CN114013628B - Wing folding control method and device - Google Patents
Wing folding control method and device Download PDFInfo
- Publication number
- CN114013628B CN114013628B CN202111136367.2A CN202111136367A CN114013628B CN 114013628 B CN114013628 B CN 114013628B CN 202111136367 A CN202111136367 A CN 202111136367A CN 114013628 B CN114013628 B CN 114013628B
- Authority
- CN
- China
- Prior art keywords
- folding
- wing
- actuator
- state
- logic operation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/56—Folding or collapsing to reduce overall dimensions of aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Air Bags (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a wing folding control method and a device, wherein the method comprises the following steps: the flight control computer acquires the movement gesture data of the aircraft for controlling the folding wing; the wing folding control processor comprehensively judges the current motion gesture of the aircraft; when the comprehensive logic operation result is that the ground is parked, a furling instruction is sent out; when the comprehensive logic operation result is take-off running, air flying and landing running, an unfolding instruction is sent; the wing folding control processor performs the process control of unfolding and folding; the device comprises: the device comprises a wing folding control processor, a sensor data processor, a Hall angle sensor, a pressure sensor, a displacement sensor, a folding actuator driver, a folding actuator amplifier, a folding actuator, a locking actuator driver, a locking actuator amplifier and a locking actuator; according to the invention, the aircraft solves the motion instruction of the folding wing system without human participation, so that the intelligent degree is high and the adaptability is strong.
Description
Technical Field
The invention belongs to the technical field of aerospace, and particularly relates to a wing folding control method and device.
Background
With the development of aircraft technology and products, in order to promote the usability of aircraft, the application range of aircraft is expanded, and more aircraft adopting wing folding technology are adopted. Wing folding can adjust wing span and area according to the using stage and the flying stage of the aircraft, so that the flying performance of the aircraft is changed, the aircraft is matched with a flying task, and the task efficiency of the aircraft is effectively improved.
Therefore, research institutions, enterprises, universities and the like at home and abroad propose various wing folding modes, power driving modes, power transmission modes and wing locking modes. The folding wing is a complex system which integrates a mechanical structure, a movement mechanism and an actuating system, and in order to ensure the performance of the folding wing in the folding process, the folding control system is required to accurately control the movement states such as the position, the speed, the acceleration and the like.
The control loop of the prior art wing-fold control system remains a semi-automatic, semi-manual control loop: the wing 'folding' and the wing 'unfolding' links in the control loop are completed manually, flight operators are important in the control loop, and the control level and the capability of the flight operators have important roles in determining the state of the aircraft and issuing execution instructions.
Along with the rapid development of the aircraft technology, a semi-automatic control loop is changed into a full-automatic control loop, a folding control system with people is changed into a folding wing control system without people, people are removed from the control system, the self-autonomous perception, logic judgment, actuation decision and the intelligent degree of instruction issuing of the aircraft are enhanced, and the method has great significance for improving the task adaptability and the intelligent degree of the aircraft.
The difficulty in realizing an unmanned folding wing control system is that: the unmanned folding wing control system is required to autonomously perceive the state of the aircraft, autonomously logically judge and autonomously actuate the decision. The most important of the three is that the state of the aircraft is perceived autonomously, and the wing can be folded and unfolded autonomously in a timely manner only if the state of the aircraft is perceived accurately. In the semi-automatic control loop, the flight state is obtained through manual eyes without autonomous perception, such as the current aircraft is in which of ground parking, take-off running, air flying and landing running, the flight state can be completely obtained by a manual visual inspection method, and the time of folding and unfolding the wing can be well controlled by manual visual inspection: when the manual visual inspection aircraft is in a ground parking state, the manual visual inspection aircraft is controlled to perform wing folding action, and when the manual visual inspection aircraft is in a take-off running, air flight and landing running state, the manual visual inspection aircraft is controlled to perform wing unfolding action. The difficulty with a "fully automatic" control loop is that it is much more complicated to determine the flight status by means of the various measuring devices, since it is not visible to the flight status, since the factors determining each flight status are not one but many, and therefore a single measuring method is far from satisfactory, and the influencing factors involved in each flight status may be the same, such as "airspeed" is involved in each flight status, but the measured value of the same influencing factor "airspeed" is different in each flight status. Therefore, a difficulty in autonomously perceiving the state of an aircraft is that there is a complex relationship of "one-to-many" and "many-to-one" between the flight state and the various influencing factors.
Disclosure of Invention
The invention provides a wing folding control method and a device aiming at the problems in the prior art, and aims to solve the problem that a control loop of a folding control system in the prior art is still a semi-automatic and semi-manual control loop.
The invention provides the following technical scheme for solving the technical problems:
a wing folding control method is characterized by comprising the following steps,
step one: after the aircraft is electrified, the wing folding control system maintains the state and the position unchanged before last power-off;
step two: the flight control computer obtains current aircraft motion attitude data, the aircraft motion attitude data comprising aircraft motion attitude data for folded wing control, the aircraft motion attitude data for folded wing control comprising: pitch angle speed, yaw angle speed, roll angle speed, heading acceleration, ground speed and airspeed data of the aircraft;
step three: the wing folding control processor comprehensively judges the current motion gesture of the aircraft: after the motion attitude data of the aircraft for controlling the folding wings are read from the flight control computer, the throttle signal and the landing gear signal data obtained in the electromechanical management calculation are combined to carry out comprehensive logic operation, and the current space position state of the aircraft is determined to be in which state of ground parking, take-off running, air flight and landing running according to the logic operation result; the comprehensive logic operation comprises a ground parking comprehensive logic operation, a take-off running comprehensive logic operation, an air flight comprehensive logic operation and a landing running comprehensive logic operation;
step four: the wing folding control processor sends out an instruction according to the comprehensive logical operation result in the step three: when the comprehensive logic operation result is that the ground is parked, a furling instruction is sent out; when the comprehensive logic operation result is take-off running, or air flying or landing running, an unfolding instruction is sent out;
step five: the wing fold control processor "deploys" the active process controls:
1) After the wing folding control processor sends an unfolding instruction, sensor information is acquired through the sensor data processor, and folding position comprehensive logic operation is carried out, wherein the folding position comprehensive logic operation is a folding in-place state comprehensive logic operation;
2) Judging whether the wing is in a furled-in-place state or not; if the unfolding lock is in the folded-in-place state, continuing the process 3), if the unfolding lock is not in the folded-in-place state, judging whether the unfolding lock is locked or not, and turning to the process 7) if the unfolding lock is already locked, and turning to the process 4) if the unfolding lock is not already locked;
3) Locking and unlocking;
4) Unfolding the folding actuator;
5) Judging whether the wing is unfolded, if so, continuing the process 6), and if not, returning to the process 4);
6) The wing folding control processor outputs an unfolding lock locking instruction, and the locking actuator executes unfolding lock locking action, namely the unfolding action is completed;
7) The wing is unfolded;
step six: the wing fold control processor "furls" the active process control:
1) After the wing folding control processor sends a folding instruction, the sensor information acquired by the sensor data processor carries out comprehensive logic operation of the unfolding position, wherein the comprehensive logic operation of the unfolding position is the comprehensive logic operation of the unfolding in-place state;
2) Judging whether the wing is folded in place or not, if so, continuing the process 3), and if not, turning to the process 5);
3) Judging whether the folding lock is locked or not, if not, continuing the process 4), and if so, completing the folding action;
4) The wing folding control processor outputs a folding lock locking instruction, executes the instruction and goes to the process 8);
5) Determining whether the wing is in a deployed state, if so, continuing with process 6), if not, proceeding to process 7)
6) Unlocking by the unlocking locking action of the machine span;
7) The folding actuator executes folding action and returns to the process 1);
8) And (5) finishing the folding of the wings.
The ground parking comprehensive logical operation in the third step is as follows: the space position state of the aircraft is ground parking when the result of logical AND operation is true under the following four conditions:
1) The ground speed is less than 5m/s, and the speed is in-field transportation speed;
2) An airspeed less than 13.9m/s, the airspeed being that of less than 7 stage wind;
3) The throttle signal is 'throttle off';
4) Landing gear wheel load switch state is "load bearing";
the takeoff and running comprehensive logical operation in the third step is as follows: the result of logical AND operation on the following four conditions is that the space position state of the aircraft is take-off running when true:
1) Course acceleration is greater than 0m/s 2 ；
2) The ground speed is greater than 0m/s;
3) Airspeed greater than 0m/s;
4) The throttle signal is 'big throttle';
5) The landing gear wheel load switch state is "load".
The air flight comprehensive logical operation in the third step is as follows: the result of logical AND operation on the following four conditions is that the space position state of the aircraft is in air flight when the aircraft is true:
1) Airspeed greater than 0m/s;
2) The ground speed is greater than 0m/s;
3) The sum of the absolute value of the pitch angle speed, the absolute value of the roll angle speed and the absolute value of the yaw angle speed is larger than 0;
4) The landing gear wheel load switch state is "no load".
The landing and running comprehensive logical operation in the third step is as follows: the space position state of the aircraft is landing and running when the result of logical AND operation of the following three conditions is true:
1) Course acceleration is less than 0m/s 2 ；
2) The ground speed is greater than 5m/s;
3) The landing gear (if any) wheel load switch state is "load bearing";
4) The throttle signal is "non-shut down".
When the comprehensive logical operation result of the space position of the aircraft does not meet any one of ground parking, take-off running, air flight and landing running, the state value of the existing space position is kept unchanged;
and step five, the folding position comprehensive logic operation in step six is as follows: when the logical AND operation is true, the wing is in a folded and in-place state:
1) The state of the pressure sensor at the furled position is bearing;
2) The state of the folding position angle sensor is in place;
3) The absolute value of the movement speed of the folding actuator is smaller than 0.1.
The comprehensive judging method for the in-place unfolding in the step six is as follows: when the logical AND operation is true, the wing is in a state of being unfolded in place:
1) The state of the pressure sensor at the unfolding position is a bearing state;
2) The state of the unfolding position angle sensor is in place;
3) The absolute value of the movement speed of the folding actuator is smaller than 0.1.
The device comprises a wing folding control processor, a sensor data processor, a Hall angle sensor, a pressure sensor, a displacement sensor, a folding actuator driver, a folding actuator amplifier, a folding actuator, a locking actuator driver, a locking actuator amplifier and a locking actuator;
the wing folding control processor is used for receiving data, carrying out logic operation, storing data and outputting control instructions, the input end of the wing folding control processor is respectively used for receiving information of a flight control computer, information of an electromechanical management computer and information of a sensor data processor, and the output end of the wing folding control processor is respectively connected with a folding actuator driver and a locking actuator driver;
the sensor data processor is used for receiving and processing the sensor data, performing logic operation, amplifying, filtering and converting the acquired sensor signals; the input end of the device is respectively connected with a Hall angle sensor, a pressure sensor and a displacement sensor, and the output end of the device is connected with a wing folding control processor;
the Hall angle sensor is used for collecting position signals of the folding wing; the pressure sensor is used for collecting a folding wing position signal and a locking pressure signal; the displacement sensor is used for collecting lock position signals; the Hall angle sensor, the pressure sensor and the displacement sensor are respectively connected with the sensor data processor at the output ends;
the folding actuator driver is used for receiving and processing control instructions about folding actions and sending out motion parameter instructions comprising folding speed and displacement of the folding actuator, the input end of the folding actuator driver is connected with the wing folding control processor, and the output end of the folding actuator driver is connected with the folding movable actuator amplifier; the folding actuator amplifier is used for receiving an instruction of a folding actuator driver, amplifying and converting the control instruction, outputting a control signal to the folding actuator, wherein the input end of the folding actuator amplifier is connected with the folding actuator driver, and the output end of the folding actuator amplifier is connected with the folding actuator; the folding actuator is used for receiving and processing a control instruction of the folding actuator, outputting an angle action, wherein the input end of the folding actuator is connected with the amplifier of the folding movable actuator, and the output end of the folding actuator is connected with the folding wing;
the locking actuator driver is used for receiving and processing control instructions related to the locking mechanism and sending out motion parameter instructions comprising the actuating speed and displacement of the locking actuator, the input end of the locking actuator driver is connected with the wing folding control processor, and the output end of the locking actuator driver is connected with the locking actuator amplifier; the locking actuator amplifier is used for receiving an instruction of a locking actuator driver, amplifying, converting and outputting a control signal, the input end of the locking actuator amplifier is connected with the locking actuator driver, and the output end of the locking actuator amplifier is connected with the locking actuator; the locking actuator is used for receiving and processing the control instruction of the locking actuator and outputting linear motion, the input end of the locking actuator is connected with the locking actuator amplifier, and the output end of the locking actuator is connected with the folding wing locking mechanism;
the method is characterized in that: the logic operation of the wing folding control processor comprises a ground parking comprehensive logic operation module, a take-off and running comprehensive logic operation module, an air flight comprehensive logic operation module and a landing and running comprehensive logic operation module; the four modules comprehensively judge the ground parking state, the take-off running state, the air flight state and the landing running state of the aircraft through a method of logical AND operation; the logical operation of the sensor data processor comprises a folding position comprehensive logical operation module and a unfolding position comprehensive logical operation module, and the two modules comprehensively judge the folding position state and the unfolding position state of the aircraft respectively through a method that logical AND operation is true.
Advantageous effects of the invention
1. The aircraft autonomously carries out space position judgment through sensors, equipment, instruments and the like which are installed and carried by the aircraft, so that the motion instruction of the folding wing system is calculated, the participation of people is not needed, the intelligent degree is high, and the adaptability is strong; the space position judgment logic provided by the invention has strong expandability, and the logic judgment conditions can be increased or decreased according to the specific configuration adaptability of the aircraft; the wing folding system can be independently designed into a set of general subsystem, so that the application range is wide; the framework of the folding system and the folding device provided by the invention is easy to isolate and position faults in the using process, and has good testability and maintainability;
2. the invention organically combines and mutually supports four factors of a ground parking state, organically combines and mutually supports four factors of a take-off running state, organically combines and mutually supports four factors of an air flight state, organically combines and mutually supports four factors of a landing running state, organically combines and organically completes four states of an aircraft and a folding process and a unfolding process in place, ensures the normal state of the aircraft, and cannot ensure the take-off running, the air flight and the landing running if the wing unfolding process is not locked before finishing; if the flight state is inaccurate, the running state is judged to be a parking state, and when landing running, the wings are unfolded and folded, so that the control of the folding process is meaningless. Therefore, the judgment of the flying state, the folding process and the unfolding process are mutually supported and complemented. The invention organically combines and mutually supports the above factors, and the effect after combination is far superior to the single effect before combination.
Drawings
FIG. 1 is a flow chart of a wing fold control method of the present invention;
FIG. 2 is a functional block diagram of a wing fold control system of the present invention;
FIG. 3 is a functional block diagram of a wing fold control processor of the present invention;
FIG. 4 is a functional block diagram of a sensor data processor of the present invention.
Detailed Description
The invention will be further explained with reference to the drawings
Principle of design of the invention
1. Design principle of autonomous perception of flight state
1) Ground parking comprehensive logic operation design principle:
the first purpose of judging the ground parking is to send out a command of folding the wing. If the ground wind speed is greater than or equal to 7-level wind, the aircraft moves to a machine room, and all external field operation is stopped at the moment, so that a condition of 'airspeed less than 7-level wind' is necessarily set in logic AND operation, and the condition is 2);
secondly, the folding wings can be folded not only in a static state of the aircraft, but also in a moving state of the aircraft for transporting goods, and the ground speed is smaller than 5m/s and is a general in-field transport speed, so that the condition that the ground speed is smaller than 5m/s is required to be set in logic AND operation, and the condition is 1); the throttle and the landing gear are also two conditions which exist simultaneously, and the 'Guan Youmen' does not prove that the landing gear bears, because special air conditions can also realize 'throttle closing', and the 'wing furling' instruction is the most stable only when the 'throttle closing' and the 'landing gear bears' exist simultaneously, namely the condition 3) and the condition 4).
In summary, out of the four conditions, if the 1 st condition is not present, the situation of "wing gathering" is limited, and if the 2 nd condition is not present, the situation of "wing gathering" is also limited; if the 3 rd and 4 th conditions are not met, the risk is brought about by folding the wing under the condition that the throttle is not closed or the landing gear is not landed.
2) Design principle of integrated logic operation of take-off and running:
the 2) and 3) conditions of the first, take-off and run state are conflicting with "ground parking", so that its independent 1) condition must be added;
the second, only by 1 st), 2 nd), 3 rd) condition can also conflict with the "air flight" state, so, it is also necessary to add 4) the throttle signal as "big throttle" and 5) the landing gear wheel load switch state as "load" two conditions to distinguish "air flight", because the air flight landing gear must not load, and "big throttle" is also only in the stage of taking off and running, once entering the flat flight stage, the throttle signal will change.
In summary, of the five conditions, 1) conditions are to distinguish "ground parking" states, 4) and 5) conditions are to distinguish "air flight", "landing run", 1) and 2) and 3) conditions are to distinguish "landing run". Therefore, these five conditions must exist simultaneously, and the logical AND operation is true simultaneously, so that the "take-off and run" state can be judged.
3) Design principle of air flight comprehensive logic operation:
the first, 1) and 2) conditions are to distinguish whether the test is in the air or in the test environment, and if the test is in a factory building, the 3) and 4) conditions are true, but the airspeed is not greater than 0 and the ground speed is not greater than 0;
second, 1) airspeeds greater than 0m/s, 2) ground speeds greater than 0m/s, both of which conflict with the "ground parking" conditions 1), 2), so that special conditions are required for the "air flight" state;
thirdly, in order to distinguish the 'take-off and run' state, the landing gear wheel load switch state is increased to be 'no load', and 3) the sum of the absolute value of the pitch angle speed, the absolute value of the roll angle speed and the absolute value of the yaw angle speed is larger than 0, and the conditions 3) and 4) are mutually complemented, because the condition 3) or the condition 4) alone can be misjudged due to unexpected reasons, and the condition 3) and the condition 4) have little possibility of misjudgment.
In summary, four conditions, the first 2 to distinguish whether the aircraft is in the test environment or in the air, and the second 2 to compensate each other, only 2 conditions are true to confirm the "in-air flight" state.
4) Landing running comprehensive logic operation design principle:
the first, landing run and take-off run are in common that the landing gear wheel load switch state is "load bearing"; therefore, it is necessary to increase the condition 1) the heading acceleration is less than 0m/s 2 This is an independent condition of the "landing run" state being distinguished from the "take-off run" state;
secondly, the throttle signal is 'non-closing' which means that the throttle signal can be 'big throttle', but the 'big throttle' is in conflict with the 'big throttle' of 'take-off and running', so that the ground speed is required to be increased by more than 5m/s; "conditions of".
In summary, the heading acceleration is less than 0m/s with "1 2 The method comprises the steps of carrying out a first treatment on the surface of the "1) heading acceleration" distinct from "take-off and run" is greater than 0m/s 2 ", but if only the 1 st condition is not the 2 nd condition, it is difficult to distinguish whether in the factory building test environment or in the" landing run "state, because the condition 3) landing gear wheel load switch state is" load "and the condition 4) throttle signal is" non-shut down "can also be satisfied in the factory building test environment.
2. Principle of design of folding or unfolding process
First, whether folding or unfolding, each process must be locked before the end, so that the process is completed;
secondly, based on the principle, when changing from folding to unfolding or from unfolding to folding, the last state must be unlocked firstly, and the next state can be converted after unlocking;
third, once the "collapse" or "expand" instruction is issued, it will be sent in a loop until the end of the current process. In the process of circularly sending the instruction, at least the first time of sending the instruction and the middle process of sending the instruction, the folded or unfolded state of the wing is different, for example, when the folded instruction is sent for the first time, the state of the wing is always kept in the unfolded state, when the folded instruction is received again after the unfolded instruction is unlocked, the current state is changed into the folded state, but not necessarily into the folded state, and because a process exists from the beginning of folding to the folded state, whether the folded state is in place or not is continuously judged, and after the folded state is folded in place, the lock can be locked. Similarly, when the "unfolding" command is sent for the first time, the state of the wing is still in the "folded" state, and when the "folded" command is received again after unlocking, the current state is changed into the "unfolded" state, but the state is not necessarily in-place unfolding, and because there is a process from the beginning of unfolding to the in-place unfolding, whether the wing is unfolded in place or not is continuously judged, and the wing can be locked after being unfolded in place.
Based on the principle, the invention designs a wing folding control method
A wing folding control method is characterized by comprising the following steps,
step one: after the aircraft is powered on, the wing folding control system maintains the state and the position unchanged before last power-off.
Step two: the flight control computer obtains current aircraft motion attitude data, the aircraft motion attitude data comprising aircraft motion attitude data for folded wing control, the aircraft motion attitude data for folded wing control comprising: pitch angle speed, yaw angle speed, roll angle speed, heading acceleration, ground speed and airspeed data of the aircraft;
step three: the wing folding control processor comprehensively judges the current motion gesture of the aircraft: after the motion attitude data of the aircraft for controlling the folding wings are read from the flight control computer, the throttle signal and the landing gear signal data obtained in the electromechanical management calculation are combined to carry out comprehensive logic operation, and the current space position state of the aircraft is determined to be in which state of ground parking, take-off running, air flight and landing running according to the logic operation result; the comprehensive logic operation comprises a ground parking comprehensive logic operation, a take-off running comprehensive logic operation, an air flight comprehensive logic operation and a landing running comprehensive logic operation;
the ground parking comprehensive logical operation in the third step is as follows: the space position state of the aircraft is ground parking when the result of logical AND operation is true under the following four conditions:
1) The ground speed is less than 5m/s, and the speed is in-field transportation speed;
2) An airspeed less than 13.9m/s, the airspeed being that of less than 7 stage wind;
3) The throttle signal is 'throttle off';
4) Landing gear wheel load switch state is "load bearing";
the takeoff and running comprehensive logical operation in the third step is as follows: the result of logical AND operation on the following four conditions is that the space position state of the aircraft is take-off running when true:
1) Course acceleration is greater than 0m/s 2 ；
2) The ground speed is greater than 0m/s;
3) Airspeed greater than 0m/s;
4) The throttle signal is 'big throttle';
5) The landing gear wheel load switch state is "load".
The air flight comprehensive logical operation in the third step is as follows: the result of logical AND operation on the following four conditions is that the space position state of the aircraft is in air flight when the aircraft is true:
1) Airspeed greater than 0m/s;
2) The ground speed is greater than 0m/s;
3) The sum of the absolute value of the pitch angle speed, the absolute value of the roll angle speed and the absolute value of the yaw angle speed is larger than 0;
4) The landing gear wheel load switch state is "no load".
The landing and running comprehensive logical operation in the third step is as follows: the space position state of the aircraft is landing and running when the logical AND operation is true under the following three conditions:
1) Course acceleration is less than 0m/s 2 ；
2) The ground speed is greater than 5m/s;
3) The landing gear (if any) wheel load switch state is "load bearing";
4) The throttle signal is "non-shut down".
Step four: the wing folding control processor sends out an instruction according to the comprehensive logical operation result in the step three: when the comprehensive logic operation result is that the ground is parked, a furling instruction is sent out; when the comprehensive logic operation result is take-off running, or air flying or landing running, an unfolding instruction is sent out;
step five: the wing fold control processor "deploys" the active process controls:
1) After the folding wing control processor sends an unfolding instruction, sensor information is acquired through the sensor data processor, and folding position comprehensive logic operation is carried out, wherein the folding position comprehensive logic operation is the folding in-place state comprehensive logic operation;
2) Judging whether the wing is in a furled-in-place state or not; if the unfolding lock is in the folded-in-place state, continuing the process 3), if the unfolding lock is not in the folded-in-place state, judging whether the unfolding lock is locked or not, and turning to the process 7) if the unfolding lock is already locked, and turning to the process 4) if the unfolding lock is not already locked;
3) Locking and unlocking;
4) Unfolding the folding actuator;
5) Judging whether the wing is unfolded, if so, continuing the process 6), and if not, returning to the process 4);
6) The wing folding control processor outputs an unfolding lock locking instruction, and the locking actuator executes unfolding lock locking action, namely the unfolding action is completed;
7) The wing deployment is complete.
Supplementary explanation:
first, after a "expand" instruction is issued, a "expand in place" logic operation is performed, where the expand in place refers to expanding to a target location, rather than a location during expansion. The logical operation of the expansion in place is as follows: 1) The state of the pressure sensor at the unfolding position is a bearing state; 2) The state of the unfolding position angle sensor is in place; 3) The absolute value of the movement speed of the folding actuator is smaller than 0.1.
Second, control of the unfolding process may first determine whether the wing is unfolded or not, or may first determine whether the wing is folded or not. The present embodiment first makes a determination that the fold is in place.
Thirdly, when an unfolding instruction is sent for the first time, the state of the wing is kept in the last state, namely the furling state, at the moment, the unfolding process link is branched at the left side, whether the folding lock is locked or not is judged firstly, if not, furling and unlocking are carried out, and a series of unfolding actions are carried out; this process corresponds to the left hand branch of the deployment process control.
Fourth, if it is determined that the folding lock is not locked, it is indicated that the folding lock has been unlocked and changed from the folded state to the unfolded state, assuming that the previous process must be locked before the end, so that once the folding lock is unlocked, it is indicated that the folding lock is shifted to the unfolded state without the need to unlock the folding lock again;
fifth, after the wing enters the unfolding state, two states exist, one is unfolding in place, and the other is directly locked if the wing is unfolded in place in the unfolding process, and if the wing is unfolded in place, the wing is unfolded continuously. This process corresponds to the right branch of the deployment process control.
Step six: the wing fold control processor "furls" the active process control:
1) After the folding wing control processor sends out a folding instruction, the sensor information acquired by the sensor data processor carries out comprehensive logic operation of the unfolding position, wherein the comprehensive logic operation of the unfolding position is the comprehensive logic operation of the unfolding in-place state;
2) Judging whether the wing is folded in place, if so, continuing the process 3), and if not, turning to the process 5
3) Judging whether the folding lock is locked or not, if not, continuing the process 4), and if so, completing the folding action;
4) The folding wing control processor outputs a folding lock locking instruction, executes the instruction and goes to the process 8);
5) Determining whether the wing is in a deployed state, if so, continuing with process 6), if not, proceeding to process 7)
6) Unlocking by the unlocking locking action of the machine span;
7) The folding actuator executes folding action and returns to the process 1);
8) And (5) finishing the folding of the wings.
Supplementary explanation:
first, after a furling instruction is sent out, a logic operation of furling in place is performed, wherein furling in place refers to furling to a target position, and is not a position in the furling process. The logical operation of the furling in place is as follows: 1) The state of the pressure sensor at the furled position is bearing; 2) The state of the folding position angle sensor is in place; 3) The absolute value of the movement speed of the folding actuator is smaller than 0.1.
Secondly, a furling instruction is sent for the first time, the wings are in a unfolded state, at the moment, the wings are unfolded, locked and unlocked, the furling action can be started, and at the moment, the furling link of the flow chart branches on the right;
thirdly, once the folding command is sent out, the folding command is circularly sent before the process is finished, when the folding command is sent out for the second time, the flow chart is still branched at the right side at the moment because the folding command is not folded in place, and the flow chart is still branched at the right side and is locked after judging whether the wing is unfolded or not and then continuing the folding action and returning the judgment of whether the folding is in place until the wing is folded in place.
When the comprehensive logical operation result of the space position of the aircraft does not meet any one of ground parking, take-off running, air flight and landing running, the state value of the existing space position is kept unchanged;
and step five, the folding position comprehensive logic operation in step six is as follows: when the logical AND operation is true, the wing is in a folded and in-place state:
1) The state of the pressure sensor at the furled position is bearing;
2) The state of the folding position angle sensor is in place;
3) The absolute value of the movement speed of the folding actuator is smaller than 0.1.
The comprehensive judging method for the in-place unfolding in the step six is as follows: when the logical AND operation is true, the wing is in a state of being unfolded in place:
4) The state of the pressure sensor at the unfolding position is a bearing state;
5) The state of the unfolding position angle sensor is in place;
6) The absolute value of the movement speed of the folding actuator is smaller than 0.1.
The device comprises a wing folding control processor, a sensor data processor, a Hall angle sensor, a pressure sensor, a displacement sensor, a folding actuator driver, a folding actuator amplifier, a folding actuator, a locking actuator driver, a locking actuator amplifier and a locking actuator;
the wing folding control processor is used for receiving data, carrying out logic operation, storing data and outputting control instructions, the input end of the wing folding control processor is respectively used for receiving information of a flight control computer, information of an electromechanical management computer and information of a sensor data processor, and the output end of the wing folding control processor is respectively connected with a folding actuator driver and a locking actuator driver;
the sensor data processor is used for receiving and processing the sensor data, performing logic operation, amplifying, filtering and converting the acquired sensor signals; the input end of the device is respectively connected with a Hall angle sensor, a pressure sensor and a displacement sensor, and the output end of the device is connected with a wing folding control processor;
the Hall angle sensor is used for collecting position signals of the folding wing; the pressure sensor is used for collecting a folding wing position signal and a locking pressure signal; the displacement sensor is used for collecting lock position signals; the Hall angle sensor, the pressure sensor and the displacement sensor are respectively connected with the sensor data processor at the output ends;
the folding actuator driver is used for receiving and processing control instructions about folding actions and sending out motion parameter instructions comprising folding speed and displacement of the folding actuator, the input end of the folding actuator driver is connected with the wing folding control processor, and the output end of the folding actuator driver is connected with the folding movable actuator amplifier; the folding actuator amplifier is used for receiving an instruction of a folding actuator driver, amplifying and converting the control instruction, outputting a control signal to the folding actuator, wherein the input end of the folding actuator amplifier is connected with the folding actuator driver, and the output end of the folding actuator amplifier is connected with the folding actuator; the folding actuator is used for receiving and processing a control instruction of the folding actuator, outputting an angle action, wherein the input end of the folding actuator is connected with the amplifier of the folding movable actuator, and the output end of the folding actuator is connected with the folding wing;
the locking actuator driver is used for receiving and processing control instructions related to the locking mechanism and sending out motion parameter instructions comprising the actuating speed and displacement of the locking actuator, the input end of the locking actuator driver is connected with the wing folding control processor, and the output end of the locking actuator driver is connected with the locking actuator amplifier; the locking actuator amplifier is used for receiving an instruction of a locking actuator driver, amplifying, converting and outputting a control signal, the input end of the locking actuator amplifier is connected with the locking actuator driver, and the output end of the locking actuator amplifier is connected with the locking actuator; the locking actuator is used for receiving and processing the control instruction of the locking actuator and outputting linear motion, the input end of the locking actuator is connected with the locking actuator amplifier, and the output end of the locking actuator is connected with the folding wing locking mechanism;
the method is characterized in that: the logic operation of the wing folding control processor comprises a ground parking comprehensive logic operation module, a take-off and running comprehensive logic operation module, an air flight comprehensive logic operation module and a landing and running comprehensive logic operation module; the four modules comprehensively judge the ground parking state, the take-off running state, the air flight state and the landing running state of the aircraft through a method of logical AND operation; the logical operation of the sensor data processor comprises a folding position comprehensive logical operation module and a unfolding position comprehensive logical operation module, and the two modules comprehensively judge the folding position state and the unfolding position state of the aircraft respectively through a method that logical AND operation is true.
The above description is not intended to limit the invention, and it should be noted that: it will be apparent to those skilled in the art that various changes, modifications, additions or substitutions can be made without departing from the spirit and scope of the invention and these modifications and variations are therefore considered to be within the scope of the invention.
Claims (5)
1. A wing folding control method is characterized by comprising the following steps,
step one: after the aircraft is electrified, the wing folding control system maintains the state and the position unchanged before last power-off;
step two: the flight control computer obtains current aircraft motion attitude data, the aircraft motion attitude data comprising aircraft motion attitude data for folded wing control, the aircraft motion attitude data for folded wing control comprising: pitch angle speed, yaw angle speed, roll angle speed, heading acceleration, ground speed and airspeed data of the aircraft;
step three: the wing folding control processor comprehensively judges the current motion gesture of the aircraft: after the motion attitude data of the aircraft for controlling the folding wings are read from the flight control computer, the throttle signal and the landing gear signal data obtained in the electromechanical management calculation are combined to carry out comprehensive logic operation, and the current space position state of the aircraft is determined to be in which state of ground parking, take-off running, air flight and landing running according to the logic operation result; the comprehensive logic operation comprises a ground parking comprehensive logic operation, a take-off running comprehensive logic operation, an air flight comprehensive logic operation and a landing running comprehensive logic operation;
the ground parking comprehensive logic operation is as follows: the space position state of the aircraft is ground parking when the result of logical AND operation is true under the following four conditions:
1) The ground speed is less than 5m/s, and the speed is in-field transportation speed;
2) An airspeed less than 13.9m/s, which is the airspeed of less than 7 grade wind;
3) The throttle signal is 'throttle off';
4) Landing gear wheel load switch state is "load bearing";
the integrated logic operation of the take-off and running is as follows: the result of logical AND operation on the following five conditions is that the space position state of the aircraft is take-off running when true:
1) Course acceleration is greater than 0m/s 2 ；
2) The ground speed is greater than 0m/s;
3) Airspeed greater than 0m/s;
4) The throttle signal is 'big throttle';
5) Landing gear wheel load switch state is "load bearing";
the air flight comprehensive logical operation is as follows: the result of logical AND operation on the following four conditions is that the space position state of the aircraft is in air flight when the aircraft is true:
1) Airspeed greater than 0m/s;
2) The ground speed is greater than 0m/s;
3) The sum of the absolute value of the pitch angle speed, the absolute value of the roll angle speed and the absolute value of the yaw angle speed is larger than 0;
4) Landing gear wheel load switch state is no-load;
the landing and running comprehensive logic operation is as follows: the space position state of the aircraft is landing and running when the result of logical AND operation of the following four conditions is true:
1) Course acceleration is less than 0m/s 2 ；
2) The ground speed is greater than 5m/s;
3) Landing gear wheel load switch state is "load bearing";
4) The throttle signal is "non-closing";
step four: the wing folding control processor sends out an instruction according to the comprehensive logical operation result in the step three: when the comprehensive logic operation result is that the ground is parked, a furling instruction is sent out; when the comprehensive logic operation result is take-off running, or air flying or landing running, an unfolding instruction is sent out;
step five: the wing fold control processor "deploys" the active process controls:
1) After the wing folding control processor sends an unfolding instruction, sensor information is acquired through the sensor data processor, and folding position comprehensive logic operation is carried out, wherein the folding position comprehensive logic operation is a folding in-place state comprehensive logic operation;
2) Judging whether the wing is in a furled-in-place state or not; if the unfolding lock is in the folded-in-place state, continuing the process 3), if the unfolding lock is not in the folded-in-place state, judging whether the unfolding lock is locked or not, and turning to the process 7) if the unfolding lock is already locked, and turning to the process 4) if the unfolding lock is not already locked;
3) Locking and unlocking;
4) Unfolding the folding actuator;
5) Judging whether the wing is unfolded, if so, continuing the process 6), and if not, returning to the process 4);
6) The wing folding control processor outputs an unfolding lock locking instruction, and the locking actuator executes unfolding lock locking action, namely the unfolding action is completed;
7) The wing is unfolded;
step six: the wing fold control processor "furls" the active process control:
1) After the wing folding control processor sends a folding instruction, the sensor information acquired by the sensor data processor carries out comprehensive logic operation of the unfolding position, wherein the comprehensive logic operation of the unfolding position is the comprehensive logic operation of the unfolding in-place state;
2) Judging whether the wing is folded in place or not, if so, continuing the process 3), and if not, turning to the process 5);
3) Judging whether the folding lock is locked or not, if not, continuing the process 4), and if so, completing the folding action;
4) The wing folding control processor outputs a folding lock locking instruction, executes the instruction and goes to the process 8);
5) Judging whether the wing is in a deployment in-place state, if so, continuing the process 6), and if not, switching to the process 7);
6) Unlocking by the unlocking locking action of the machine span;
7) The folding actuator executes folding action and returns to the process 1);
8) And (5) finishing the folding of the wings.
2. The wing-fold control method according to claim 1, wherein when the result of the comprehensive logical operation of the spatial position of the aircraft does not satisfy any one of ground parking, take-off running, air flying and landing running, the value of the state of the existing spatial position is kept unchanged.
3. The wing-fold control method according to claim 1, wherein the folding position comprehensive logic operation in the fifth step and the sixth step is: when the logical AND operation is true, the wing is in a folded and in-place state:
1) The state of the pressure sensor at the furled position is bearing;
2) The state of the folding position angle sensor is in place;
3) The absolute value of the movement speed of the folding actuator is smaller than 0.1.
4. The wing-fold control method according to claim 1, wherein the comprehensive determination method of the in-place deployment in the step six is: when the logical AND operation is true, the wing is in a state of being unfolded in place:
the state of the pressure sensor at the unfolding position is a bearing state;
the state of the unfolding position angle sensor is in place;
the absolute value of the movement speed of the folding actuator is smaller than 0.1.
5. A wing-fold control device for use in a wing-fold control method as claimed in any one of claims 1 to 4, the device comprising a wing-fold control processor, a sensor data processor, a hall angle sensor, a pressure sensor, a displacement sensor, a fold actuator driver, a fold actuator amplifier, a fold actuator, a lock actuator driver, a lock actuator amplifier, a lock actuator;
the wing folding control processor is used for receiving data, carrying out logic operation, storing data and outputting control instructions, the input end of the wing folding control processor is respectively used for receiving information of a flight control computer, information of an electromechanical management computer and information of a sensor data processor, and the output end of the wing folding control processor is respectively connected with a folding actuator driver and a locking actuator driver;
the sensor data processor is used for receiving and processing the sensor data, performing logic operation, amplifying, filtering and converting the acquired sensor signals; the input end of the device is respectively connected with a Hall angle sensor, a pressure sensor and a displacement sensor, and the output end of the device is connected with a wing folding control processor;
the Hall angle sensor is used for collecting position signals of the folding wing; the pressure sensor is used for collecting a folding wing position signal and a locking pressure signal; the displacement sensor is used for collecting lock position signals; the Hall angle sensor, the pressure sensor and the displacement sensor are respectively connected with the sensor data processor at the output ends;
the folding actuator driver is used for receiving and processing control instructions about folding actions and sending out motion parameter instructions comprising folding speed and displacement of the folding actuator, the input end of the folding actuator driver is connected with the wing folding control processor, and the output end of the folding actuator driver is connected with the folding movable actuator amplifier; the folding actuator amplifier is used for receiving an instruction of a folding actuator driver, amplifying and converting the control instruction, outputting a control signal to the folding actuator, wherein the input end of the folding actuator amplifier is connected with the folding actuator driver, and the output end of the folding actuator amplifier is connected with the folding actuator; the folding actuator is used for receiving and processing a control instruction of the folding actuator, outputting an angle action, wherein the input end of the folding actuator is connected with the amplifier of the folding movable actuator, and the output end of the folding actuator is connected with the folding wing;
the locking actuator driver is used for receiving and processing control instructions related to the locking mechanism and sending out motion parameter instructions comprising the actuating speed and displacement of the locking actuator, the input end of the locking actuator driver is connected with the wing folding control processor, and the output end of the locking actuator driver is connected with the locking actuator amplifier; the locking actuator amplifier is used for receiving an instruction of a locking actuator driver, amplifying, converting and outputting a control signal, the input end of the locking actuator amplifier is connected with the locking actuator driver, and the output end of the locking actuator amplifier is connected with the locking actuator; the locking actuator is used for receiving and processing the control instruction of the locking actuator and outputting linear motion, the input end of the locking actuator is connected with the locking actuator amplifier, and the output end of the locking actuator is connected with the folding wing locking mechanism;
the method is characterized in that: the logic operation of the wing folding control processor comprises a ground parking comprehensive logic operation module, a take-off and running comprehensive logic operation module, an air flight comprehensive logic operation module and a landing and running comprehensive logic operation module; the four modules comprehensively judge the ground parking state, the take-off running state, the air flight state and the landing running state of the aircraft through a method of logical AND operation; the logical operation of the sensor data processor comprises a folding position comprehensive logical operation module and a unfolding position comprehensive logical operation module, and the two modules comprehensively judge the folding position state and the unfolding position state of the aircraft respectively through a method that logical AND operation is true.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111136367.2A CN114013628B (en) | 2021-09-27 | 2021-09-27 | Wing folding control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111136367.2A CN114013628B (en) | 2021-09-27 | 2021-09-27 | Wing folding control method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114013628A CN114013628A (en) | 2022-02-08 |
| CN114013628B true CN114013628B (en) | 2023-08-01 |
Family
ID=80055108
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111136367.2A Active CN114013628B (en) | 2021-09-27 | 2021-09-27 | Wing folding control method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114013628B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802706A (en) * | 2022-05-12 | 2022-07-29 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle wing flattening control method and system |
| CN114802739B (en) * | 2022-06-09 | 2023-04-07 | 广东汇天航空航天科技有限公司 | Rotor positioning method for aircraft, aircraft and storage medium |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5310138A (en) * | 1991-12-30 | 1994-05-10 | Alliedsignal Inc. | Wing fold actuator system for aircraft |
| CA2829281C (en) * | 2012-10-30 | 2017-05-30 | The Boeing Company | Wing fold controller |
| CN103991536A (en) * | 2014-04-17 | 2014-08-20 | 中国航空工业集团公司沈阳飞机设计研究所 | Hydraulic control system of mechanism folding |
| US10106244B2 (en) * | 2014-11-07 | 2018-10-23 | The Boeing Company | Backup system |
| CN110949659A (en) * | 2019-12-06 | 2020-04-03 | 江西洪都航空工业集团有限责任公司 | Trailing edge flap control method |
| CN111003147B (en) * | 2019-12-25 | 2023-03-14 | 中国航空工业集团公司沈阳飞机设计研究所 | Airplane wing folding control method |
-
2021
- 2021-09-27 CN CN202111136367.2A patent/CN114013628B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114013628A (en) | 2022-02-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114013628B (en) | Wing folding control method and device | |
| US10301007B2 (en) | Wing fold controller | |
| EP2862797B1 (en) | Wingtip Control System | |
| DE60105815T2 (en) | PILOT CONTROL WITH INTEGRATED SPOILER DRIVE CONTROL ELECTRONICS | |
| CN101464692B (en) | Automatic formation flight control method based on finite state machine | |
| AU2017302225A1 (en) | Vertical take-off and landing aircraft | |
| US20140138480A1 (en) | High lift system for an aircraft with two separate drive units | |
| US20100001678A1 (en) | Motor control architecture for simultaneously controlling multiple motors | |
| CA2829281C (en) | Wing fold controller | |
| CN111650963B (en) | Visual cluster formation control method for vertical take-off and landing fixed wing unmanned aerial vehicle | |
| CN111003147B (en) | Airplane wing folding control method | |
| CN108945397A (en) | A kind of flight management system | |
| CN115958996A (en) | Aircraft operation and protection system consisting of remote driving, energy supply and ground aircraft carrier | |
| CN111661314B (en) | Unmanned aerial vehicle undercarriage autonomous stowing management method and control system | |
| CN108016604B (en) | Control method for overriding mode in flap control system | |
| CN110626493B (en) | Electric retraction control system based on large aircraft landing gear | |
| CN103661934A (en) | Anti-skid braking control method for unmanned aircraft based on dual-mode control | |
| CN107994311B (en) | Servo system for folding antenna | |
| CN113443125B (en) | High lift system for aircraft and control method thereof | |
| CN111661315B (en) | Unmanned aerial vehicle landing gear autonomous-lowering management method and control system | |
| CN113998095B (en) | Control method of trailing edge flap control system of trainer | |
| CN113401333B (en) | High-lift system of airplane and slat operation instruction determination method for high-lift system | |
| CN112550729B (en) | Aircraft with pneumatic appearance is impaired later to prevent weighing down function | |
| CN112093057A (en) | Cargo locking and unlocking mechanism for cargo delivery of unmanned helicopter | |
| Higashi et al. | Development of a cyclogyro-based flying robot with variable attack angle mechanisms |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |