds the range, the signal is deemed invalid. The mutation check calculates the rate of change of the signal within adjacent control cycles; if the rate of change exceeds a preset signal mutation threshold, the signal is deemed invalid. If the signal check is invalid, the safety protection thread directly triggers a preset abnormal safety response; if the signal check is valid, the validated valid signal is passed to the subsequent multi-threshold safety adjudication process.

[0047] In the embodiments of this application, the multi-threshold safety decision includes: comparing the landing gear load signal, the landing gear position signal, and the deviation between the landing gear load signal and the target load with the corresponding load threshold, displacement threshold, and error threshold, respectively; generating safety intervention commands of different levels according to the severity and duration of parameter exceedance; wherein, for exceedance within a single control cycle, a first-level decision result (mild exceedance) is generated, matching a first-level safety intervention command; for exceedance across multiple consecutive control cycles, a second-level decision result (severe exceedance) is generated, matching a second-level safety intervention command with an intervention level greater than the first level.

[0048] The first-level safety intervention instruction is a limiting instruction or a hold instruction, and the second-level safety intervention instruction is an output zeroing instruction; the safety protection thread selects and generates the corresponding level of safety intervention instruction based on the severity of the parameter exceeding the limit.

[0049] In a preferred embodiment of this application, the security protection thread also receives an external security chain signal and arbitrates the external security chain signal with the result of the multi-threshold security decision to determine the final decision result level; wherein, the external security chain signal is given the highest priority in the arbitration. The specific rules are as follows: If an external safety chain signal triggers a dangerous state (such as an emergency stop signal or a hardware failure signal), regardless of whether the original multi-threshold safety decision is Level 1 or Level 2, the final decision level will be directly determined as Level 2 (severe over-limit).

[0050] If the external safety chain signal is in a normal state, the original adjudication result level will be used as the final adjudication result level.

[0051] If the final ruling is a Level 1 ruling (minor over-limit), a Level 1 safety intervention instruction (limiting instruction or holding instruction) will be generated. If the final ruling is a Level 2 ruling (severe over-limit), a Level 2 security intervention instruction is generated (output zeroing instruction).

[0052] The security protection thread selects and generates the corresponding level of security intervention instruction based on the severity of the parameter exceeding the limit (minor or severe), and writes the generated instruction into the security instruction interaction area for the control thread to read and execute.

[0053] The aforementioned scheme, by incorporating online dynamic compensation for structural flexibility and friction into the control thread, effectively improves the accuracy of load tracking and system stability. Simultaneously, an independent safety protection thread performs real-time validity verification and multi-threshold (load, displacement, error) adjudication on signals originating from the same source. Based on the severity and persistence of exceeding limits, it generates different levels of safety intervention commands (e.g., limiting amplitude for minor exceedances, resetting to zero for severe exceedances). This design enables flexible suppression in the early stages of risk, only executing rigid interruptions when the danger escalates, thus maximizing the continuity of testing tasks and the validity of data while firmly establishing a safety baseline.

[0054] S300: Based on the safety intervention instructions, perform safety intervention processing on the reference control instructions and generate drive instructions.

[0055] In the embodiments of this application, when the safety intervention instruction is a correction instruction, the control thread adjusts the reference control instruction according to the safety intervention instruction and outputs the drive instruction.

[0056] In a preferred embodiment of this application, within each control cycle, the control thread reads the security intervention command issued by the security protection thread from the security command-specific area of ​​the system security command interaction area, and decodes the command through the built-in command parsing module to obtain its core information. The core information includes the command level, specific type, and its corresponding timestamp. The control thread synchronously acquires the reference control command calculated and generated in the current cycle, the valid drive commands output in the previous cycle, and the drive capability parameters of the actuator hardware.

[0057] Based on the parsed security intervention instruction type, the control thread executes the corresponding security intervention algorithm. When the instruction is a correction instruction to a first-level security intervention instruction, the specific rules are as follows: If the command is parsed as a Level 1 safety intervention command (amplitude limiting command), the control thread performs amplitude limiting correction on the reference control command based on the preset actuator safety output range (determined by actuator hardware parameters and landing gear structural safety boundaries). The correction formula is as follows:

[0058] in, This represents the final intervention reference control command after amplitude limiting correction within the t-th control cycle. This indicates the minimum safety control command permitted by the actuator and landing gear system; This indicates the maximum safe control command allowed for the actuator and landing gear system. This represents the landing gear loading reference control command calculated by the control thread using a preset control algorithm within the t-th control cycle, without any safety intervention.

[0059] If the instruction is parsed as a Level 1 safety intervention instruction (hold instruction), the control thread will replace the reference control instruction with the valid drive instruction value of the previous control cycle, so that the actuator maintains the current loading state, avoids frequent adjustments to the loading action due to brief signal fluctuations, and ensures the stability of the loading process.

[0060] If the command is parsed as a Level 2 safety intervention instruction (output zeroing instruction), the control thread will directly force the reference control instruction to 0, quickly terminate the actuator loading action, and avoid irreversible damage to the landing gear or actuator due to severe over-limit.

[0061] Furthermore, the control thread performs validity checks on the reference control instructions after security intervention, and the checks include the following dimensions: Numerical validity: Determine whether the reference control command after security intervention is a valid value that is not NaN or infinite; Hardware compatibility: Determine whether the reference control command, after being processed by safety intervention, is converted into an actuator drive signal within the rated output range of the hardware; If the validity check passes, proceed to the next step; if the validity check fails, the fallback protection mechanism is triggered. The control thread will ignore the currently calculated reference control instruction and generate an instruction that drives the reference control instruction to return to zero smoothly and quickly according to the preset safe shutdown trajectory or rate limit. The instruction exception log (including exception type, reference control instruction, and intervention instruction type) will be recorded to facilitate subsequent fault tracing.

[0062] Furthermore, the control thread determines the intervention reference control instruction that passes the validity check as the final driving instruction, adds a globally unique instruction ID and execution cycle identifier to the instruction, and writes it into the real-time execution queue of the control thread and the actuator driver module. The execution queue adopts a FIFO (First-In-First-Out) mechanism to ensure that the driving instructions are executed in the order of the control cycle, and the "latest driving instruction" field in the shared memory is updated synchronously after the instruction is written, so that the security protection thread can monitor the instruction status in real time.

[0063] The above scheme involves the control thread executing corresponding intervention algorithms based on the received security commands of different levels: "limiting" or "holding" commands are met with restrictive output to correct or freeze the current state. "Output to zero" commands terminate output, achieving emergency protection. The subsequent addition of reference control command validity verification and fallback protection mechanisms constitutes the final software barrier against the issuance of abnormal commands. By adding unique identifiers to commands and employing First-In-First-Out (FIFO) queue management, the orderly and traceable nature of all security intervention actions is ensured, enhancing the system's fault tolerance and post-event analysis capabilities.

[0064] S400: Controls the actuators to perform real-time loading actions on the landing gear according to the drive commands until all preset loading tasks are completed.

[0065] The present invention also provides a real-time loading control system for aircraft landing gear, for implementing a real-time loading control method for aircraft landing gear. The system includes a control module, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the computer program to implement the real-time loading control method for aircraft landing gear.

[0066] This invention provides a storage medium storing a program that, when executed by a processor, implements a real-time loading control method for aircraft landing gear.

[0067] This invention provides a processor for running a program, wherein the program executes a real-time loading control method for aircraft landing gear.

[0068] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements a real-time loading control method for aircraft landing gear. The device described herein can be a server, PC, tablet, mobile phone, etc.

[0069] This application also provides a computer program product that, when executed on a data processing device, is suitable for performing a real-time loading control method for aircraft landing gear.

[0070] Those skilled in the art will understand that embodiments of this application can provide methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0071] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0072] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0073] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0074] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0075] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0076] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0077] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0078] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A real-time loading control method for aircraft landing gear, characterized in that, include: Based on the received test task instructions, control parameters and a set of dynamic safety threshold parameters generated based on preset loading task information are loaded in parallel to the corresponding control thread and independent safety protection thread. The control thread calculates reference control commands based on the control parameters, real-time acquired landing gear load signals and landing gear position signals. Meanwhile, the safety protection thread performs multi-threshold safety adjudication on the landing gear load signals and landing gear position signals based on the dynamic safety threshold parameter set, and generates safety intervention commands. Based on the safety intervention instruction, the reference control instruction is processed for safety intervention to generate a drive instruction; The actuators are controlled according to the drive commands to perform real-time loading actions on the landing gear until all preset loading tasks are completed.

2. The real-time loading control method for aircraft landing gear according to claim 1, characterized in that, The dynamic safety threshold parameter set generated based on the preset loading task information is segmented according to the loading stage of the preset loading task information, and different load thresholds and displacement thresholds are configured for different loading stages.

3. The real-time loading control method for aircraft landing gear according to claim 1, characterized in that, The control thread and the independent security protection thread run in parallel in the real-time operating system with different task priorities, and periodically exchange synchronous data through the security instruction interaction area.

4. The real-time loading control method for aircraft landing gear according to claim 1, characterized in that, When calculating reference control commands, the control thread performs online compensation based on real-time acquired landing gear load signals and landing gear position signals to reduce control deviations caused by structural flexibility and friction.

5. The real-time loading control method for aircraft landing gear according to claim 1, characterized in that, Before making a multi-threshold safety decision, the safety protection thread performs a signal validity check on the landing gear load signal and the landing gear position signal. The signal validity check includes at least range check and abrupt change check.

6. The real-time loading control method for aircraft landing gear according to claim 1, characterized in that, The multi-threshold security decision includes: The landing gear load signal, landing gear position signal, and the deviation between the landing gear load signal and the target load are compared with the corresponding load threshold, displacement threshold, and error threshold, respectively. Based on the severity and duration of parameter exceeding limits, generate different levels of safety intervention instructions; Specifically, for exceeding limits within a single control cycle, a Level 1 decision result is generated, matching a Level 1 safety intervention instruction; for exceeding limits across multiple consecutive control cycles, a Level 2 decision result is generated, matching a Level 2 safety intervention instruction with a level of intervention greater than Level 1.

7. The real-time loading control method for aircraft landing gear according to claim 6, characterized in that, The first level of security intervention instruction is a limiting instruction or a holding instruction, and the second level of security intervention instruction is an output zeroing instruction; the security protection thread selects and generates the corresponding level of security intervention instruction according to the severity of the parameter exceeding the limit.

8. The real-time loading control method for aircraft landing gear according to claim 1, characterized in that, The security protection thread also receives external security chain signals and arbitrates the external security chain signals with the results of the multi-threshold security adjudication to determine the final adjudication result level. The external safety chain signal is given the highest priority in the arbitration.

9. The real-time loading control method for aircraft landing gear according to claim 1, characterized in that, The generation of driving instructions includes: when the safety intervention instruction is a correction instruction, the control thread adjusts the reference control instruction according to the safety intervention instruction and outputs the driving instruction.

10. A real-time loading control system for aircraft landing gear, characterized in that, The system includes a control module, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the computer program to implement the real-time loading control method for aircraft landing gear according to any one of claims 1-9.

Images