CN105700615A - Airplane active side lever system - Google Patents
Airplane active side lever system Download PDFInfo
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- CN105700615A CN105700615A CN201610105039.9A CN201610105039A CN105700615A CN 105700615 A CN105700615 A CN 105700615A CN 201610105039 A CN201610105039 A CN 201610105039A CN 105700615 A CN105700615 A CN 105700615A
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- axle
- torque motor
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- stick
- microcontroller
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/04—Initiating means actuated personally
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
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- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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Abstract
The present invention discloses an airplane active side lever system. The airplane active side lever system comprises a monitoring module and a side level module. The monitoring module communicates the side level module through a serial port communication mode, and the format and the length of a communication data packet are constant. The monitoring module is able to obtain the real-time state of data of a control stick and set the work modes of the side level module, wherein the work modes include a follow-up mode, a balancing mode, an active mode and a passive mode. The balancing mode, the active mode and the passive mode can be switched by inputting instructions through the monitoring module or be switched by buttons on a side lever handle, the balancing mode and the active mode are switched by a balancing switch at the top of the side level handle, and the passive mode and the active mode are switched by a switching switch at the side surface of the side lever handle; and the monitoring module sends instructions to the follow-up mode which is switched in the active mode and the balancing mode.
Description
Technical field
The present invention relates to aircraft control system, particularly relate to a kind of aircraft master end lever system。
Background technology
The artificial feel system of aircraft can make pilot have control power sense when operating aircraft, it is possible to affects the maneuvering performance of aircraft, is the highly important ingredient of flight control system。At present, most of aircrafts all have employed fly-by-wire flight control system, and wherein, spring-loaded passive control stick system constitutes the artificial feel system of these aircrafts。Such control stick has foolproof structure, installs very convenient, operates also very stable, but maximum shortcoming is to be changeless proportional relationship between control force and bar displacement, it is impossible to the state of flight of reflection aircraft；Owing to pilot is not felt by the state of flight of aircraft, the flight quality of aircraft and handling quality can decline to some extent。In order to avoid this shortcoming, actively control stick system is arisen at the historic moment。This control stick system and flight control system constitute closed loop so that flight control computer can with control stick intercommunication in real time。Adopting after in this way, pilot can judge the state of flight of aircraft exactly by the power on control stick grip, therefore can improve handling characteristic and the flight quality of aircraft。
Existing master end lever system, on same aircraft type, it is impossible to according to the different self-defined stick force displacement curves of aerial mission, causes that actively side lever does not play bigger advantage；Existing active side lever generally removes Passive Mode, or adopts the switch mode of motor。
Summary of the invention
The technical problem to be solved is for defect involved in background technology, it is provided that a kind of aircraft master end lever system。
The present invention solves above-mentioned technical problem by the following technical solutions:
A kind of aircraft master end lever system, comprises monitoring module and side lever module；
Described monitoring module is used for sending instructions to described side lever module, and controls storage and the real time status information of display side lever module；
Described side lever module comprises control stick, the first micro-control unit and the second micro-control unit；
Described control stick comprises housing, handle, stick force sensor, the body of rod, the first axle, the second axle, pair of bearings and second pair of bearing；
Described first axle, the second axle adopt the form of interior housing, and the first axle is inner axis, and the second axle is housing axle, and the first axle can at the slide of the second axle；
Described housing is the rectangle of upper and lower opening, and pair of bearings, the second countershaft holding are correspondingly arranged in its four wall in the heart；
Described first axle, the second axle are respectively through pair of bearings, second pair of loading ability of bearing, and described housing is all stretched out at two ends；
The lower end of the described body of rod is connected with the first axle, and upper end is connected with the bottom of stick force sensor, and the top of stick force sensor is connected with handle；
Described stick force sensor is for measuring the power that pilot is applied on control stick grip；
Described handle is provided with the switching switch of the mode of operation for switching side lever module, and described mode of operation comprises aggressive mode, follower model, trim pattern and Passive Mode；
Described first micro-control unit comprises the first rotating potentiometer, the first gear reduction unit, the first torque motor, the first encoder, the first microcontroller, a PWM motor drive module, the first solid-state relay, first handle power modulating signal circuit, the first angular displacement signal modulation circuit and the first current sensor；
The input of described first rotating potentiometer and one end of the first axle connect, and outfan and the first angular displacement signal modulation circuit input are connected；
Described first gear reduction unit is fixing on the housing by ring flange, and the other end of delivery outlet and the first axle connects, and one end of input hole and the first torque motor output shaft connects；
The code-disc of described first encoder and the other end of the first torque motor output shaft connect, and for measuring the rotating speed of the first torque motor output shaft, and pass it to described first microcontroller；
The input of described first handle power modulating signal circuit and stick force sensor circuit are electrically connected；
A described PWM motor drive module outfan is electrically connected by the first solid-state relay and described first torque motor；
Described first current sensor is for sensing the armature supply of the first torque motor, and passes it to described first microcontroller；
Described first microcontroller respectively with the outfan of first handle power modulating signal circuit, the input of the oneth PWM motor drive module, the control end of the first solid-state relay, the outfan of the first angular displacement signal modulation circuit, the outfan of the first encoder, first current sensor, stick force sensor, and monitoring module is electrically connected, for according to obtain stick force sensor on the first axle stick force output signal, the armature current signal of the first torque motor, the tach signal output PWM of the angular signal of the first angular displacement signal modulation circuit and the first torque motor is to ripple the oneth PWM motor drive module, control the operation of the first torque motor, serial port function and monitoring module by self being with carry out serial communication simultaneously, the status information of side lever device is transmitted to monitoring module；
Described second micro-control unit comprises the second rotating potentiometer, the second gear reduction unit, the second torque motor, the second encoder, the second microcontroller, the 2nd PWM motor drive module, the second solid-state relay, the second angular displacement signal modulation circuit, second handle power modulating signal circuit, gear reduction box, quadrant and the second current sensor；
The input of described second rotating potentiometer and one end of the second axle connect, and outfan is connected with the second angular displacement signal modulation circuit input；
The described other end of the second axle is connected with the input gear of gear reduction box, and the output gear of gear reduction box is connected with the output shaft of quadrant；
Described quadrant is fixing on the housing by ring flange, and the delivery outlet of input and the second gear reduction unit connects；
Described second gear reduction unit is fixing on the housing by ring flange, and one end of input hole and the second torque motor output shaft connects；
The code-disc of described second encoder and the other end of the second torque motor output shaft connect, and for measuring the rotating speed of the second torque motor output shaft, and pass it to described second microcontroller；
The input of described second handle power modulating signal circuit and stick force sensor circuit are electrically connected；
Described 2nd PWM motor drive module outfan is electrically connected by the second solid-state relay and described second torque motor；
Described second current sensor is for sensing the armature supply of the second torque motor, and passes it to described second microcontroller；
Described second microcontroller respectively with the outfan of second handle power modulating signal circuit, the input of the 2nd PWM motor drive module, the control end of the second solid-state relay, the outfan of the second angular displacement signal modulation circuit, the outfan of the second encoder, second current sensor, stick force sensor, and monitoring module is electrically connected, for according to obtain stick force sensor on the second axle stick force output signal, the armature current signal of the second torque motor, the tach signal output PWM ripple of the angular signal of the second angular displacement signal modulation circuit and the second torque motor is to the 2nd PWM motor drive module, control the operation of the second torque motor, serial port function and monitoring module by self being with carry out serial communication simultaneously, the status information of side lever device is transmitted to monitoring module。
As the one aircraft master end of the present invention further prioritization scheme of lever system, described monitoring module comprises communication unit, control unit, stick force curve arrange unit, mode instruction input block, display unit and storage element, and described control unit arranges unit respectively with communication unit, stick force curve, mode instruction input block, display unit, storage element are electrically connected；
Described communication unit is connected with described first microcontroller, the second microcontroller respectively, for carrying out serial communication with side lever module；
Described stick force curve arranges unit for input lever force curve parameter, and passes it to described control unit；
Described mode instruction input block is for arranging the mode of operation of side lever module, and passes it to described control unit；
Described display unit for showing the real time status information of side lever module with output box, virtual meter panel and curve chart；
Described storage element is for storing the real time status information of side lever module；
Described control unit is used for sending instructions to described side lever module, and controls storage and the real time status information of display side lever module。
As the one aircraft master end of the present invention further prioritization scheme of lever system, described stick force sensor adopts 2 dimension resistance-strain chip stick force sensors, respectively the power on corresponding first axle and the power on the second axle。
As the one aircraft master end of the present invention further prioritization scheme of lever system, described first, second gear reduction unit adopts accurate planetary reducer。
As the one aircraft master end of the present invention further prioritization scheme of lever system, the rareearth permanent-magnet DC that described first, second torque motor adopts voltage at peak torque to be 27V has brushing force torque motor。
As the one aircraft master end of the present invention further prioritization scheme of lever system, described quadrant adopts elaborate servo bevel gear quadrant。
As the one aircraft master end of the present invention further prioritization scheme of lever system, described first, second microcontroller adopts STM32 chip。
As the one aircraft master end of the present invention further prioritization scheme of lever system, the precision rotation Middle Eocene device that described first, second rotating potentiometer adopts electric angle to be 90 degree。
As the one aircraft master end of the present invention further prioritization scheme of lever system, described first, second encoder adopts the incremental encoder of high line number。
As the one aircraft master end of the present invention further prioritization scheme of lever system, described first, second current sensor adopts Hall closed-loop current sensors。
The present invention adopts above technical scheme compared with prior art, has following technical effect that
1. can reduce the volume and weight of aircraft actively control stick system, more have actual equipment meaning；
2. control stick can be made to have response speed faster by design control law；
3. the neutral position of control stick system, it is possible to the custom according to pilot, convenient regulate, and control stick to return middle process rapid, in returning, position is accurate；
4. the stick force information of degree of precision can be provided；
5. being switched by solid-state relay so that hardware configuration is simple, control simple, actively side lever is more stable, it is possible to work at worse airborne circumstance。
6. the stick force opened loop control of this system has had degree of precision, and when stick force feedback transducer lost efficacy, this system timely automated can be controlled to be switched to open loop stick force by closed loop stick force and control so that the aggressive mode of this system is more stable。
7. can solve because aircraft vehicle vibrations or aspect tilt caused control stick mistake input problem；
8. when control stick system is switched to Passive Mode by aggressive mode, it is possible to solve control stick and rotate non-continuous event。
Accompanying drawing explanation
Fig. 1 is the structural representation of aircraft master end system；
Fig. 2 is the structural representation of aircraft master end lever system monitoring module；
Fig. 3 is the form schematic diagram of aircraft master end lever system serial port communication data bag；
Fig. 4 is the side lever frame for movement schematic diagram of aircraft master end lever system；
Fig. 5 is the overall control software flow pattern of the side lever apparatus module of aircraft master end lever system；
The side lever follower model that Fig. 6 is aircraft master end lever system controls schematic diagram；
The side lever aggressive mode that Fig. 7 is aircraft master end lever system controls schematic diagram；
Fig. 8 is the stick force control method schematic diagram of the side lever aggressive mode of aircraft master end lever system；
The side lever that Fig. 9 is the side lever aggressive mode of aircraft master end lever system returns middle control flow chart。
In figure, 1-handle, 2-stick force sensor, the 3-body of rod, 4-the first axle, 5-the second axle, 6-pair of bearings, 7-second is to bearing, 8-housing。
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme is described in further detail:
This system is as it is shown in figure 1, main by two big module compositions: monitoring module and side lever module。
Monitoring module runs in an experiment on PC, during actual equipment, runs, and communicated by the mode of serial communication with side lever module on flight control computer。Monitoring module can obtain real-time status and the data of control stick, it is possible to sets the mode of operation of side lever module。The composition of monitoring module is as shown in Figure 2, this module comprises communication unit, control unit, stick force curve arrange unit, mode instruction input block, display unit and storage element, and described control unit arranges unit respectively with communication unit, stick force curve, mode instruction input block, display unit, storage element are electrically connected。
Described communication unit and side lever module carry out serial communication。Form and the length of packet are fixed, and first the concrete form of each bag data as it is shown on figure 3, be data head, and data head comprises two sections, is 0XAA and 0X55 respectively, if correct, continue to resolve, otherwise wait for next bag data；Followed by a bit address code, it is communicate with pitch channel or roll channel by its judgement, it is followed by a bit function code, the type of the communication information is determined by this function code, the movement state information that the parameter comprise the mode of operation setting side lever module, setting under a certain mode of operation of side lever module and reception side lever module transfer come, last data bit is then the particular content of information。The data bit often wrapped is by completing a subcommand transmission or the required digit order numbers at most of information transmission are the figure place of numeric data code in the lever system of described master end, therefore often bag data may determine that length。
Described stick force curve arranges unit for input lever force curve parameter, and passes it to described control unit。
Described mode instruction input block is for arranging the mode of operation of side lever module, and passes it to described control unit, and described mode of operation comprises aggressive mode, follower model, trim pattern and Passive Mode。
Described display unit for showing the real time status information of side lever module with output box, virtual meter panel and curve chart。
Described storage element is for storing the real time status information of side lever module。
Described control unit is used for sending instructions to described side lever module, and controls storage and the real time status information of display side lever module。
Described side lever module comprises control stick, the first micro-control unit and the second micro-control unit。
Control stick has two degree of freedom, is respectively used to control elevating movement and the rolling movement of aircraft, and the first micro-control unit, the second micro-control unit are then respectively used to the two degree of freedom is adjusted。
Control stick comprises housing, handle, stick force sensor, the body of rod, the first axle, the second axle, pair of bearings and second pair of bearing, its frame for movement is with reference to Twin-shaft machinery rotor gyro, as shown in Figure 4, the form of housing in adopting, first axle is inner axis, second axle is housing axle, and the first axle can at the slide of the second axle。
Described housing is the rectangle of upper and lower opening, and pair of bearings, the second countershaft holding are correspondingly arranged in its four wall in the heart；
Described first axle, the second axle are respectively through pair of bearings, second pair of loading ability of bearing, and described housing is all stretched out at two ends；
The lower end of the described body of rod is connected with the first axle, and upper end is connected with the bottom of stick force sensor, and the top of stick force sensor is connected with handle；
Described stick force sensor is for measuring the power that pilot is applied on control stick grip；
Described handle is provided with the switching of the switching switch of aggressive mode and Passive Mode and trim pattern and aggressive mode and switchs。
Described first micro-control unit comprises the first rotating potentiometer, the first gear reduction unit, the first torque motor, the first encoder, the first microcontroller, a PWM motor drive module, the first solid-state relay, first handle power modulating signal circuit, the first angular displacement signal modulation circuit and the first current sensor；
The input of described first rotating potentiometer and one end of the first axle connect, and outfan and the first angular displacement signal modulation circuit input are connected；
Described first gear reduction unit is fixing on the housing by ring flange, and the other end of delivery outlet and the first axle connects, and one end of input hole and the first torque motor output shaft connects；
The code-disc of described first encoder and the other end of the first torque motor output shaft connect, and for measuring the rotating speed of the first torque motor output shaft, and pass it to described first microcontroller；
The input of described first handle power modulating signal circuit and stick force sensor circuit are electrically connected；
A described PWM motor drive module outfan is electrically connected by the first solid-state relay and described first torque motor；
Described first current sensor is for sensing the armature supply of the first torque motor, and passes it to described first microcontroller；
Described first microcontroller respectively with the outfan of first handle power modulating signal circuit, the input of the oneth PWM motor drive module, the control end of the first solid-state relay, the outfan of the first angular displacement signal modulation circuit, the outfan of the first encoder, first current sensor, stick force sensor, and the communication unit in monitoring module is electrically connected, for according to obtain stick force sensor on the first axle stick force output signal, the armature current signal of the first torque motor, the tach signal output PWM of the angular signal of the first angular displacement signal modulation circuit and the first torque motor is to ripple the oneth PWM motor drive module, control the operation of the first torque motor, serial port function and monitoring module by self being with carry out serial communication simultaneously, the status information of side lever device is transmitted to monitoring module。
When left and right moves control stick grip, control stick drives the first axle to rotate in clutch shaft bearing, and the first the tip of the axis slides in the chute of the second axle；Driving the first gear reduction unit and the first rotating potentiometer to rotate, the first gear reduction unit drives the first torque motor to rotate simultaneously, and the first torque motor drives the first encoder to rotate。When the first torque motor energising rotates, sequence of motion is with that process is described above is contrary。
Described second micro-control unit comprises the second rotating potentiometer, the second gear reduction unit, the second torque motor, the second encoder, the second microcontroller, the 2nd PWM motor drive module, the second solid-state relay, the second angular displacement signal modulation circuit, second handle power modulating signal circuit, gear reduction box, quadrant and the second current sensor；
The input of described second rotating potentiometer and one end of the second axle connect, and outfan is connected with the second angular displacement signal modulation circuit input；
The described other end of the second axle is connected with the input gear of gear reduction box, and the output gear of gear reduction box is connected with the output shaft of quadrant；
Described quadrant is fixing on the housing by ring flange, and the delivery outlet of input and the second gear reduction unit connects；
Described second gear reduction unit is fixing on the housing by ring flange, and one end of input hole and the second torque motor output shaft connects；
The code-disc of described second encoder and the other end of the second torque motor output shaft connect, and for measuring the rotating speed of the second torque motor output shaft, and pass it to described second microcontroller；
The input of described second handle power modulating signal circuit and stick force sensor circuit are electrically connected；
Described 2nd PWM motor drive module outfan is electrically connected by the second solid-state relay and described second torque motor；
Described second current sensor is for sensing the armature supply of the second torque motor, and passes it to described second microcontroller；
Described second microcontroller respectively with the outfan of second handle power modulating signal circuit, the input of the 2nd PWM motor drive module, the control end of the second solid-state relay, the outfan of the second angular displacement signal modulation circuit, the outfan of the second encoder, second current sensor, stick force sensor, and the communication unit in monitoring module is electrically connected, for according to obtain stick force sensor on the second axle stick force output signal, the armature current signal of the second torque motor, the tach signal output PWM ripple of the angular signal of the second angular displacement signal modulation circuit and the second torque motor is to the 2nd PWM motor drive module, control the operation of the second torque motor, serial port function and monitoring module by self being with carry out serial communication simultaneously, the status information of side lever device is transmitted to monitoring module。
When push-and-pull control stick grip, control stick drives the second axle to rotate in the second bearing；Driven gear reduction box and the second rotating potentiometer rotate simultaneously, gear reduction box drives quadrant to rotate, quadrant drives the second gear reduction unit to rotate, and the second gear reduction unit drives the second torque motor to rotate, and the second torque motor drives the second encoder to rotate。When the second torque motor energising rotates, sequence of motion is with that process is described above is contrary。
Described stick force sensor, adopts the power that 2 dimension resistance-strain chip stick force sensors, 2 dimensions sensitive pilot respectively are applied on control stick grip corresponding two degree of freedom, namely distinguishes the power on corresponding first axle and the power on the second axle。
These two handle force signals have two purposes:
1. it is used for after first, second micro-control unit collection being sent to monitoring module by serial ports respectively；
2., as judging that the hands of pilot is with or without the condition being held on handle, this effect determines the Rule of judgment of action executing during control stick automatically returns in aggressive mode。
Described first, second gear reduction unit adopts accurate planetary reducer。Planetary reduction gear is connected with torque motor, is used for slowing down and increasing torque。
The rareearth permanent-magnet DC that described first, second torque motor adopts voltage at peak torque to be 27V has brushing force torque motor, and motor output shaft, through two grades of elaborate servo planetary reducers, exports bigger moment。Described stick force sensor adopts 2 dimension resistance-strain chip stick force sensors, the 2 dimensions power that sensitive pilot applies on two degree of freedom on control stick grip respectively。
Described gear reduction box adopts accurate one-level straight spur gear reduction box。
Described quadrant adopts elaborate servo bevel gear quadrant。
Described first, second microcontroller adopts STM32 chip。Microcontroller adopts the chip of STM32F103 series, uses three passages of its converter, gathers the output signal of rotary potentiometer, control force sensor and Hall current sensor simultaneously, carries out certain filtering algorithm process by the DMA mode interrupted；Gather and process the armature current signal of handle force signal, the angular displacement signal of control stick grip, the angular velocity signal of control stick grip, torque motor, obtaining controlling electric current, expectation corner and expectation moment by relevant control algolithm, then output PWM ripple removes drive motor output expectation moment or expectation corner through motor drive module。Monitoring module microcontroller adopts the USART module carried, and carries out the status information of serial communication real-time Transmission control stick in the way of serial communication with monitoring module。
Described first, second PWM motor drive module, can driving moment motor for motor control signal is amplified to；The present invention adopts pulsewidth modulation type of drive, and motor drive module is barricaded as a complete H-bridge drive circuit by two panels BTN7971B, and the H bridge that principle is built to metal-oxide-semiconductor is similar, it is possible to drive big electric current, it is sufficient to is used for driving 1 tunnel brushed DC torque motor, generates heat little。Adopt the mode of light-coupled isolation, it is prevented that drive circuit damages coupled module when the fault such as puncturing, and thus can effectively protect the safety of STM32 chip and circuit module, it is prevented that be burned simultaneously。
The PWM output of STM32 is realized by intervalometer, and major parameter has two: frequency and dutycycle, just can adjust the two parameter by specifically arranging two depositors of TIMX_ARR and TIMX_CCRX。In the present invention, it is contemplated that the real-time of aircraft actively control stick system and the disposal ability of STM32, frequency being adjusted to 10KHz, namely the cycle is 0.1ms。Dutycycle is accurate to after arithmetic point three, and adjusts in real time according to the control voltage required for motor。
The precision rotation Middle Eocene device that described first, second rotating potentiometer adopts electric angle to be 90 degree。Its outfan is connected with the GPIO mouth of microcontroller by angular displacement signal modulation circuit, passage being acquired with the fixed cycle of the converter that angular displacement signal is carried by this microcontroller。Rotating potentiometer is used for measuring the deflection angle of control stick grip。
Described first, second encoder adopts the incremental encoder of high line number, and two output leads of each encoder are connected with the incremental encoder interface of respective microcontroller respectively, and angle rate signal is by this microcontroller being acquired with the fixed cycle。Incremental encoder is used for measuring corner and the angular velocity of machine shaft, indirectly obtains corner and the angular velocity of control stick grip。
Described first, second current sensor adopts Hall closed-loop current sensors, a wherein lead-in wire of the torque motor of first, second is each passed through first, second current sensor, another passage being acquired with the fixed cycle of the converter that the outfan of first, second current sensor carries with respective microcontroller respectively。Hall current sensor is adopted to measure the armature supply of torque motor。
Aircraft master end lever system mainly has four kinds of patterns: follower model, trim pattern, aggressive mode and Passive Mode。Trim pattern, aggressive mode and Passive Mode pattern can input instruction by monitoring module and switch over, can also switch by the button on side lever handle, trim switch in side lever handle top switches the switching of trim pattern and aggressive mode, Passive Mode and the aggressive mode switching on-off control by side lever handle side；Follower model is sent instruction by monitoring module, can switch under aggressive mode and trim pattern。The control flow chart of whole system is as shown in Figure 5。
After powering on, first initialize system；Then judging whether side lever apparatus module has data to input, if had, reading the data of monitoring module；If not having data to input, then read the key-press status on side lever handle。If control stick is in follower model, then controls control stick grip according to angle information, be specially the position control of motor。If control stick is in trim pattern, then microprocessor controls torque motor makes control stick grip be locked in this angle。The pattern if control stick has the initiative, then reading angular value, if angle value changes, then output voltage control torque motor rotates, output torque, makes control stick grip produce expected force。If control stick is in Passive Mode, motor does not work；Microcontroller in side lever apparatus module makes torque motor open circuit by controlling solid-state relay。
Follower model:
Described follower model refers to that control stick is controlled to run by monitoring module, and control block diagram is as shown in Figure 6。Monitoring module passes through Serial Port Transmission to the microcontroller of side lever apparatus module the expectation rotational angle theta of control stick grip, the microcontroller of side lever apparatus module exports the PWM ripple of corresponding dutycycle to driving module after resolved data, thus drive motor drives side lever handle to forward expected angle to；The signal of microcontroller Real-time Collection angular displacement sensor simultaneously, and the actual rotational angle θ of side lever handle " is fed back to monitoring module。Therefore monitoring module can control the deflection of aircraft actively side lever handle in real time, it is possible to obtains the deflection angle of handle in real time。Monitoring module also can send flight envelope to the microcontroller of side lever apparatus module so that control stick grip runs according to the corresponding command。
When actively control stick system is in servo-actuated operational mode, handle force signal does not deal with, and motor is in normal rotation state。The method now adopting Control of Voltage motor speed。Due to the employing of active control stick system is permanent magnet D.C. torque motor, and motor speed and voltage are proportional, so can change service voltage when needing to adjust rotating speed。
In above formula, U is the terminal voltage of torque motor, CeIt is the back EMF constant of torque motor, CTBeing the torque constant of torque motor, R is armature resistance, and Φ is the magnetic flux of motor, and n is rotational speed of torque motor, and T is motor output torque。
Control stick system is under follower model, and the external force owing to being applied on control stick grip is zero, it is possible to torque motor is regarded as permanent torque output。
Trim pattern:
Described trim pattern refers to, control stick in such a mode, adopts certain control algolithm, makes control stick be maintained at certain angle and maintains static。
Aggressive mode:
Described aggressive mode is as it is shown in fig. 7, refer to that microcontroller is according to the state of flight of aircraft and bar displacement information, controls motor and produces different torques, thus producing different feedback forces on handle。
Aggressive mode is divided into stick force to follow and automatically returns middle two parts。Under this pattern, when the power on control stick is more than the tripping force set, motor is in stick force tracking mode。Now, the armature supply obtained by Hall element measurement constitutes the handle force observer of control stick, and by certain control algolithm, control motor terminal voltage indirectly controls current of electric and makes this system output degree of precision and more stable handle power。
When detecting that pilot looses one's grip, during control stick returns automatically。When the deflection angle of control stick and neutral position is more than a certain angle set, by the terminal voltage higher to motor offer, control motor is made to return to faster near control stick neutral position。
Aggressive mode should be system default duty, it is also possible to switches switch by the main Passive Mode in active side lever handle side face and is switched to aggressive mode。
Passive Mode:
When this system is switched to Passive Mode, microcontroller in side lever apparatus module makes torque motor open circuit by controlling a solid-state relay, torque motor does not work, this system simply exports angular displacement and the angular velocity information of control stick grip, after ensureing motor failure, pilot can drive an airplane the basic function maked a return voyage of safety。
The main input of the microcontroller of side lever apparatus module have from the expectation angle of pitch of control stick grip of monitoring module and roll angle and from the control stick grip power of control stick, control stick grip corner, torque motor armature supply etc.。The speed of driver's push-and-pull control stick is also the input of microcontroller, it is most important that handle force signal。The corresponding corresponding control stick grip power of the different deflection angles of control stick grip, and the corresponding different control voltage of different control stick grip power。Therefore the deflection angle of control stick grip is one to one with control voltage。This corresponding relation can be stored in microcontroller with the form of an analytic expression, and this analytic expression is multiple input single output, and namely multiple different parameters are as initial conditions, controls voltage as output；When specifically controlling, by tabling look-up or analytic expression can be obtained by the expected force of control stick grip。
Aircraft master end lever system have the initiative pattern time handle power control block as shown in Figure 8, monitoring module is transferred to the microcontroller of side lever apparatus module the expectation corner of control stick grip, by calculating expectation side lever handle power, desired control stick grip power controls voltage accordingly by what the control algolithm in microcontroller obtained torque motor, electric machine rotation output torque so that have certain power on control stick grip；Control stick grip force transducer records actual handle power with expectation handle force rate relatively, goes drive motor to adjust torque for feedback again through control algolithm difference handle masterpiece, so repeatedly, until side handle obtains expected force。
In order to obtain more accurate control force, system needs stick force faster to control frequency。The motor of this system is a perceptual device, and when the input voltage of motor changes, armature supply can not change with it at once, there is a transient process。Therefore when the control cycle of the system of design, it is necessary to consider this problem。
When motor is in locked rotor condition, the balance of voltage equation of the armature circuit of torque motor is as follows:
Wherein, U represents the terminal voltage of torque motor, and R represents armature resistance, and L represents the armature inductance of motor, and I represents the armature supply of torque motor, and t represents the time。
Both sides integration can obtain:
Wherein, I0Represent the armature supply of the torque motor in t=0 moment, when in each adjustment process, when electric current reaches the 98% of stationary value, it is believed that electric transient process terminates, now:
The parameter of electric machine of torque motor selected by above several formulas and this system, it is known that, the control frequency maxima of motor。
Because the mechanical mechanism of this system exists friction torque, when therefore control stick is in return every time, position inaccuracy。Conventional control method so that because friction problem when control stick is in returning, become slow when moving near neutral position, and position inaccuracy。In control stick quickly can accurately being returned herein by adopting speed Control and the cumulative strategy controlled。Concrete control flow is as shown in Figure 9。Wherein, k3< k4< k1< k2, k1、k2、k3、k4It is the dutycycle of the PWM ripple that microcontroller set in advance exports。
Judge whether control stick is in back middle pattern by control force sensor, when the output valve at the first axle and the second axle of stick force sensor is respectively less than stick force threshold value set in advance, it is believed that control stick grip is in the state of loosing one's grip；Now, control stick enters pattern in automatically returning, by different deflection angle intervals are arranged different PWM ripple dutyfactor values, it is possible to achieve do not shake during control stick quickly returns；Meanwhile, by implementing cumulative control strategy near neutral position, it is possible to achieve during control stick accurately returns, overcome and return middle inaccuracy problem because of what frictional force caused。
For the first axle, control stick realizes in automatic returning in accordance with the following methods:
Step is A.1), the first microcontroller inquiry obtains the angular signal of the first angular displacement signal modulation circuit, and judges that whether this corner is be more than or equal to 10 °；
Step is A.2), if this corner is be more than or equal to 10 °, the first microcontroller output duty cycle is k2PWM ripple, and jump to step A.1)；
Step is A.3), if this corner is less than 10 °, then the first microcontroller output duty cycle is k1PWM ripple；
Step is A.4), the first microcontroller inquiry obtains the angular signal of the first angular displacement signal modulation circuit, and judges that whether this corner is be more than or equal to 5 °；
Step is A.5), if this corner is be more than or equal to 5 °, then the first microcontroller output duty cycle is k4PWM ripple, and jump to step A.4)；
Step is A.6), if this corner is less than 5 °, then the first microcontroller output duty cycle is k3PWM ripple；
Step is A.7), the first microcontroller inquiry obtains the angular signal of the first angular displacement signal modulation circuit, and judges that this corner is whether more than the threshold of sensitivity of the first rotating potentiometer；
Step is A.8), if this corner is be more than or equal to the threshold of sensitivity of the first rotating potentiometer, the first microcontroller strengthens the dutycycle of output PWM ripple according to default dutycycle step-length, and jumps to step A.7)；
Step is A.9), if this corner is less than the threshold of sensitivity of angular displacement sensor, the first microcontroller output duty cycle is the PWM ripple of 0。
For the second axle, the method that control stick realizes in automatically returning is the same with the first axle, the angular signal of second microcontroller inquiry acquisition the second angular displacement signal modulation circuit, and changes the dutycycle of PWM ripple according to the size of corner, specific as follows:
Step is B.1), the second microcontroller inquiry obtains the angular signal of the second angular displacement signal modulation circuit, and judges that whether this corner is be more than or equal to 10 °；
Step is B.2), if this corner is be more than or equal to 10 °, the second microcontroller output duty cycle is k2PWM ripple, repeat step B.1)；
Step is B.3), if this corner is less than 10 °, then the second microcontroller output duty cycle is k1PWM ripple；
Step is B.4), the second microcontroller inquiry obtains the angular signal of the second angular displacement signal modulation circuit, and judges that whether this corner is be more than or equal to 5 °；
Step is B.5), if this corner is be more than or equal to 5 °, then the second microcontroller output duty cycle is k4PWM ripple, repeat step B.4)；
Step is B.6), if this corner is less than 5 °, then the second microcontroller output duty cycle is k3PWM ripple；
Step is B.7), the second microcontroller inquiry obtains the angular signal of the second angular displacement signal modulation circuit, and judges that this corner is whether more than the threshold of sensitivity of the second rotating potentiometer；
Step is B.8), if this corner is be more than or equal to the threshold of sensitivity of the second rotating potentiometer, then the second microcontroller strengthens the dutycycle of output PWM ripple according to default dutycycle step-length, repeats step B.7)；
Step is B.9), if this corner is less than the threshold of sensitivity of angular displacement sensor, then the second microcontroller output duty cycle is the PWM ripple of 0。
The size of torque motor output torque is only relevant with the armature supply of motor, unrelated with the rotating speed of load。When load increases, the armature supply of motor increases；Otherwise, the armature supply of motor reduces。The direction of the output torque of torque motor is exported the positive and negative decision of the dutycycle of PWM ripple by corresponding microcontroller。
The calculation of the control stick grip power on the first axle is as follows:
Step is C.1), the first empty accounting of microprocessor controls output is equal to the PWM ripple of the minimum empty accounting threshold value preset；
Step is C.2), the armature current signal of the first torque motor is obtained by the first current sensor, obtain stick force sensor stick force size on the first axle simultaneously, and record the current first microprocessor controls output empty accounting of PWM ripple, the armature current signal of the first torque motor and stick force sensor stick force size on the first axle；
Step is C.3), the first microcontroller strengthens the dutycycle of output PWM ripple according to default dutycycle step-length；
Step is C.4), repeat step C.2) to step C.3), until the dutycycle of the PWM ripple of the first microcontroller output is be more than or equal to default most high duty cycle threshold value；
Step is C.5), repeat step C.1) to step C.4) at least 50 times；
Step is C.6), armature current signal data and stick force sensor stick force signal data on the first axle to the first torque motor carry out first-order linear matching, and obtaining the functional relationship after matching is:
F1=s1·I1-s2
Wherein, F1Represent the control stick grip power on the first axle, s1And s2Represent F1With I1Between the parameter of analytic expression。
The calculation of the control stick grip power on the second axle is the same with the first axle, specific as follows:
Step is D.1), the second empty accounting of microprocessor controls output is equal to the PWM ripple of the minimum empty accounting threshold value preset；
Step is D.2), the armature current signal of the second torque motor is obtained by the second current sensor, obtain stick force sensor stick force size on the second axle simultaneously, and record the current second microprocessor controls output empty accounting of PWM ripple, the armature current signal of the second torque motor and stick force sensor stick force size on the second axle；
Step is D.3), the second microcontroller strengthens the dutycycle of output PWM ripple according to default dutycycle step-length；
Step is D.4), repeat step D.2) to step D.3), until the dutycycle of the PWM ripple of the second microcontroller output is be more than or equal to default most high duty cycle threshold value；
Step is D.5), repeat step D.1) to step D.4) at least 50 times；
Step is D.6), armature current signal data and stick force sensor stick force signal data on the second axle to the second torque motor carry out first-order linear matching, and obtaining the functional relationship after matching is:
F2=s3·I2-s4
Wherein, F2Represent the control stick grip power on the second axle, s3And s4Represent F2With I2Between the parameter of analytic expression。
This system adopts the control method of expert PID。Control on two degree of freedom all adopts identical control method, controls simultaneously。The control concrete grammar of the first axle is as follows:
Step is E.1), gather the armature current signal of the first torque motor of current time；
Step is E.2), the control stick grip power obtaining on the first axle is calculated according to the armature current signal of the first torque motor；
Step is E.3), obtain the angular signal of the first angular displacement signal modulation circuit of current time；
Step is E.4), the angular signal according to pre-set stick force curve and the first angular displacement signal modulation circuit of current time, obtain the theoretical preset value of control stick grip power on current time the first axle；
Step is E.5), by step E.2) E.4 calculated value deduct step) calculated value, obtain the stick force error amount of current time；Stick force error amount according to current time and pre-set stick force curve obtain the PWM wave error value of current time k, are designated as e (k)；Making e (k-1) and e (k-2) respectively go up a moment k-1 and the PWM wave error value of upper two moment k-2, the initial value of e (k), e (k-1) and e (k-2) is all set to zero；| e (k) | represents the order of magnitude of current time PWM wave error value；PWM (k) represents the dutycycle of the PWM ripple of current time the first microcontroller output, and PWM (k-1) represents the dutycycle of the PWM ripple of upper moment the first microcontroller output；；
Step is E.6), calculated the difference between PWM wave error value and the PWM wave error value in a upper moment of current time, being designated as Δ e (k), Δ e (k-1) represented the difference between PWM wave error value and the PWM wave error value in upper two moment in a upper moment:
Step is E.7), as | e (k) | >=M1Time, M1Threshold value is controlled on a large scale for set in advance, the absolute value of error is very big, not leading-in pole force feedback in control process, now, control the first microcontroller PWM ripple so that the PWM ripple dutycycle that its sky accounting is corresponding equal to the angular signal of current angular displacement signal modulation circuit；
So now PWM (k) is equal to the PWM ripple dutycycle corresponding with the angular signal of current angular displacement signal modulation circuit, namely the PWM ripple dutyfactor value in stick force opened loop control situation；
Step is E.8) when e (k) Δ e (k) >=0, the absolute value of this time error is increasing, or remains unchanged, with this understanding, if | e (k) | is >=M2, M2For presetting little scope control threshold value, it is believed that error is relatively big, by implementing stronger control action so that the absolute value of error reduces rapidly, now, the first microcontroller is according to following empty accounting output PWM ripple:
PWM (k)=PWM (k-1)+k5{kp[e(k)-e(k-1)]+kie(k)+kd[e(k)-2e(k-1)+e(k-2)]}
Wherein, k5Represent the intensity of feedback control effect, kpRepresent proportional control factor, kiRepresent integral control coefficient, kdRepresent derivative control coefficient；
Step is E.9), as | e (k) |≤M2, now although the absolute value of error is increasing, but the absolute value of error is little, it is possible to implement general control action, simply changes the variation tendency of error so that it is the absolute value of error reduces, and now, the first microcontroller is according to following empty accounting output PWM ripple:
PWM (k)=PWM (k-1)+kp[e(k)-e(k-1)]+kie(k)+kd[e (k)-2e (k-1)+e (k-2)]；
Step is E.10), as e (k) Δ e (k) < 0 and Δ e (k) Δ e (k-1) > 0, or during e (k)=0, the absolute value of this time error changes towards the direction reduced, or arrive expected value, now, the first microcontroller is according to following empty accounting output PWM ripple:
PWM (k)=PWM (k-1)；
Step is E.11), as e (k) Δ e (k) < 0 and Δ e (k) Δ e (k-1) < 0, specification error is in extreme value state, now, if | e (k) | is >=M2, the first microcontroller is according to following empty accounting output PWM ripple:
PWM (k)=PWM (k-1)+k5kpE (k)；
Step is E.12) if | e (k) | is < M2, now:
PWM (k)=PWM (k-1)+k6kpE (k)；
Wherein, k6Represent the parameter being used for adjusting integral action when only having integral action；And k5>k6；
Step is E.13) as | e (k) | < ε, the first microcontroller is according to following empty accounting output PWM ripple:
PWM (k)=PWM (k-1)+kiE (k)；
Wherein, ε is the threshold limit value of the error amount size set previously according to stick force precision set。
Control concrete grammar and first axle of the second axle are completely the same, repeat no more。
Those skilled in the art of the present technique it is understood that unless otherwise defined, all terms used herein (include technical term and scientific terminology) and have with the those of ordinary skill in art of the present invention be commonly understood by identical meaning。Should also be understood that in such as general dictionary, those terms of definition should be understood that have the meaning consistent with the meaning in the context of prior art, and unless defined as here, will not explain by idealization or excessively formal implication。
Above-described detailed description of the invention; the purpose of the present invention, technical scheme and beneficial effect have been further described; it is it should be understood that; the foregoing is only the specific embodiment of the present invention; it is not limited to the present invention; all within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention。
Claims (10)
1. an aircraft master end lever system, it is characterised in that comprise monitoring module and side lever module；
Described monitoring module is used for sending instructions to described side lever module, and controls storage and the real time status information of display side lever module；
Described side lever module comprises control stick, the first micro-control unit and the second micro-control unit；
Described control stick comprises housing, handle, stick force sensor, the body of rod, the first axle, the second axle, pair of bearings and second pair of bearing；
Described first axle, the second axle adopt the form of interior housing, and the first axle is inner axis, and the second axle is housing axle, and the first axle can at the slide of the second axle；
Described housing is the rectangle of upper and lower opening, and pair of bearings, the second countershaft holding are correspondingly arranged in its four wall in the heart；
Described first axle, the second axle are respectively through pair of bearings, second pair of loading ability of bearing, and described housing is all stretched out at two ends；
The lower end of the described body of rod is connected with the first axle, and upper end is connected with the bottom of stick force sensor, and the top of stick force sensor is connected with handle；
Described stick force sensor is for measuring the power that pilot is applied on control stick grip；
Described handle is provided with the switching switch of the mode of operation for switching side lever module, and described mode of operation comprises aggressive mode, follower model, trim pattern and Passive Mode；
Described first micro-control unit comprises the first rotating potentiometer, the first gear reduction unit, the first torque motor, the first encoder, the first microcontroller, a PWM motor drive module, the first solid-state relay, first handle power modulating signal circuit, the first angular displacement signal modulation circuit and the first current sensor；
The input of described first rotating potentiometer and one end of the first axle connect, and outfan and the first angular displacement signal modulation circuit input are connected；
Described first gear reduction unit is fixing on the housing by ring flange, and the other end of delivery outlet and the first axle connects, and one end of input hole and the first torque motor output shaft connects；
The code-disc of described first encoder and the other end of the first torque motor output shaft connect, and for measuring the rotating speed of the first torque motor output shaft, and pass it to described first microcontroller；
The input of described first handle power modulating signal circuit and stick force sensor circuit are electrically connected；
A described PWM motor drive module outfan is electrically connected by the first solid-state relay and described first torque motor；
Described first current sensor is for sensing the armature supply of the first torque motor, and passes it to described first microcontroller；
Described first microcontroller respectively with the outfan of first handle power modulating signal circuit, the input of the oneth PWM motor drive module, the control end of the first solid-state relay, the outfan of the first angular displacement signal modulation circuit, the outfan of the first encoder, first current sensor, stick force sensor, and monitoring module is electrically connected, for according to obtain stick force sensor on the first axle stick force output signal, the armature current signal of the first torque motor, the tach signal output PWM of the angular signal of the first angular displacement signal modulation circuit and the first torque motor is to ripple the oneth PWM motor drive module, control the operation of the first torque motor, serial port function and monitoring module by self being with carry out serial communication simultaneously, the status information of side lever device is transmitted to monitoring module；
Described second micro-control unit comprises the second rotating potentiometer, the second gear reduction unit, the second torque motor, the second encoder, the second microcontroller, the 2nd PWM motor drive module, the second solid-state relay, the second angular displacement signal modulation circuit, second handle power modulating signal circuit, gear reduction box, quadrant and the second current sensor；
The input of described second rotating potentiometer and one end of the second axle connect, and outfan is connected with the second angular displacement signal modulation circuit input；
The described other end of the second axle is connected with the input gear of gear reduction box, and the output gear of gear reduction box is connected with the output shaft of quadrant；
Described quadrant is fixing on the housing by ring flange, and the delivery outlet of input and the second gear reduction unit connects；
Described second gear reduction unit is fixing on the housing by ring flange, and one end of input hole and the second torque motor output shaft connects；
The code-disc of described second encoder and the other end of the second torque motor output shaft connect, and for measuring the rotating speed of the second torque motor output shaft, and pass it to described second microcontroller；
The input of described second handle power modulating signal circuit and stick force sensor circuit are electrically connected；
Described 2nd PWM motor drive module outfan is electrically connected by the second solid-state relay and described second torque motor；
Described second current sensor is for sensing the armature supply of the second torque motor, and passes it to described second microcontroller；
Described second microcontroller respectively with the outfan of second handle power modulating signal circuit, the input of the 2nd PWM motor drive module, the control end of the second solid-state relay, the outfan of the second angular displacement signal modulation circuit, the outfan of the second encoder, second current sensor, stick force sensor, and monitoring module is electrically connected, for according to obtain stick force sensor on the second axle stick force output signal, the armature current signal of the second torque motor, the tach signal output PWM ripple of the angular signal of the second angular displacement signal modulation circuit and the second torque motor is to the 2nd PWM motor drive module, control the operation of the second torque motor, serial port function and monitoring module by self being with carry out serial communication simultaneously, the status information of side lever device is transmitted to monitoring module。
2. aircraft master end according to claim 1 lever system, it is characterized in that, described monitoring module comprises communication unit, control unit, stick force curve arrange unit, mode instruction input block, display unit and storage element, and described control unit arranges unit respectively with communication unit, stick force curve, mode instruction input block, display unit, storage element are electrically connected；
Described communication unit is connected with described first microcontroller, the second microcontroller respectively, for carrying out serial communication with side lever module；
Described stick force curve arranges unit for input lever force curve parameter, and passes it to described control unit；
Described mode instruction input block is for arranging the mode of operation of side lever module, and passes it to described control unit；
Described display unit for showing the real time status information of side lever module with output box, virtual meter panel and curve chart；
Described storage element is for storing the real time status information of side lever module；
Described control unit is used for sending instructions to described side lever module, and controls storage and the real time status information of display side lever module。
3. aircraft master end according to claim 1 lever system, it is characterised in that described stick force sensor adopts 2 dimension resistance-strain chip stick force sensors, the respectively power on corresponding first axle and the power on the second axle。
4. aircraft master end according to claim 1 lever system, it is characterised in that described first, second gear reduction unit adopts accurate planetary reducer。
5. aircraft master end according to claim 1 lever system, it is characterised in that the rareearth permanent-magnet DC that described first, second torque motor adopts voltage at peak torque to be 27V has brushing force torque motor。
6. aircraft master end according to claim 1 lever system, it is characterised in that described quadrant adopts elaborate servo bevel gear quadrant。
7. aircraft master end according to claim 1 lever system, it is characterised in that described first, second microcontroller adopts STM32 chip。
8. aircraft master end according to claim 1 lever system, it is characterised in that the precision rotation Middle Eocene device that described first, second rotating potentiometer adopts electric angle to be 90 degree。
9. aircraft master end according to claim 1 lever system, it is characterised in that described first, second encoder adopts the incremental encoder of high line number。
10. aircraft master end according to claim 1 lever system, it is characterised in that described first, second current sensor adopts Hall closed-loop current sensors。
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| CN108648560A (en) * | 2018-06-21 | 2018-10-12 | 北京瀚科瑞杰科技发展有限公司 | The flight control simulator that stroke and stick force and maneuverability pattern adaptively adjust |
| CN109186663A (en) * | 2018-07-28 | 2019-01-11 | 国营芜湖机械厂 | A kind of test device and its test method of aircraft control stick handle |
| CN110479567A (en) * | 2019-08-28 | 2019-11-22 | 江苏山河机电技术有限公司 | A kind of method for oscillating for vibrating handle |
| CN114248934A (en) * | 2020-09-25 | 2022-03-29 | 沃科波特有限公司 | Method for operating an aircraft, flight control device and aircraft |
| US11745885B2 (en) | 2020-09-25 | 2023-09-05 | Volocopter Gmbh | Method for operating an aircraft, flight control device for an aircraft, and aircraft having multiple drive units |
| CN114248934B (en) * | 2020-09-25 | 2023-11-24 | 沃科波特有限公司 | Method for operating an aircraft, flight control device and aircraft |
| CN114162309A (en) * | 2021-11-30 | 2022-03-11 | 中国商用飞机有限责任公司 | Active side lever system |
| CN114162309B (en) * | 2021-11-30 | 2024-06-04 | 中国商用飞机有限责任公司 | Active sidebar system |
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Application publication date: 20160622 |