CN112173081B - Digital controller of steering wheel adjustment sheet control device - Google Patents
Digital controller of steering wheel adjustment sheet control device Download PDFInfo
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- CN112173081B CN112173081B CN202011020512.6A CN202011020512A CN112173081B CN 112173081 B CN112173081 B CN 112173081B CN 202011020512 A CN202011020512 A CN 202011020512A CN 112173081 B CN112173081 B CN 112173081B
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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
- B64C13/38—Transmitting means with power amplification
- B64C13/50—Transmitting means with power amplification using electrical energy
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Abstract
The embodiment of the invention discloses a digital controller of a steering wheel adjustment sheet control device, which receives a control instruction from a flight control system through a signal receiving/sending module, controls an electric mechanism to work through the matching work of a main chip circuit module, a feedback signal processing module and a power amplifying/inverting module, and drives a steering wheel adjustment sheet to deflect, so that the pedal force provided by an aircraft driver when controlling a steering wheel is removed or reduced; and the control module is also used for providing a position signal and a neutral position indication signal of the steering adjustment sheet to the flight control system through the feedback signal processing module and the main chip circuit module. The embodiment of the invention is suitable for operating the aircraft rudder adjusting device, and solves the problems of poor accuracy, low control reliability and the like in the conventional mode of adjusting the rudder of a conveyor by adopting an electric device.
Description
Technical Field
The present invention relates to but not limited to the technical field of steering tab manipulation, and more particularly, to a digital controller and a manipulation device for a steering tab manipulation device.
Background
The rudder is generally arranged at the rear part of the vertical empennage, and when the heading of the airplane needs to be controlled, a pilot can operate the rudder in the vertical empennage through a pedal to achieve the aim of yawing.
At present, electric devices are widely used in the adjustment mode of the rudder of the domestic transport machine, and the mode of adjusting the rudder of the transport machine by the electric devices designed by analog circuits has the problems of poor accuracy, low control reliability and the like.
Disclosure of Invention
The purpose of the invention is as follows: the embodiment of the invention provides a digital controller of a rudder adjustment sheet control device, which is suitable for controlling an aircraft rudder adjustment device and solves the problems of poor accuracy, low control reliability and the like in the conventional mode of adjusting the rudder of a conveyor by adopting an electric device, so that the multi-electric and all-electric development requirements of an aircraft are met.
The technical scheme of the invention is as follows:
the embodiment of the invention provides a digital controller of a steering wheel adjusting sheet control device, which comprises: the power supply comprises a main chip circuit module 3, and a power supply adaptation module 2, a signal receiving/sending module 1, a feedback signal processing module 5 and a power amplification/inversion module 4 which are respectively connected with the main chip circuit module 3; the power supply adapting module 2 is also connected with the signal receiving/transmitting module 1, the feedback signal processing module 5 and the power amplifying/inverting module 4 respectively, and is used for supplying power to each module connected with the power supply adapting module; a control law algorithm of a digital controller for controlling the electric mechanism 6 is configured in the main chip circuit module 3;
The digital controller is used for receiving a control instruction from the flight control system through the signal receiving/sending module 1, and controlling the electric mechanism 6 to work through the matching work of the main chip circuit module 3, the feedback signal processing module 5 and the power amplifying/inverting module 4, so that the rudder adjusting sheet is driven to deflect, and the pedal force provided by an airplane driver when controlling the rudder is removed or reduced; and is also used for providing a position signal of a steering adjustment sheet and a neutral position indication signal to the flight control system through the feedback signal processing module 5 and the main chip circuit module 3.
Alternatively, in the digital controller of the rudder tab steering device as described above,
the signal receiving/transmitting module 1 includes: an extending instruction isolation circuit 1-1, a retracting instruction isolation circuit 1-2, an extending limit isolation circuit 1-3, a retracting limit isolation circuit 1-4, a neutral position indication signal drive circuit 1-5 and a position signal drive circuit 1-6.
The power amplifying/inverting module 4 includes: a power amplification circuit 4-1, a power inverter circuit 4-2 and a clutch control circuit 4-3;
the feedback signal processing module 5 includes: a speed acquisition circuit 5-1, a photoelectric switch acquisition circuit 5-2 and a displacement acquisition circuit 5-3.
Alternatively, in the digital controller of the rudder tab steering device as described above,
the digital controller is specifically used for judging the effectiveness of a control instruction received from a flight control system through the main chip circuit module 3, acquiring a position signal of a steering adjustment sheet through the displacement acquisition circuit 5-3 in the feedback signal processing module 5, and transmitting the acquired position signal to the flight control system of the airplane through the position signal driving circuit 1-6 in the signal receiving/transmitting module 1 after the acquired position signal is fed back by the feedback signal processing module 5 and calculated and processed by the main chip circuit module 3, wherein the position signal is used for displaying an on-board engine display and a unit alarm system EICAS; on the other hand, the main chip circuit module 3 executes logical operation of the position and the instruction according to the received effective instruction and the position signal acquired by the displacement acquisition circuit 5-3, so as to determine the forward rotation or the reverse rotation of the control direction bit of the electric mechanism 6 and determine the step length for controlling the electric mechanism 6.
The calculation processing of the main chip circuit module 3 includes: and judging whether the rudder trimmer is at the neutral position or not according to the acquired position signal, and if the rudder trimmer is at the neutral position, sending a neutral position indicating signal to the flight control system through the signal receiving/sending module 1 for providing neutral judgment for the pilot.
Alternatively, in the digital controller of the rudder tab steering device as described above,
the digital controller is further configured to acquire an actual rotating speed of the dc brushless motor through the speed acquisition circuit 5-1, obtain a difference value between a target rotating speed and the acquired actual rotating speed through mathematical operation of the main chip circuit module 3, generate a PWM signal through the PWM generation module in the main chip circuit module 3, and perform energy conversion on the power inverter circuit 4-2 after the PWM signal is amplified by the power amplification circuit 4-1, so as to obtain ac energy required for driving the dc brushless motor, so that the electric mechanism 6 performs corresponding operations according to a control instruction of an aircraft driver, where the operations performed by the electric mechanism 6 include: an extension operation or a retraction operation.
Alternatively, in the digital controller of the rudder tab steering device as described above,
the digital controller controls the electric mechanism to execute the extending work mode, comprising: a driver 7-1 sends an extension instruction through a flight control system 7, the extension instruction is transmitted to a main chip circuit module 3 through an extension instruction isolation circuit 1-1 of a signal receiving/sending module 1, and is processed by a control law of the main chip circuit module 3 to generate a PWM (pulse width modulation) signal, and the PWM signal is subjected to power amplification of a power amplification circuit 4-1 and then acts on a power inverter circuit 4-2 to perform energy conversion, so that a direct current brushless motor 6-4 in an electric mechanism 6 is driven to rotate in the positive direction, and the rotary motion is converted into linear extension motion through conversion of a transmission mechanism 6-5;
Before the direct current brushless motor 6-4 is driven to rotate, a control signal is also sent to the clutch control circuit 4-3 through the main chip circuit module 3 to control the clutch in the direct current brushless motor 6-4 to be disconnected.
Alternatively, in the digital controller of the rudder tab steering device as described above,
the digital controller controls the electric mechanism to execute the extending work mode, and the digital controller also comprises: when the transmission mechanism 6-5 in the electric mechanism 6 is controlled to extend to the limit position, the extension in-place signal of the transmission mechanism 6-5 is acquired through the photoelectric switch acquisition circuit 5-2 and transmitted to the main chip circuit module 3, the logical judgment of extension in place is executed, and the judgment result sends the extension in-place signal to the flight control system through the extension limit isolation circuit 1-3 of the signal receiving/sending module 1.
Alternatively, in the digital controller of the rudder tab steering device as described above,
the mode that the digital controller controls the electric mechanism to execute the retracting work comprises the following steps: a driver 7-1 sends a withdrawing instruction through a flight control system 7, the withdrawing instruction is transmitted to a main chip circuit module 3 through a withdrawing instruction isolation circuit 1-2 of a signal receiving/sending module 1, and is processed by a control law of the main chip circuit module 3 to generate a PWM (pulse width modulation) signal, the PWM signal is amplified by the power of a power amplification circuit 4-1 and then acts on a power inverter circuit 4-2 to perform energy conversion, so that a direct current brushless motor 6-4 in an electric mechanism 6 is driven to rotate in the opposite direction, and rotary motion is converted into linear withdrawing motion through the conversion of a transmission mechanism 6-5;
Before the direct current brushless motor 6-4 is driven to rotate, a control signal is also sent to the clutch control circuit 4-3 through the main chip circuit module 3 so as to control the clutch in the direct current brushless motor 6-4 to be disconnected.
Alternatively, in the digital controller of the rudder tab steering device as described above,
the mode that digital controller control electric mechanism carries out the work of withdrawing still includes: when the transmission mechanism 6-5 in the electric mechanism 6 is controlled to retract to the limit position, a retraction in-place signal of the transmission mechanism 6-5 is acquired through the photoelectric switch acquisition circuit 5-2 and transmitted to the main chip circuit module 3, logic judgment of retraction in-place is executed, and a judgment result sends a retraction in-place signal to the flight control system through the retraction limit isolation circuit 1-4 of the signal receiving/sending module 1.
Alternatively, in the digital controller of the rudder tab steering device as described above,
the digital controller is also used for collecting position signals of the steering adjustment sheet through the displacement collecting circuit 5-3 while controlling the electric mechanism 6 to work, sending the position signals to the flight control system through the position signal driving circuit 1-6 after the collected position signals are processed by the main chip circuit module 3, calculating a neutral position area, and sending neutral position indicating signals to the flight control system through the neutral position indicating signal driving circuit 1-5.
The invention has the advantages that:
the embodiment of the invention provides a digital controller of a rudder trimmer control device, which realizes the control of an electric mechanism to do stretching and recovery linear motion by the control law algorithm of a main chip circuit module 3 in the digital controller and the cooperation with a signal receiving/sending module 1, a feedback signal processing module 5 and a power amplifying/inverting module 4, thereby driving the rudder trimmer to deflect, further removing or reducing the pedal force provided by an airplane driver when controlling a rudder, and further realizing the function of providing a position signal and a neutral position indication signal of the rudder trimmer to a flight control system of the airplane. In order to improve the control reliability, step control precision, electromagnetic compatibility and other capabilities of the rudder adjustment sheet control device, the embodiment of the invention innovatively adopts a digital controller to realize the accurate control of the speed and displacement of the rudder adjustment sheet control device in a stepping type working mode.
Description of the drawings:
the accompanying drawings are included to provide a further understanding of the present invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and are not intended to limit the invention.
Fig. 1 is a schematic structural diagram of a digital controller of a rudder trimmer control device according to an embodiment of the present invention;
FIG. 2 is a flowchart of a control law algorithm configured in the main chip circuit module according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a main chip circuit module executing a control law algorithm according to an embodiment of the present invention;
FIG. 4 is a logic diagram illustrating the main chip circuit module performing validity determination on the control command according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an operating principle of a digital controller of a rudder tab manipulating device according to an embodiment of the present invention.
The specific implementation mode is as follows:
the problem that the existing mode of adjusting the rudder of the conveyor by adopting an electric device in the background art is poor in accuracy, low in control reliability and the like is solved. In order to improve the control reliability, step control precision, electromagnetic compatibility and other capabilities of the rudder adjustment sheet control device, the embodiment of the invention innovatively adopts a digital controller to realize the accurate control of the speed and displacement of the rudder adjustment sheet control device in a stepping type working mode.
To make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
The present invention provides that several embodiments may be combined, and that the same or similar concepts or processes may not be described in detail in connection with certain embodiments.
Before the digital controller of the rudder trimmer operating device provided by the embodiment of the invention is provided, firstly, a rudder is explained, the rudder is generally installed at the rear part of a vertical tail wing, when the heading of an airplane needs to be controlled, a pilot can operate the rudder in the vertical tail wing through a foot pedal to achieve the purpose of yawing, and the implementation mode of rudder adjustment comprises the rudder trimmer serving as an execution part and a rudder adjusting and operating device used for responding to the foot pedal instruction of the pilot.
Wherein, the rudder trimmer sets up on the rudder, and the embodiment of rudder trimmer controlling device function includes: the digital controller and the electric mechanism.
Fig. 1 is a schematic structural diagram of a digital controller of a rudder adjustment sheet manipulation device according to an embodiment of the present invention, and fig. 1 illustrates a relationship between the digital controller and an electric mechanism and a rudder, and a relationship between the digital controller and the electric mechanism and between the digital controller and the rudder. The digital controller provided by the embodiment of the invention comprises:
the power supply comprises a main chip circuit module 3, and a power supply adaptation module 2, a signal receiving/sending module 1, a feedback signal processing module 5 and a power amplification/inversion module 4 which are respectively connected with the main chip circuit module 3; the power supply adapting module 2 is also connected with the signal receiving/transmitting module 1, the feedback signal processing module 5 and the power amplifying/inverting module 4 respectively, and is used for supplying power to each module connected with the power supply adapting module; and a control law algorithm for controlling the electric mechanism 6 by a digital controller is configured in the main chip circuit module 3.
The digital controller is used for receiving a control instruction from a flight control system through the signal receiving/sending module 1, controlling the electric mechanism 6 to work through the matching work of the main chip circuit module 3, the feedback signal processing module 5 and the power amplifying/inverting module 4, and driving the rudder adjusting sheet to deflect, so that the pedaling force provided by an airplane driver when controlling a rudder is removed or reduced; and is also used for providing a position signal of a steering adjustment sheet and a neutral position indication signal to the flight control system through the feedback signal processing module 5 and the main chip circuit module 3.
In addition, the electric mechanism 6 in the embodiment of the invention comprises a displacement sensor 6-1, a limit switch 6-2, a speed sensor 6-3, a direct current brushless motor 6-4 and a transmission mechanism 6-5.
In the digital controller provided by the embodiment of the invention, the power supply adaptation module 2 is used for meeting the adaptability of the product to power supply and electromagnetic environments, ensuring that the product has good power supply characteristics and electromagnetic compatibility and providing 28V power supply for an airplane. Firstly, the power adaptation module 2 performs preprocessing including processing in aspects of surge prevention, electromagnetic compatibility, separation of a power supply from a control power supply and the like, and then performs power conversion processing to obtain a power supply provided for the signal receiving/transmitting module 1, the main chip circuit module 3, the feedback signal processing module 5 and the power amplification/inversion module 4, in addition, the power adaptation module 2 directly provides power for each sensor and switch in the electric mechanism 6, and the power adaptation module 2 provides power for the direct current brushless motor 6-4 through inversion of the power amplification/inversion module 4.
On one hand, in the digital controller provided in the embodiment of the present invention, the signal receiving/transmitting module 1 is designed by adding a strong and weak electric isolation design to a general discrete quantity input/output circuit, fully considering an anti-interference capability, and increasing a switch threshold value design, and uses a photoelectric coupler as a main component, and is mainly used for collecting and outputting a discrete/switching quantity, and the signal receiving/transmitting module 1 includes: an extension instruction isolation circuit 1-1, a retraction instruction isolation circuit 1-2, an extension limit isolation circuit 1-3, a retraction limit isolation circuit 1-4, a neutral position signal drive circuit 1-5 and a position signal drive circuit 1-6.
On the other hand, in the digital controller provided in the embodiment of the present invention, the feedback signal processing module 5 is a dedicated analog-to-digital conversion circuit and a digital level conversion circuit designed based on the position of the rotor in the controlled object, i.e., the dc brushless motor 6-4, the pulse capture of the speed sensor 6-3, and the acquisition of the displacement sensor 6-1 configured on the output shaft in the transmission mechanism 6-5, and the acquisition of the limit position based on the limit switch 6-2.
The feedback signal processing module 5 in the digital controller may include: a special speed acquisition circuit 5-1 is designed according to the characteristics of a controlled direct current brushless motor 6-4, and is used for acquiring the actual rotating speed in the direct current brushless motor 6-4 through a speed sensor 6-3 and feeding back the actual rotating speed to a main chip circuit module 3 through a feedback signal processing module 5; according to the characteristics of the photoelectric switch in the electric mechanism 6-5, a special photoelectric switch acquisition circuit 5-2 is designed for providing a limit position signal, and according to the characteristics of the displacement sensor 6-1 in the electric mechanism 6-5, a special displacement acquisition circuit 5-3 is designed for acquiring a position signal of a steering adjustment sheet through the displacement sensor 6-1.
In another aspect, in the digital controller provided in the embodiment of the present invention, the power amplification/inversion module 4 is a circuit for amplifying the driving capability of the control signal, and since the output of the main chip circuit module 3 is a low current signal and the input required for power inversion is a high current driving signal, a power amplification circuit 4-1 with signal isolation is designed between the output end of the main chip circuit module 3 and the input end of the power inversion circuit 4-2, so as to achieve electrical isolation and signal amplification between a weak current signal and a strong current signal; the power inverter circuit 4-2 has the advantages of high input impedance, high switching speed, small on-state voltage drop, high voltage resistance, high overcurrent capacity and the like.
Further, the power amplification/inversion module 4 comprises a clutch control circuit 4-3 of the direct current brushless motor clutch besides the power amplification circuit 4-1 and the power inversion circuit 4-2, and the clutch control circuit 4-3 is designed according to the electrical characteristics of the direct current brushless motor 6-4 clutch. The clutch control circuit 4-3 has a timing feature of turning on before the command signal and turning off after the command signal.
According to the circuits and functions of the modules, the power adapter module 2 in the embodiment of the present invention can be decomposed into a 28V to 5V module, and the power adapter module is implemented as the power supply capability of the main chip circuit module 3.
Further, the power supply adaptation module 2 can be decomposed into a 28V to 12V module, and the power supply capacity of the power inverter circuit 4-2, the direct current brushless motor 6-4 and the speed sensor 6-3 is realized;
further, the power adapter module 2 can be decomposed into a 28V to ± 15V module, and the power supply capability of the power amplifier circuit 4-1 and the feedback signal processing module 5 is realized.
The digital controller provided by the embodiment of the invention mainly has the following three functions:
function one: the electric mechanism 6 is controlled to do stretching and retracting linear motion, so that the rudder adjusting sheet is driven to deflect, and the pedal force provided by an airplane pilot when the rudder is controlled is removed or reduced;
and a second function: providing a position signal of a rudder tab to a flight control system of an aircraft;
and function III: a neutral position indication signal of the rudder tab is provided to a flight control system of the aircraft.
In a specific embodiment, in one aspect, in the digital controller provided by the present invention, an execution algorithm of a control law of the digital controller is provided in the main chip circuit module 3, for example, implemented by a software algorithm in the main chip circuit module 3, and is used for controlling the dc brushless motor 6-4 in the electric mechanism 6 to meet the requirement of precise displacement and time, and the control law algorithm includes speed PID adjustment of the dc brushless motor and setting of a step size of the electric mechanism. Fig. 2 is a flowchart of a control law algorithm configured in the main chip circuit module according to an embodiment of the present invention, where the control law algorithm is used to implement the first function.
On the other hand, the digital controller provided by the invention also provides: the position detection and output capability of the rudder adjusting sheet, and the interval display technology is adopted to provide an indication signal of the neutral position of the rudder adjusting sheet for the flight control system, namely the second function and the third function.
The following describes in detail how the above functions are realized by specific embodiments.
Fig. 3 is a schematic diagram illustrating a principle of the master chip circuit module executing the control law algorithm according to the embodiment of the present invention. The premise of controlling the electric mechanism 6 is that an effective working instruction is received, the provider of the working instruction is a pilot 7-1 of the airplane, at the beginning of the algorithm, firstly, the validity of the control instruction received from the flight control system is judged through the main chip circuit module 3, as shown in fig. 4, the logic diagram is a logic diagram for judging the validity of the control instruction by the main chip circuit module in the embodiment of the invention. Meanwhile, the acquisition of the position signal of the rudder adjusting sheet is carried out by a displacement acquisition circuit 5-3 in a feedback signal processing module 5, the position signal is provided by a displacement sensor 6-1 arranged on an output shaft of an electric mechanism 6, and the feedback of the acquired position signal by the feedback signal processing module 5 and the calculation processing of the main chip circuit module 3 comprise the following steps: judging whether the rudder adjusting sheet is in a neutral position or not according to the acquired position signal, if so, sending a neutral position indicating signal to a flight control system through a signal receiving/sending module 1 for providing neutral judgment for a pilot, and after calculation processing: on one hand: the position signals collected by the displacement collecting circuits 5-3 are provided for a flight control system of the airplane through position signal driving circuits 1-6 in the signal receiving/sending module 1 and are used for displaying an on-board engine and a unit alarm system (EICAS for short); on the other hand, the main chip circuit module 3 executes logical operation of position and instruction according to the received effective instruction and the position signal acquired by the displacement acquisition circuit 5-3, so as to determine the control direction of the electric mechanism 6, i.e. forward rotation or reverse rotation, and to determine the step length of control.
After the step length is determined, the step length is equivalent to the calibration of the target rotating speed value of the direct current brushless motor 6-4 in the electric mechanism 6, the actual rotating speed of the direct current brushless motor 6-4 is acquired through the direct current brushless motor speed acquisition circuit 5-1, the actual rotating speed is fed back by the speed sensor 6-3, the difference value between the target rotating speed and the acquired actual rotating speed is obtained through the mathematical operation of the main chip circuit module 3, a Pulse Width Modulation (PWM) generation module in the main chip circuit module 3 generates a PWM signal (namely a PWM signal), the PWM signal is amplified through the power of the power amplification circuit 4-1, and finally the Pulse Width Modulation (PWM) signal acts on the power inverter circuit 4-2 to perform energy conversion, namely direct current is converted into alternating current, so that the energy required by driving the direct current brushless motor 6-4 is obtained, and the electric mechanism 6 performs corresponding work according to the instruction requirement of an airplane driver, i.e., an extension operation or a retraction operation. Wherein, it is the work that electric mechanism 6 output shaft stretches out that stretches out the instruction to correspond, and it is the work that electric mechanism 6 output shaft withdraws to withdraw to receive the instruction to correspond.
That is, the control operation of the electric mechanism 6 in the first function of the above embodiment includes the extending operation and the retracting operation. Fig. 5 is a schematic diagram of the operation principle of the digital controller of the rudder tab steering device according to the embodiment of the present invention, which illustrates a specific implementation of the extending operation mode and the retracting operation mode.
The specific implementation method for controlling the electric mechanism 6 to execute the stretching work by the digital controller provided by the embodiment of the invention comprises the following steps: a driver 7-1 provides an extension instruction, the extension instruction is sent to a main chip circuit module 3 in the digital controller through an extension instruction isolation circuit 1-1 of a signal receiving/sending module 1 in the digital controller and is processed through a control law of the main chip circuit module 3 to generate a PWM signal, the PWM signal is subjected to power amplification of a power amplification circuit 4-1 and then acts on a power inverter circuit 4-2 to perform energy conversion, so that a direct current brushless motor 6-4 is driven to rotate in the positive direction, and the rotary motion is converted into linear extension motion through conversion of a transmission mechanism 6-5.
It should be noted that, in the process of controlling the electric mechanism 6 to perform the extending work, before driving the dc brushless motor 6-4 to rotate, the main chip circuit module 3 further controls the clutch control circuit 4-3 to send a control signal to control the clutch in the dc brushless motor 6-4 to be disconnected; as shown in fig. 5.
Further, when the digital controller controls the transmission mechanism 6-5 in the electric mechanism 6 to extend to the designed limit position, the extension in-place signal of the transmission mechanism 6-5 is acquired through the photoelectric switch acquisition circuit 5-2 and is sent to the main chip circuit module 3 in the digital controller to execute the logic judgment of extension in place, and the result after the judgment is sent to the flight control system through the extension limit isolation circuit 1-3 of the signal receiving/sending module 1 in the digital controller, as shown in fig. 5.
The specific implementation method for controlling the electric mechanism 6 to execute the retracting operation by the digital controller provided by the embodiment of the invention is as follows: the driver 7-1 provides a withdrawing instruction, the withdrawing instruction is sent to a main chip circuit module in the digital controller through a withdrawing instruction isolation circuit 1-2 of a signal receiving/sending module 1 in the digital controller, PWM signals are generated through control law processing of the main chip circuit module 3, the PWM signals are subjected to power amplification of a power amplification circuit 4-1 and then act on a power inverter circuit 4-2 to perform energy conversion, so that the direct current brushless motor 6-4 is driven to rotate in the opposite direction, and the rotary motion is converted into linear withdrawing motion through conversion of a transmission mechanism 6-5.
It should be noted that, in the process of controlling the electric mechanism 6 to execute the retracting operation, before driving the dc brushless motor 6-4 to rotate, the main chip circuit module 3 further controls the clutch control circuit 4-3 to send a control signal to control the clutch in the electric mechanism 6-4 to be disconnected; as shown in fig. 5.
Further, when the digital controller controls the transmission mechanism 6-5 in the electric mechanism 6 to retract to the designed limit position, the retraction in-place signal of the transmission mechanism 6-5 is acquired through the photoelectric switch acquisition circuit 5-2 and sent to the main chip circuit module 3 in the digital controller to execute the logic judgment of the retraction in-place, and the result after the judgment is sent to the flight control system through the retraction limit isolation circuit 1-4 of the signal receiving/sending module 1 in the digital controller, as shown in fig. 5.
The digital controller of the embodiment of the invention implements the second function and the third function in the following implementation modes: when the electric mechanism 6 is controlled to work, namely the extending work and the retracting work are carried out, a position signal of the steering adjustment sheet is acquired through a displacement acquisition circuit 5-3, and the position signal is provided by a displacement sensor 6-1 arranged on an output shaft of the electric mechanism 6; then, on the one hand, the acquired position signal is processed by the master chip circuit module 3 and then the position signal is supplied to the flight control system through the position signal driving circuit 1-6, and on the other hand, the acquired position signal is processed by the master chip circuit module 3 and then the neutral position region is calculated and the neutral position instruction signal is supplied to the flight control system through the neutral position instruction signal driving circuit 1-5, as shown in fig. 5.
The embodiment of the invention provides a digital controller of a rudder trimmer control device, which realizes the control of an electric mechanism to do stretching and recovery linear motion by the control law algorithm of a main chip circuit module 3 in the digital controller and the cooperation with a signal receiving/sending module 1, a feedback signal processing module 5 and a power amplifying/inverting module 4, thereby driving the rudder trimmer to deflect, further removing or reducing the pedal force provided by an airplane driver when controlling a rudder, and further realizing the function of providing a position signal and a neutral position indication signal of the rudder trimmer to a flight control system of the airplane. In order to improve the control reliability, step control precision, electromagnetic compatibility and other capabilities of the rudder adjustment sheet control device, the embodiment of the invention innovatively adopts a digital controller to realize the accurate control of the speed and displacement of the rudder adjustment sheet control device in a stepping type working mode.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A digital controller for a rudder tab steering device, comprising: the power supply comprises a main chip circuit module (3), and a power supply adaptation module (2), a signal receiving/sending module (1), a feedback signal processing module (5) and a power amplification/inversion module (4) which are respectively connected with the main chip circuit module (3); the power supply adaptation module (2) is also respectively connected with the signal receiving/transmitting module (1), the feedback signal processing module (5) and the power amplification/inversion module (4) and used for supplying power to each module connected with the power supply adaptation module; a control law algorithm of a digital controller for controlling an electric mechanism (6) is configured in the main chip circuit module (3);
the digital controller is used for receiving a control instruction from the flight control system through the signal receiving/sending module (1), and controlling the electric mechanism (6) to work through the matching work of the main chip circuit module (3), the feedback signal processing module (5) and the power amplification/inversion module (4), so that the rudder trimmer is driven to deflect, and the pedal force provided by an aircraft driver when the rudder is controlled is removed or reduced; the flight control system is also used for providing a position signal and a neutral position indication signal of the steering adjustment sheet to the flight control system through the feedback signal processing module (5) and the main chip circuit module (3);
Wherein the signal receiving/transmitting module (1) comprises: the device comprises a stretching instruction isolation circuit (1-1), a retracting instruction isolation circuit (1-2), a stretching limit isolation circuit (1-3), a retracting limit isolation circuit (1-4), a neutral position indication signal driving circuit (1-5) and a position signal driving circuit (1-6);
the power amplification/inversion module (4) comprises: the power amplifier circuit (4-1), the power inverter circuit (4-2) and the clutch control circuit (4-3);
the feedback signal processing module (5) comprises: a speed acquisition circuit (5-1), a photoelectric switch acquisition circuit (5-2) and a displacement acquisition circuit (5-3).
2. The digital control of a rudder tab steering device according to claim 1,
the digital controller is specifically used for judging the effectiveness of a control instruction received from a flight control system through a main chip circuit module (3), acquiring a position signal of a rudder adjusting sheet through a displacement acquisition circuit (5-3) in a feedback signal processing module (5), and transmitting the acquired position signal to the flight control system of the airplane through a position signal driving circuit (1-6) in a signal receiving/transmitting module (1) after the acquired position signal is fed back by the feedback signal processing module (5) and calculated and processed by the main chip circuit module (3) for displaying an on-board engine display and a unit alarm system (EICAS); on the other hand, the main chip circuit module (3) executes the logical operation of the position and the instruction according to the received effective instruction and the position signal acquired by the displacement acquisition circuit (5-3), so as to determine the positive rotation or the negative rotation of the control direction bit of the electric mechanism (6) and determine the step length of the control electric mechanism (6);
Wherein, the calculation processing of the main chip circuit module (3) comprises the following steps: and judging whether the rudder trimmer is at the neutral position or not according to the acquired position signal, and if the rudder trimmer is at the neutral position, sending a neutral position indicating signal to a flight control system through a signal receiving/sending module (1) for providing neutral judgment for a pilot.
3. The digital control of a rudder tab steering device according to claim 2,
the digital controller is further used for acquiring the actual rotating speed of the direct current brushless motor through the speed acquisition circuit (5-1), obtaining a difference value between the target rotating speed and the acquired actual rotating speed through mathematical operation of the main chip circuit module (3), generating a PWM (pulse width modulation) signal through a PWM generating module in the main chip circuit module (3), and after the PWM signal is amplified through the power of the power amplification circuit (4-1), acting on the power inverter circuit (4-2) to perform energy conversion so as to obtain alternating current energy required for driving the direct current brushless motor, so that the electric mechanism (6) performs corresponding operation according to a control instruction of an aircraft driver, and the operation executed by the electric mechanism (6) comprises the following steps: an extension operation or a retraction operation.
4. The digital control of a rudder tab steering device according to claim 3,
the digital controller controls the electric mechanism to execute the extending work mode, comprising: a driver (7-1) sends an extension instruction through a flight control system (7), the extension instruction is transmitted to a main chip circuit module (3) through an extension instruction isolation circuit (1-1) of a signal receiving/sending module (1), and is processed by a control law of the main chip circuit module (3) to generate a PWM signal, the PWM signal is subjected to power amplification of a power amplification circuit (4-1) and acts on a power inverter circuit (4-2) to perform energy conversion, so that a direct-current brushless motor (6-4) in an electric mechanism (6) is driven to rotate in the positive direction, and the rotation motion is converted into linear extension motion through conversion of a transmission mechanism (6-5);
before the direct current brushless motor (6-4) is driven to rotate, a control signal is also sent to the clutch control circuit (4-3) through the main chip circuit module (3) so as to control the clutch in the direct current brushless motor (6-4) to be disconnected.
5. The digital control of a rudder tab steering device according to claim 4,
the digital controller controls the electric mechanism to execute the extending work mode, and the method further comprises the following steps: when the transmission mechanism (6-5) in the electric control mechanism (6) extends to the limit position, the in-place extending signal of the transmission mechanism (6-5) is acquired through the photoelectric switch acquisition circuit (5-2) and transmitted to the main chip circuit module (3), the in-place extending logic judgment is executed, and the in-place extending signal is sent to the flight control system through the extending limit isolation circuit (1-3) of the signal receiving/sending module (1) according to the judgment result.
6. The digital control of a rudder tab steering device according to claim 3,
the mode that the digital controller controls the electric mechanism to execute the retracting work comprises the following steps: a driver (7-1) sends a withdrawing instruction through a flight control system (7), the withdrawing instruction is transmitted to a main chip circuit module (3) through a withdrawing instruction isolation circuit (1-2) of a signal receiving/sending module (1), PWM signals are generated through control law processing of the main chip circuit module (3), after the PWM signals are amplified through power of a power amplification circuit (4-1), the PWM signals act on a power inverter circuit (4-2) to perform energy conversion, and therefore a direct current brushless motor (6-4) in an electric mechanism (6) is driven to rotate in the opposite direction, and rotary motion is converted into linear withdrawing motion through conversion of a transmission mechanism (6-5);
before the direct current brushless motor (6-4) is driven to rotate, a control signal is also sent to the clutch control circuit (4-3) through the main chip circuit module (3) so as to control the clutch in the direct current brushless motor (6-4) to be disconnected.
7. The digital control of a rudder tab steering device according to claim 6,
the mode that digital controller control electric mechanism carries out the work of withdrawing still includes: when the transmission mechanism (6-5) in the electric mechanism (6) is controlled to retract to the limit position, a retraction in-place signal of the transmission mechanism (6-5) is acquired through the photoelectric switch acquisition circuit (5-2) and transmitted to the main chip circuit module (3), logic judgment of retraction in-place is executed, and a judgment result sends the retraction in-place signal to the flight control system through the retraction limit isolation circuit (1-4) of the signal receiving/sending module (1).
8. The digital controller of a rudder tab steering device according to any one of claims 3 to 7,
the digital controller is also used for acquiring a position signal of the steering adjustment sheet through the displacement acquisition circuit (5-3) while controlling the electric mechanism (6) to work, processing the acquired position signal through the main chip circuit module (3), sending the position signal to the flight control system through the position signal driving circuit (1-6), calculating a neutral position area, and sending a neutral position indicating signal to the flight control system through the neutral position indicating signal driving circuit (1-5).
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| CN202011020512.6A CN112173081B (en) | 2020-09-25 | 2020-09-25 | Digital controller of steering wheel adjustment sheet control device |
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| GB1435201A (en) * | 1972-07-14 | 1976-05-12 | Sperry Rand Corp | Aircraft automatic flight control system |
| CN103303465A (en) * | 2012-03-09 | 2013-09-18 | 陕西飞机工业（集团）有限公司 | Electrical control method and system for airplane rudder trimmer deflection angle restriction apparatus |
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