CN109823522A - Multi-redundant undercarriage electric retractable controller - Google Patents
Multi-redundant undercarriage electric retractable controller Download PDFInfo
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- CN109823522A CN109823522A CN201711178989.5A CN201711178989A CN109823522A CN 109823522 A CN109823522 A CN 109823522A CN 201711178989 A CN201711178989 A CN 201711178989A CN 109823522 A CN109823522 A CN 109823522A
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Abstract
A kind of a kind of multi-redundant undercarriage electric retractable controller disclosed by the invention, it is desirable to provide the strong controller of light-weight, small in size, good reliability, environmental suitability.The technical scheme is that: master cpu composite module is connected for control CPU composite module, it is inverted respectively by rotating forward, output is enabled, 1, electric machine speed regulation is set in starting, current sample, hardware shutdown control line are correspondingly connected with master control driving composite module, standby control driving composite module, and by driving active-standby switch signal wire to connect active-standby switch module with drive and control of electric machine line, active-standby switch module connects undercarriage electric motor units by motor drive signal line；Master cpu composite module receives the folding and unfolding order of undercarriage, the processing of control logic and sends motor control order；Master control drives composite module, standby control driving composite module to receive master cpu composite module, standby control CPU composite module motor control order and motor Hall sensor signal.
Description
Technical field
The present invention relates to a kind of undercarriage control controller, especially a kind of unmanned plane is controlled with electronic undercarriage control
Device.
Background technique
Traditional undercarriage retractable actuating cylinder is driven using airplane centralized hydraulic power source, and the fluid pressure line of You Changchang will be each
The hydraulic unit and hydraulic actuator of kind function connect, and each position is driven to act, and there is let out when hydraulic services work
Leakage and pipeline lose along stroke pressure, and also need to utilize throttle valve adjustment movement velocity, a large amount of energy in undercarriage actuation
Amount is all consumed in the form of leakage, pipeline consume and throttling heat, and the capacity usage ratio of hydraulic actuation is lower；Hydraulic pressure system simultaneously
System not only includes dynamicliquid pressure element, further includes the hydraulic tube of corresponding hydraulic control component, hydraulic actuator and complexity
Road leads to this systems bulky, heavier-weight.Therefore traditional fluid pressure type undercarriage control scheme, which is difficult to apply, is confronting
Amount requires in stringent small and medium size unmanned aerial vehicles, such as: it is about 1.5 tons that certain, which is examined and beats integrated unmanned plane take-off weight, it is desirable that carries bullet weight
Measure it is larger, if using traditional hydraulic power source as power drive undercarriage control if will increase aircraft weight to reducing aircraft
It carries and plays weight, therefore a kind of undercarriage debit case using electric power as power source drive is urgently invented.
Summary of the invention
The purpose of the present invention is to provide the strong multi-redundants of a kind of light-weight, small in size, good reliability, environmental suitability
Undercarriage electric retractable controller.
The purpose of the present invention can be reached by the following measures: a kind of multi-redundant undercarriage electric retractable controller,
Include: master cpu composite module, standby control CPU composite module, master control driving composite module, standby control driving composite module, active and standby cut
Change the mold block, power source combination module and motherboard combination module, and three undercarriage motor drivens being integrated in a printed board
Circuit, it is characterised in that: master cpu composite module is connected standby control CPU composite module, respectively by rotate forward reversion, output it is enabled,
Starting sets 1, electric machine speed regulation, current sample, hardware shutdown control line and is correspondingly connected with master control driving composite module, standby control driving combination
Module, and by driving active-standby switch signal wire to connect active-standby switch module with drive and control of electric machine line, active-standby switch module is logical
Cross motor drive signal line connection undercarriage electric motor units；Master cpu composite module receives the folding and unfolding order of undercarriage, processing respectively
Kind sensor signal, the feedback of controller state signal, the processing and transmission motor control order of control logic；Master control driving group
Mold block, standby control driving composite module receives master cpu composite module, standby control CPU composite module motor control order and motor
Hall sensor signal sends driving active-standby switch signal to active-standby switch module by driving active-standby switch signal wire and carries out electricity
Sub- commutation.
The present invention has the following effects that compared with the prior art.
It is light-weight, small in size.The present invention is using master cpu composite module, standby control CPU composite module, master control driving combination
Module, standby control driving composite module, active-standby switch module and power source combination module form electric lifting device frame packing controller, electricity consumption
Power is effectively reduced the weight of integrated unmanned plane as driven by energy undercarriage control.Simultaneously will be integrated with current detection circuit,
Current foldback circuit, Cycle by Cycle current-limiting circuit, power drain circuit 3 undercarriage motor-drive circuits be integrated in a printing
On plate, so that controller architecture is compact, small in size, light-weight.Avoid prior art hydraulic control component, hydraulic actuator
With complicated hydraulic pipeline, systems bulky, the defect of heavier-weight.
Good reliability.The present invention receives the folding and unfolding order of undercarriage, the various sensors of processing using master cpu composite module
The feedback of signal, controller state signal, the processing and transmission motor control order of control logic；Master control driving composite module,
Standby control driving composite module receives master cpu composite module, standby control CPU composite module motor control order and motor hall sensing
Device signal sends driving active-standby switch signal to active-standby switch module by driving active-standby switch signal wire, is changed with carrying out electronics
Phase；The CPU composite module and driving composite module of this double redundancy control undercarriage using circuit double redundancy and communication double redundancy
Folding and unfolding, effectively reduce possibility failure cause undercarriage can not folding and unfolding probability, functional reliability is high.Using electric lifting device
Frame packing controller also mitigates construction weight while simplifying undercarriage extension and retraction system, reduces answering for machine system
Polygamy, so that reliability and maintainability index be made to be increased dramatically.
Environmental suitability is strong.The present invention is connected using master cpu composite module for control CPU composite module, respectively by just
Turn reversion, output enables, 1, electric machine speed regulation is set in starting, current sample, hardware shutdown control line are correspondingly connected with master control driving combination
Module, standby control driving composite module, and active-standby switch mould is connected with drive and control of electric machine line by driving active-standby switch signal wire
Block is connected compared to using hydraulic unit and hydraulic actuator, drives the hydraulic power source driving of each position movement, has stronger
Environmental suitability, can be widely applied to the electric lifting device frame folding and unfolding to weight and the higher small and medium size unmanned aerial vehicles of volume requirement.
Electric lifting device frame packing controller has that high reliablity, structure be simple, transmission efficiency compared with electric hydrostatic actuator
The advantages that high, the experimental results showed that, electric lifting device frame packing controller of the present invention has good speed control effect, and can be quasi-
Really complete undercarriage locking, be suitable for small-power undercarriage control application, particularly suitable for 2 tons and it is following it is middle-size and small-size nobody
The dynamic extension and retraction system of electromechanics.
Detailed description of the invention
Fig. 1 is multi-redundant undercarriage electric retractable controller organigram of the present invention.
Fig. 2 is Fig. 1 undercarriage control controller circuitry schematic illustration.
Fig. 3 is Fig. 1 master cpu composite module, standby control CPU composite module schematic block circuit diagram.
Fig. 4 is Fig. 1 master control driving composite module, standby control driving composite module power tube drive circuit schematic illustration.
Fig. 5 is Fig. 1 master control driving composite module, standby control driving composite module three-phase full-bridge inverting circuit schematic illustration.
Fig. 6 is Fig. 1 master control driving composite module, standby control driving composite module current sampling circuit schematic illustration.
Fig. 7 is Fig. 1 master control driving composite module, standby control driving composite module hardware current foldback circuit schematic illustration.
Fig. 8 is Fig. 1 master control driving composite module, standby control driving 8 power bleed off circuit theory schematic diagram of composite module.
The present invention will be further described with reference to the accompanying drawing, but does not therefore limit the present invention to the embodiment described
Among range.
Specific embodiment
Refering to fig. 1, Fig. 2.In the embodiment described below, a kind of multi-redundant undercarriage electric retractable controller is by machine
Box structure part and 6 soft copy combinations are constituted.Casing structure part include front panel module, floor combination, upper cover plate combination, wherein
Front panel module is for selection of powering, Surge suppression, filtering and primary channel switching.Soft copy includes: master cpu combination die
Block, standby control CPU composite module, master control driving composite module, standby control driving composite module, active-standby switch module, power source combination mould
Block and motherboard combination module.Power source combination module, master cpu composite module, standby control CPU composite module, master control drive combination die
Block, standby control driving composite module and active-standby switch module realize error protection using identical connector and positioning pin.By being electrically connected
It connects device to be connected with motherboard, and is fixed by screw and cabinet.It is filled, is increased with conductive rubber in the junction of cabinet part
The conductive capability for adding cabinet part overlaps chassis shell body well with airframe by designing good overlap joint approach, can be with
Improve the electromagnetic protection performance of complete machine.
Motherboard combination module is passive mother board, is installed on the floor combination of casing structure part.Between motherboard and other combinations
Connection realizes that the function of motherboard combination module is to provide the electrical path of signal between each electronic combination by in-line connector,
For the signal transmission between each composite module.
Master cpu composite module, standby control CPU composite module include: clock circuit, active/standby switching circuit, RS422 bus
Telecommunication circuit, analog quantity acquisition circuit, the electronics formula of erasing can make carbon copies read-only memory EEPROM, motor control interface circuit, fly
Control machine interface circuit, hardware watchdog, level conversion, digital signal processor DSP and complex programmable logic device (CPLD)
Equal parts.Wherein, clock circuit is mainly base when system provides；Active/standby switching circuit major function, which is that drive control is active/standby, cuts
The relay changed；Watchdog circuit is primarily to improve software reliability of operation；422 telecommunication circuits mainly realize program
Serial ports is loaded and is communicated with winged control machine and ground-support device；Analog quantity acquisition circuit is single-phase to supply voltage, motor
It is sampled with bus current；The electronics formula of erasing can make carbon copies reserved design of the read-only memory EEPROM as system, can be reserved for
Some important parameters；Motor control interface circuit realizes that the interface between master cpu composite module, standby control CPU composite module turns
It changes；Fly control machine interface circuit and then realizes the interface docking communicated between controller and winged control machine；Level shifting circuit for realizing
The conversion of 3.3V/5V level, to realize electrical level match；Digital signal processor DSP is mainly completed at acquisition and the signal of data
Reason；Complex programmable logic device (CPLD) mainly completes I/O read/write logic, house dog sequential logic, 422 communication conversion logics
Deng；In addition to this, complex programmable logic device (CPLD) calculates motor speed also according to Hall pulse signal and participates in active/standby switching
Logic, that is, when to recognize this CPU combination be master control combination, the RS422 bus for combining this CPU sends enabled.In addition, complexity can
Programmed logic device CPLD calculates motor speed also according to Hall pulse signal.
Master cpu composite module, standby control CPU composite module, master control driving composite module are all made of double redundancy design, are formed
Circuit remaining is communicated with winged control machine using RS422 bus and the communication of DO two ways, is formed and receive undercarriage control life
It enables, issue motor control order, handle various sensor signals, the feedback of status signal, control the logical sequence communication of motor
Remaining.
Master cpu composite module, standby control CPU composite module receive processing external information as packing controller, issue control
System order and status information, and the level state of insertion motherboard position is detected to judge oneself being master control by CPU integration software
CPU composite module or standby control CPU composite module, only master cpu composite module to winged control machine sends RS422 under normal circumstances
Bus and DI information, only standby control CPU composite module front panel send active-standby switch signal.
Master cpu composite module, standby control CPU composite module can be using the TI company mutually numbers of TMS320F28335 each other
Signal processor chip is as primary processor, and highway width 32, dominant frequency 150M(this product drops volume and uses, and highest dominant frequency is only set
For 100M), using 256K*16 Flash in piece, as program storage, working software is resided in the memory.Number letter
The channel 2*8 that is carried in number processor DSP piece, 12 precision analog-digital converter ADC acquisition motors of 80ns conversion ratio it is each mutually electric
Stream also acquires supply voltage with time slice internal model number converter ADC as the foundation of automatic current limiting, overcurrent protection, realizes power supply electricity
The detection of pressure.
The communication of RS422 bus communication circuitry is master cpu composite module, for controlling, CPU composite module CPU element is of crucial importance
A part, main realize load with the serial ports of flight control computer, the communication of ground-support device and program.Due to requiring to fly control
Machine interface UC1, ground-support device interface UC2 can exchange function, and be required to by RS422 bus carry out software liter
Grade, maintenance.
This master cpu composite module, standby control CPU composite module CPU element can use DS26C31 and DS26C32 difference
The differential signal for meeting RS422 bus protocol is converted to serial data by transceiver, difference transceiver, then by digital signal
SCI transceiver is received and dispatched in reason device DSP piece, is able to satisfy design requirement.CPU composite module, standby control CPU composite module CPU are mono-
Member will meet RS422 bus protocol using model DS26C31 and model DS26C32 difference transceiver, difference transceiver
Differential signal is converted to serial data, then is received and dispatched by SCI transceiver in digital signal processor DSP piece；It is gone here and there when utilizing
When mouthful carrying out program load, introduce external BootLoad signal and carry out logic judgment, judgement be to master cpu loading procedure or
Enable/forbid to standby control CPU loading procedure, and by the transmission of corresponding RS422 bus, or is sent by corresponding RS422 bus
It is enabled to establish serial communication.
When carrying out program load using serial ports, the problem of being related to active/standby conflict, passes through and introduces external BootLoad letter
Number carry out logic judgment and by corresponding RS422 bus transmission enable/forbid, reach a solution of a problem.When CPU combine detection arrives
When this CPU group is combined into standby control CPU composite module, the RS422 bus transmission of this standby control CPU composite module is forbidden.Meanwhile it utilizing
When RS422 bus serial ports is to CPU element loading procedure, judge it is to load journey to master cpu by external BootLoad signal
Sequence still gives standby control CPU loading procedure, and corresponding RS422 bus is sent and enables to establish serial communication.
When being communicated with winged control machine/ground installation, by detecting external interface CHEK1+ (UC1), CHEK2+ (UC2)
Level state, judge that received is the data of the data of flight control computer or ground-support device.Utilize active/standby identification position
Logic judgment is carried out, when the work of master cpu composite module, the RS422 bus transmission of standby control CPU composite module is forbidden；When
When standby control CPU composite module work, the RS422 bus transmission of master cpu composite module is forbidden, to avoid RS422 bus
It sends conflict analog quantity acquisition circuit and mainly realizes that supply voltage, motor be single-phase and the sampling of bus current.
This controller collection of simulant signal utilizes two independent 8 channel analog-to-digital conversions in digital signal processor DSP piece
Device ADC_A and analog-digital converter ADC_B realize, sampling precision 12Bit, sample frequency (sampling period) in conjunction with actual conditions and
It is fixed.Analog acquisition mainly includes 2 tunnel+5VDC and the sampling of+12VDC supply voltage, 9 road current sample 0-5VDC, through signal tune
Reason circuit, which is converted into after 0-3.0VDC is filtered again, to be acquired.The effect of analog acquisition mainly detects current of electric and realizes
Automatic current limiting, and the monitoring of supply voltage is acted on.
Master cpu composite module, standby control CPU composite module motor control interface circuit mainly by with motherboard combination mould
The connected driving plate interaction of block, realizes and feeds back to the control of undercarriage motor and state.Motor speed control signal, direction of motor rotation
Light-coupled isolation output of the control signal through being connected with CPU composite module, and the open collector for being all made of optocoupler secondary is defeated
Out, it when control signal is effective, is exported by the rear class collector of optocoupler and drags down resistance terminal corresponding in driving plate, realize electricity
The speed regulation of machine and course changing control.
Power source combination module include the storage capacitor circuit that can bear 50ms power interruptions, DC/DC module, filter circuit,
Voltage sampling circuit.28V DC power supply is converted into undercarriage control control unit internal circuit work institute by power source combination module
The various secondary power supplies needed ,+12V ,+5V etc..N2, N4 are DC/DC power module, and storage capacitor C allows the controller to bear
The power-off of 50ms.Power source combination module is converted for power supply, exports the driving power of 3 motors ,+12V ,+5V the electricity warp of output
CPU combination and driving composite module are supplied after filtering ,+12V ,+5V voltage obtain Digital Signal Processing after electric resistance partial pressure simultaneously
The analog-digital converter A/D of device DSP samples acceptable 0-3V voltage, to monitor power supply.
Any exception is accordingly to be regarded as the undercarriage channel failure in undercarriage or controller state, needs to feed back event
Hinder status word.Fly control machine by flying control machine interface circuit (discrete magnitude), RS422 bus and DO mouthfuls to master cpu composite module, standby
It controls CPU composite module and sends undercarriage control instruction, be subject to RS422 bus data when RS422 bus is normal.Master cpu
Composite module, standby control CPU composite module power on BIT and period self-test information, undercarriage to winged control machine feedback by RS422 bus
Status information, packing controller working condition, wheel load switch state and the current stroke percentage of undercarriage；When the event of RS422 bus
When barrier, the orders progress gear ups/put down of DO mouthful transmissions are executed, undercarriage signal is fed back to winged by DI mouthfuls at this time
Control machine.In order to realize that winged control machine and ground-support device interface function are exchanged, the DO signal of UC1 and UC2, using 8 road I/O mouthful divide
It Cai Ji and not handle, when only flying the access of control machine, read D0~D3, D4~D7 data, where which road road signal effectively just executes
Order；And DI signal (controller to winged control machine or ground-support device) can not have to send respectively, need to only pass through software control pair
The I/O answered.
Master cpu composite module, standby control CPU composite module power on BIT certainly to the transmission of winged control machine by RS422 bus and DI
Information, period self-test information, undercarriage information, undercarriage control fault message are examined, master control drives composite module, standby control to drive
Dynamic composite module combination receives master cpu composite module, the motor control order of standby control CPU composite module CPU and motor Hall
Sensor signal carries out electronics commutation, exports the driving power of 3 motors.
Master cpu composite module, standby control CPU composite module acquire undercarriage motor Hall sensor signal, current signal,
Motor rotation blockage, wheel load switch state and landing gear position lock status are detected, and is calculated according to motor Hall sensor signal
The current stroke percentage of frame is fallen, judges that the instruction currently to be executed is self-test, status inquiry according to the order that winged control machine is sent
Or normal control undercarriage control；When master cpu composite module, standby control CPU composite module receive normal control undercarriage
When order, according to the Hall sensor signal of the folding and unfolding order and motor feedback received, driven to master control driving composite module, standby control
Dynamic composite module sends motor control signal, control motor rotation；Utilize Hall current sensor real-time detection undercarriage motor
Electric current, when master control drives composite module, standby control driving composite module to receive the letter in place of upper and lower position lock sensor feedback
Number, and after detecting motor rotation blockage, control motor stalls.Undercarriage motor is by the way of segmentation speed regulation, in undercarriage
Using low speed operation, middle of stroke is run using fair speed by starting and in place preceding last 50mm.Undercarriage stroke is by collecting
Hall sensor umber of pulse be calculated.
Refering to Fig. 3.Driving group is combined into double redundancy design, is divided into master control driving composite module, standby control driving composite module.It is main
Control driving composite module, standby control driving composite module are the core combination of undercarriage control controller driving motor operation, master control
Drive composite module, the circuit of standby control driving composite module and function completely the same.Master control drives composite module, standby control driving group
Mold block mainly by circuit for controlling motor, MOSFET power tube drive circuit, three-phase full-bridge inverting circuit, current detection circuit,
The composition such as current foldback circuit, Cycle by Cycle current-limiting circuit, power drain circuit.Circuit for controlling motor receive motor enabled, speed regulation,
The positive and negative rotaring signal of electronics commutation and motor Hall sensor signal are modulated by the pulse width that internal circuit generates control motor
Pwm signal, MOSFET power tube drive circuit amplify pwm signal, and three-phase full-bridge inverting circuit is by DC bus-bar voltage inversion
For the motor three-phase power of variation, when current detection circuit detects the bus current of three-phase full-bridge inverting circuit, two in three-phase
When the electric current of phase, current foldback circuit is limited current in control range by Cycle by Cycle current-limiting circuit, power drain circuit
Leadage circuit is opened after DC bus-bar voltage is increased to certain value, by extra energy consumption on bleeder resistance.Overcurrent is protected
Protection circuit judges that motor rotation blockage is directed to using software and is greater than pre-set current value, turns off motor driven；When current of electric overcurrent, drive
Hardware current-limiting circuit works on movable plate, electric motor protecting, and gives malfunction to master cpu combination die through level shifting circuit
Block, standby control CPU composite module CPU, CPU do respective handling by the signal.
Circuit for controlling motor can use the MC33035 brshless DC motor special integrated circuit of Motorola Inc., connect
Enabled motor, speed regulation, positive and negative rotaring signal and the motor Hall sensor signal for electronics commutation are received, is generated by internal circuit
Pwm signal is to control motor.Three groups of identical undercarriage motor-drive circuits control nose-gear and left and right main landing gear respectively
DC brushless motor.
Master cpu composite module is connected standby control CPU composite module, respectively by rotate forward reversion, output is enabled, starting sets 1,
Electric machine speed regulation, current sample, hardware shutdown control line are correspondingly connected with master control driving composite module, standby control driving composite module, and
By driving active-standby switch signal wire to connect active-standby switch module with drive and control of electric machine line, master cpu composite module is received
Fall folding and unfolding order, the various sensor signals of processing, the feedback of controller state signal, the processing of control logic, transmission electricity of frame
Machine control command；Master control drives composite module, standby control driving composite module to receive master cpu composite module, standby control CPU combination die
The order of block motor control and motor Hall sensor signal are sent to active-standby switch module by driving active-standby switch signal wire and are driven
Dynamic active-standby switch signal, to carry out electronics commutation；Active-standby switch module connects undercarriage motor list by motor drive signal line
Member.
Master cpu composite module, standby control CPU composite module are risen and fallen by what the winged control machine of RS422 bus group splice grafting receipts was sent
Frame folding and unfolding control instruction, the up and or down locks sensor signal transmitted according to undercarriage, Hall sensor signal, wheel load switching signal
The current sampling signal transmitted is combined with master control driving composite module, standby control driving composite module, according to prespecified control
Logic exports corresponding motor drive signal driving undercarriage motor work, executes the functions such as undercarriage receiving/releasing.
When master control driving composite module combination is intact, RS422 bus and winged control machine communication function, motor control signal by
Master control drives composite module to send out, and standby control combination does not export RS422 bus signals, motor drive signal.It is set in standby control CPU combination
Remaining switching judging unit, erasable Programmadle logic device EPLD complete programmable combination or sequential logic function.
When master control drives composite module, standby control driving composite module to work normally, master control drives composite module to standby control CPU
Composite module exports high level state signal, and when master control driving composite module combination is broken down, master control drives composite module
The status signal that standby control CPU composite module will be output to becomes low level, at this point, standby control CPU composite module to active-standby switch
The connected relay of module sends switching signal, and standby control driving composite module is switched to by driving relay normally open contact closure
Master control operating mode, standby control CPU composite module send communication signal to winged control machine, send out remaining switching according to motor control signal
Signal, the safety that undercarriage folding and unfolding is controlled, Control for Dependability are within the acceptable range.
Refering to Fig. 4.Power tube drive circuit use IR company IR2130, pwm signal AB1, BB1, CB1, AT1, BT1,
CT1 is RAB1, RBB1, RCB1, RAT1, RBT1, RCT1 after IR2130 enhanced processing, and is further sent to MOSFET power tube
To control the on-off of power tube.IR2130 can also be to when 2 MOSFET driving signals generate 2us interlock delay above and below same bridge arm
Between, to ensure that it will not be simultaneously turned on.
Refering to Fig. 5.Using three-phase, conduction mode, switching tube use the N-channel of IR company to three-phase full-bridge inverting circuit two-by-two
Enhanced MOSFET power tube IRF540N, switching tube are connected and are turned off by the control of pwm signal, thus by DC bus
Voltage inversion is the three phase mains of variation to control the start and stop, positive and negative rotation, revolving speed of motor.Revolving speed by adjust RAB1, RBB1,
The PWM duty cycle of RCB1, RAT1, RBT1, RCT1 realizes, positive and negative rotation by adjust RAB1, RBB1, RCB1, RAT1, RBT1,
The sequence that RCT1 is connected two-by-two is realized.
Refering to Fig. 6.Power detection circuit carries out current detecting using linear current sensing IC ACS712, and each electric machines test is female
The electric current of two-phase in line current, three-phase, since ACS712 output voltage is 0.5V-4.5V, it is therefore desirable to again by signal condition
CPU is given to be handled.Signal conditioning circuit is mainly made of integrated transporting discharging, amplifier F124, reference voltage 0.5V.
Refering to Fig. 7.Current foldback circuit carries out hardware shutdown when detecting that electric current is greater than 13A, forbids motor enabled.
Since electric motor starting electric current is larger, current foldback circuit is closed in electric motor starting, prevents motor can not due to overcurrent protection
Starting.
Refering to Fig. 8.Power drain circuit puts down fast speed since gravity loads when doing load test, at motor
DC bus-bar voltage can be made to increase in generating state, damage circuit board in order to prevent, devise power drain circuit, in direct current mother
LM193JGB output high level driving S9013 is connected and then is applied to about 10V voltage after line voltage is increased to certain value
The grid of IRF540N, is connected IRF540N, leadage circuit is opened, by extra energy consumption on bleeder resistance.
Claims (10)
1. a kind of multi-redundant undercarriage electric retractable controller, comprising: master cpu composite module, standby control CPU composite module,
Master control drives composite module, standby control driving composite module, active-standby switch module, power source combination module and motherboard combination module, with
And it is integrated in three undercarriage motor-drive circuits in a printed board, it is characterised in that: master cpu composite module is connected standby
CPU composite module is controlled, sets 1, electric machine speed regulation, current sample, hardware shutdown control by rotating forward reversion, exporting enabled, starting respectively
Line processed is correspondingly connected with master control driving composite module, standby control driving composite module, and passes through driving active-standby switch signal wire and motor
Drive control line connects active-standby switch module, and active-standby switch module connects undercarriage electric motor units by motor drive signal line；
Master cpu composite module receives the folding and unfolding order of undercarriage, the various sensor signals of processing, the feedback of controller state signal,
The processing and transmission motor control order of control logic；Master control drives composite module, standby control driving composite module to receive master cpu
Composite module, standby control CPU composite module motor control order and motor Hall sensor signal, by driving active-standby switch signal
Line sends driving active-standby switch signal to active-standby switch module and carries out electronics commutation.
2. multi-redundant undercarriage electric retractable controller as described in claim 1, it is characterised in that: master cpu combination die
Block, standby control CPU composite module, master control driving composite module are all made of double redundancy design, form circuit remaining, total using RS422
Two kinds of communication modes of line and DO are communicated with winged control machine, are formed and are received undercarriage control order, issue motor control order, place
Various sensor signals, the feedback of status signal are managed, the logical sequence communication remaining of motor is controlled.
3. multi-redundant undercarriage electric retractable controller as described in claim 1, it is characterised in that: master cpu combination die
Block, standby control CPU composite module receive processing external information as packing controller, issue control command and status information, and lead to
The level state of CPU integration software detection insertion motherboard position is crossed to judge oneself being master cpu composite module or standby control CPU
Composite module, only master cpu composite module is only standby to control to winged control machine transmission RS422 bus and DI information under normal circumstances
CPU composite module front panel sends active-standby switch signal.
4. multi-redundant undercarriage electric retractable controller as described in claim 1, it is characterised in that: master cpu combination die
Block, standby control CPU composite module by RS422 bus and DI to the transmission of winged control machine power on BIT self-test information, period self-test information,
Undercarriage information, undercarriage control fault message, master control drive composite module, standby control driving composite module combination to receive master
Control CPU composite module, the motor control order of standby control CPU composite module CPU and motor Hall sensor signal carry out electronics and change
Phase exports the driving power of 3 motors.
5. multi-redundant undercarriage electric retractable controller as described in claim 1, it is characterised in that: master cpu combination die
Block, standby control CPU composite module receive the undercarriage control control instruction for flying control machine and sending by RS422 bus group splice grafting, according to
Fall the up and or down locks sensor signal that frame transmits, Hall sensor signal, wheel load switching signal and master control driving composite module, standby
Control driving composite module combines the current sampling signal transmitted, exports corresponding motor driven according to prespecified control logic
Signal drives the work of undercarriage motor, executes undercarriage receiving/releasing.
6. multi-redundant undercarriage electric retractable controller as described in claim 1, it is characterised in that: master cpu combination die
Block, standby control CPU composite module acquire undercarriage motor Hall sensor signal, current signal, detection motor rotation blockage, wheel load switch
State and landing gear position lock status, and the current stroke percentage of undercarriage, root are calculated according to motor Hall sensor signal
Judge that the instruction currently to be executed is that self-test, status inquiry or normal control undercarriage are received according to the order that winged control machine is sent
It puts；
When master control drives composite module, standby control driving composite module to work normally, master control drives composite module to standby control CPU combination
Module exports high level state signal, and when master control driving composite module combination is broken down, master control drives composite module will be defeated
The status signal for arriving standby control CPU composite module out becomes low level, at this point, standby control CPU composite module to active-standby switch module
Connected relay sends switching signal, and standby control driving composite module is switched to master control by driving relay normally open contact closure
Operating mode, standby control CPU composite module send communication signal to winged control machine, send out remaining switching letter according to motor control signal
Number, safety that undercarriage folding and unfolding is controlled, Control for Dependability are within the acceptable range.
7. multi-redundant undercarriage electric retractable controller as described in claim 1, it is characterised in that: CPU composite module, standby
It controls CPU composite module CPU element and uses model DS26C31 difference transceiver and model DS26C32 difference transceiver, it is above-mentioned
The differential signal for meeting RS422 bus protocol is converted to serial data by difference transceiver, then passes through digital signal processor DSP
SCI transceiver is received and dispatched in piece；When carrying out program load using serial ports, introduces external BootLoad signal progress logic and sentence
It is disconnected, judgement be to master cpu loading procedure or to standby control CPU loading procedure, and by corresponding RS422 bus send it is enabled/
Forbid, or is sent by corresponding RS422 bus and enable to establish serial communication.
8. multi-redundant undercarriage electric retractable controller as described in claim 1, it is characterised in that: master cpu combination die
Block, the standby motor control interface circuit for controlling CPU composite module are realized by interacting with the driving plate being connected with motherboard combination module
Control and state feedback to undercarriage motor；Motor speed control signal, direction of motor rotation control signal are through combining phase with CPU
Light-coupled isolation output even, and optocoupler secondary is all made of open collector output, when control signal is effective, passes through optocoupler
The output of rear class collector drags down resistance terminal corresponding in driving plate, realizes speed regulation and the course changing control of motor.
9. multi-redundant undercarriage electric retractable controller as described in claim 1, it is characterised in that: master cpu combination die
Block, standby control CPU composite module acquire undercarriage motor Hall sensor signal, current signal, detection motor rotation blockage, wheel load switch
State and landing gear position lock status, and the current stroke percentage of undercarriage, root are calculated according to motor Hall sensor signal
Judge that the instruction currently to be executed is that self-test, status inquiry or normal control undercarriage are received according to the order that winged control machine is sent
It puts；When master cpu composite module, standby control CPU composite module receive normal control undercarriage order, according to the folding and unfolding received
The Hall sensor signal of order and motor feedback sends motor control to master control driving composite module, standby control driving composite module
Signal processed, control motor rotation.
10. multi-redundant undercarriage electric retractable controller as described in claim 1, it is characterised in that: master control driving combination
Module, standby control driving composite module are by circuit for controlling motor, MOSFET power tube drive circuit, three-phase full-bridge inverting circuit, electricity
Current detection circuit, current foldback circuit, Cycle by Cycle current-limiting circuit and power drain circuit composition；Circuit for controlling motor receives motor
Enabled, speed regulation, the positive and negative rotaring signal of electronics commutation and motor Hall sensor signal, the arteries and veins of control motor is generated by internal circuit
Width modulated pwm signal is rushed, MOSFET power tube drive circuit amplifies pwm signal, and three-phase full-bridge inverting circuit is female by direct current
Line voltage inversion is the motor three-phase power of variation, when current detection circuit detects the bus current for driving composite module, three
In phase when the electric current of two-phase, current foldback circuit is limited current in control range by Cycle by Cycle current-limiting circuit, and power is let out
Leadage circuit is opened after DC bus-bar voltage is increased to certain value in electric discharge road, by extra energy consumption on bleeder resistance.
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| CN112255476A (en) * | 2020-09-22 | 2021-01-22 | 兰州万里航空机电有限责任公司 | Automatic control circuit applied to aircraft rudder surface lock |
| CN112407257A (en) * | 2020-12-04 | 2021-02-26 | 北京北航天宇长鹰无人机科技有限公司 | Dual-redundancy electric retraction and extension method and device of undercarriage |
| CN113753223A (en) * | 2020-06-02 | 2021-12-07 | 北京航天易联科技发展有限公司 | Undercarriage control method and device, electronic equipment and storage medium |
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| CN113753223A (en) * | 2020-06-02 | 2021-12-07 | 北京航天易联科技发展有限公司 | Undercarriage control method and device, electronic equipment and storage medium |
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| CN112407257A (en) * | 2020-12-04 | 2021-02-26 | 北京北航天宇长鹰无人机科技有限公司 | Dual-redundancy electric retraction and extension method and device of undercarriage |
| CN112407257B (en) * | 2020-12-04 | 2021-06-22 | 北京北航天宇长鹰无人机科技有限公司 | Dual-redundancy electric retraction and extension method and device of undercarriage |
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| CN114701663B (en) * | 2022-06-07 | 2022-09-09 | 工业富联(杭州)数据科技有限公司 | Aircraft testing method and related equipment |
| CN115626278A (en) * | 2022-10-13 | 2023-01-20 | 北京精密机电控制设备研究所 | Retraction control method and control system for aircraft landing gear |
| CN116176832A (en) * | 2023-05-04 | 2023-05-30 | 成都凯天电子股份有限公司 | Method for controlling retraction, extension and extension based on complex undercarriage configuration |
| CN116176832B (en) * | 2023-05-04 | 2023-10-24 | 成都凯天电子股份有限公司 | Method for controlling retraction, extension and extension based on complex undercarriage configuration |
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