CN118405256B - Warning system and warning method for preventing incorrect operation of rudder pedals of an aircraft - Google Patents
Warning system and warning method for preventing incorrect operation of rudder pedals of an aircraft Download PDFInfo
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- CN118405256B CN118405256B CN202410865507.7A CN202410865507A CN118405256B CN 118405256 B CN118405256 B CN 118405256B CN 202410865507 A CN202410865507 A CN 202410865507A CN 118405256 B CN118405256 B CN 118405256B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000012544 monitoring process Methods 0.000 claims description 24
- 230000007935 neutral effect Effects 0.000 claims description 16
- 230000001629 suppression Effects 0.000 claims description 8
- 230000001960 triggered effect Effects 0.000 claims description 8
- 230000000875 corresponding effect Effects 0.000 description 11
- 230000001133 acceleration Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000003708 edge detection Methods 0.000 description 2
- 230000000763 evoking effect Effects 0.000 description 2
- 230000014759 maintenance of location Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000000630 rising effect Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/04—Initiating means actuated personally
- B64C13/10—Initiating means actuated personally comprising warning devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/04—Initiating means actuated personally
- B64C13/044—Initiating means actuated personally operated by feet, e.g. pedals
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Abstract
An alarm system and an alarm method for preventing improper operation of a rudder pedal of an aircraft, regardless of the holding time of the rudder pedal at a large deflection position, even if the rudder or the pedal is held at the large position for a long time, can be immediately recognized as long as improper operation such as rapid and large-stroke reciprocating deflection from the large position in one deflection direction to the other deflection direction occurs, and the pilot is prompted to stop such improper operation in the form of an alarm. In the alarm system, the judgment device triggers a preset delay when the pedal position of the rudder pedal deflected towards a certain deflection direction exceeds the delay action triggering position in the certain deflection direction and returns to the delay action triggering position in the certain deflection direction, and enables the alarm triggering device to trigger an alarm action when the rudder pedal deflects from the pedal position triggering the delay to the other deflection direction to reach the alarm action triggering position in the other deflection direction within the preset delay.
Description
Technical Field
The present invention relates to an alarm system and an alarm method for preventing a severe load condition from occurring in a vertical tail of an aircraft, and more particularly, to an alarm system and an alarm method for preventing an improper operation of a rudder pedal of an aircraft by monitoring the rudder pedal of the aircraft and prompting a pilot to stop such an improper operation in the form of an alarm when an improper operation such as a rapid and large-stroke reciprocating deflection of the rudder pedal is found.
Background
Historically, a serious air accident has occurred in aviation due to the fact that an aircraft pilot (also known as a "pilot") has taken unnecessary and excessive rudder reciprocating operations to cope with the wake, so that the aircraft vertical tail load exceeds the design limit load.
FAA (federal aviation administration) after investigating the use of rudder pedals by pilots of transport aircraft, finds that the pilot is operating the rudder pedals abnormally far beyond expectations, including incorrect rudder pedal inputs and some reciprocating deflections (e.g. encountering wake vortices), and therefore proper measures must be taken to alert the pilot that the aircraft is performing an improper operation of the rudder pedals.
In the current civil aviation field, some of the mainstream series of models are loaded with a "STOP RUDDER INPUT" ("stop pedal input") warning function for alerting the pilot to inhibit improper rudder pedal operation.
Patent document 1 (US 8584990B 2) is known to disclose a method of aircraft yaw control, in which, with an alarm system, it is determined whether a rudder reversal condition has been evoked by detecting rotation of (i) at least one second position in one of two opposite directions to (ii) at least one second position in the other of the two opposite directions of a command system caused by a pilot within a first time interval of a predetermined duration, and when the rudder reversal condition has been evoked by the pilot, an alarm is issued with the alarm system to notify the pilot of the potentially unsafe rudder reversal condition.
The alarm logic of this patent document 1 is as follows:
(1-1) during pilot operation of the command system (the pedal device), triggering an alarm if the command system goes from one of two opposite extreme positions to the other opposite extreme position in a time interval (monitoring predetermined time) less than or equal to 3 s;
(1-2) alarm duration: for at least about 5 seconds;
(1-3) the alert may be triggered in the form of a visual or audible signal to draw the pilot's attention.
However, in patent document 1, the warning delay point is related to whether or not the rudder pedal amplitude is larger than the pedal amplitude of the rudder deflection, and the warning trigger point is related to whether or not the rudder pedal amplitude in the opposite direction is larger than the pedal position of the rudder deflection. If the pedal retention after the delay is triggered is considered, the method is suitable for the identification under the condition that the rudder pedal retention time is short.
In addition, patent document 2 (chinese patent CN 103693190B) is known to disclose an alarm method and apparatus for preventing improper operation of a rudder pedal of an aircraft, in which the current position of the rudder pedal is monitored so as to be able to detect when the rudder pedal reaches an extreme position at which the rudder reaches one of its maximum rotational positions; and when it is detected that the rudder pedal has reached an extreme position at which the rudder has thus reached one of its maximum rotational positions, a check is performed to verify whether the following alarm-actuation conditions are fulfilled within a preset period of time after the extreme position has been reached: the rudder continuously returns to and from the neutral position; and triggering an alarm when an alarm actuation condition is met within a preset time period.
The warning logic of patent document 2 is that, taking the rudder deflection amount as a monitoring object, first the rudder deflection data is converted into an absolute value, when the rudder deflection reaches the limit deflection, a delay is triggered, the rudder is continuously brought from the limit position to the neutral position within a predetermined period (preferably 3s time), then when the rudder is away from the neutral position (direction is arbitrary), such improper operation of the pilot will automatically trigger a "STOP RUDDER INPUT" ("stop pedal input") warning, and with respect to the neutral position, an arbitrary position between the maximum deflection degrees can be selected, with the position of the maximum deflection degree of 1/2 being preferable.
However, in patent document 2, the warning delay time is related to whether the rudder bias is reached, and if the pedal hold after the delay time is triggered is considered, the method is suitable for recognition in the case where the rudder pedal hold time is short. Furthermore, in patent document 2, the rudder deflection signal takes an absolute value, so that an alarm is triggered when the rudder is deflected back and forth to one side, and the one-side reciprocating operation of the rudder may occur in a scenario such as a crosswind landing or a crosswind take-off, and at this time, the triggering of the alarm may affect the normal operation of the pilot in some special scenarios.
In addition, patent document 3 (chinese patent CN 101297250B) is known to disclose a method and system for limiting the rudder deflection angle of an aircraft, including the following operations: detecting an aircraft sideslip condition and a first control of rudder deflection at a maximum deflection angle in a first direction, the first direction being opposite a current position of the rudder; a limitation of the maximum deflection angle allowed is implemented.
The warning logic of patent document 3 is to continuously monitor the rudder, and if the rudder deflection moves from the rudder deflection limit in one direction to the rudder deflection limit in the other direction, it is considered that "double deflection" is detected, and if the aircraft has lateral acceleration at this time, it is considered that the aircraft is in a "critical state" and there is a risk of exceeding the limit load, in which case the limitation of the maximum deflection angle allowed is implemented.
However, in patent document 3, when the "double deflection" condition is detected, the safety operation of the aircraft is ensured by restricting the rudder deflection, and the warning function is not involved. Furthermore, the method requires the addition of an aircraft lateral acceleration detection sensor for detecting the sideslip state of the aircraft.
Therefore, how to design an alarm system and an alarm method that can accurately identify the occurrence of the reciprocating deflection without adding an additional sensor (such as an airplane lateral acceleration detection sensor) to the rudder pedal regardless of the holding time of the rudder pedal at a larger deflection position in a certain direction is a technical problem to be solved.
Disclosure of Invention
The present invention has been made to solve the above-described conventional art, and an object thereof is to provide a warning system and a warning method for preventing an improper operation of a rudder pedal of an aircraft, which can be immediately recognized and prompt a pilot to stop such an improper operation in the form of a warning, regardless of a holding time of the rudder pedal at a large deflection position in any one direction, even if the rudder or the pedal is held at the large position for a long time, as long as an improper operation such as a rapid and large-stroke reciprocating deflection from the large position in one deflection direction to the other deflection direction occurs.
In order to achieve the above object, the present invention provides an alert system for preventing improper operation of a rudder pedal of an aircraft, the rudder pedal being used to control rotation of the rudder of the aircraft about a vertical axis in two opposite pivoting directions, the rudder pedal having a pedal neutral position and being deflectable in two deflection directions associated with the two opposite pivoting directions of the rudder, the rudder pedal having a deflection limit position in each deflection direction, characterized in that the alert system comprises: foot pedal position receiving means for receiving a position signal value of a current foot pedal position of the rudder foot pedal; limit position receiving means for receiving a deflection limit position of the rudder pedal; the judging device is used for judging whether the course of the pedal position of the rudder pedal meets the alarm triggering condition or not; and an alert trigger device for triggering an alert operation when a history of a step position of the rudder pedal satisfies the alert trigger condition, wherein the step position threshold value as an alert operation monitor position includes a delay operation trigger position for triggering a delay operation and an alert operation trigger position for triggering an alert operation, the alert trigger condition includes a delay operation trigger condition and an alert operation trigger condition, the step position of the rudder pedal deflected in one of the two deflection directions exceeds the delay operation trigger position in the one deflection direction and then returns to the delay operation trigger position in the one deflection direction, the judgment device judges that the delay operation trigger condition is satisfied and triggers a predetermined delay, and the alert device judges that the step trigger condition is satisfied when the step position deflected in the one deflection direction starts to deflect in the other deflection direction from the step position deflected in the one deflection direction and the alert operation trigger position in the other deflection direction is reached.
Furthermore, the present invention provides an alert method for preventing an improper operation of a rudder pedal of an aircraft, the rudder pedal being used to control rotation of the rudder of the aircraft about a vertical axis in two opposite pivoting directions, the rudder pedal having a pedal neutral position and being deflectable in two deflection directions associated with the two opposite pivoting directions of the rudder, the rudder pedal having a deflection limit position in each deflection direction, a pedal position threshold being set between the pedal neutral position and the deflection limit position of the rudder pedal as an alert action monitoring position, wherein the alert action monitoring position includes a delay action triggering position that triggers a delay action and an alert action triggering position that triggers an alert action, the alert method comprising: a step of receiving a position signal value of the current pedal position of the rudder pedal; an alarm trigger determination step of performing a delay action trigger determination as to whether or not a pedal position in which the rudder pedal is deflected in one of the two deflection directions exceeds the delay action trigger position in the one deflection direction and returns to the delay action trigger position in the one deflection direction, and triggering a predetermined delay when it is determined that the delay action trigger condition is satisfied, and simultaneously performing an alarm action trigger determination as to whether or not the rudder pedal is deflected from the pedal position in which the rudder pedal is deflected in the one direction to the other deflection direction opposite to the one deflection direction and whether or not the pedal position at that time reaches the alarm action trigger position in the other deflection direction; and an alarm triggering step of triggering an alarm action when the pedal position of the rudder pedal is judged to meet the alarm triggering condition in the alarm triggering judging step.
According to the warning system and the warning method, the pilot can be reminded to stop the improper operation in the form of warning when the improper operation such as quick and large-stroke reciprocating deflection of the rudder pedal is found by monitoring the rudder pedal of the aircraft, so that the pilot is prevented from executing the reciprocating operation of the rudder pedal, and the safety of course operation in the flight process of the aircraft can be improved.
Further, according to the warning system and the warning method of the present invention, by monitoring whether the step position of the rudder step, which is deflected in any one of the two deflection directions, exceeds the delay action trigger position in the deflection direction and then returns to the delay action trigger position in the deflection direction, that is, by taking the time point at which the rudder step exceeds the delay action trigger position and returns to the delay action trigger position as the trigger point of the delay action, irrespective of the holding time of the rudder step at the larger deflection position, even if the step position of the rudder step exceeds the delay action trigger position in any one deflection direction and remains at the larger deflection position in the deflection direction for a long time, the recognition of the reciprocating deflection is not affected by the delay failure, and as long as the incorrect operation such as the reciprocating deflection occurs rapidly and with a large stroke from the larger position in the one deflection direction to the other deflection direction, the incorrect operation can be recognized immediately and the pilot is prompted to stop such in a warning form.
Preferably, the delay action trigger position and the alarm action trigger position are mechanically determinable and detectable fixed positions.
In most existing models, the rudder is designed to be in full rudder when the rudder pedal is positioned at the deflection limit position, but the invention can be applied to not only the existing models, but also models which can occur in a dynamic process when the rudder pedal is positioned at the deflection limit position and the rudder is not in full rudder.
According to the above configuration, by monitoring the specific pedal mechanical position, it is possible to immediately recognize whether or not an improper operation such as rapid reciprocating deflection of the rudder pedal from a large position in one deflection direction to another deflection direction with a large stroke has occurred.
Preferably, the judging device includes: the first comparator is used for judging whether the history of the pedal position of the rudder pedal meets the delay action triggering condition or not and triggering the delay action of the delay device when the delay action triggering condition is met; and the second comparator is used for judging whether the history of the pedal position of the rudder pedal meets the alarm triggering condition.
In addition, preferably, the alarm triggering apparatus includes: the signal generator with timing function starts timing when the alarm triggering device is triggered to alarm and continuously outputs an alarm signal within a specified timing time; and the alarm prompting device is used for prompting the alarm.
For example, the first comparator compares whether or not a current deflection amplitude corresponding to a current pedal position of the rudder pedal is larger than a first deflection amplitude threshold corresponding to the delay action triggering position in the same deflection direction, outputs a True value when the current deflection amplitude is larger than the first deflection amplitude threshold, outputs a False value when the current deflection amplitude is smaller than or equal to the first deflection amplitude threshold, and triggers a delay action of a delay device at a time point when the logical value thereof is changed from the True value to the False value. In this example, the second comparator compares whether or not a current deflection amplitude corresponding to a current pedal position of the rudder pedal is larger than a second deflection amplitude threshold corresponding to the warning operation trigger position in the same deflection direction, outputs a True value when the current deflection amplitude is larger than the second deflection amplitude threshold, and outputs a False value when the current deflection amplitude is smaller than or equal to the second deflection amplitude threshold, and triggers a warning operation at a time point when a deflection direction of the current pedal position of the rudder pedal is different from a deflection direction of the pedal position of the rudder pedal when the first comparator makes a judgment to trigger a delay operation and the logical value of the second comparator changes from the False value to the True value.
In one example of the present invention, the first comparator has two first comparators that compare in each of the two deflection directions, the second comparator has two second comparators that compare in each of the two deflection directions, the judgment device further includes: the input end of the first AND gate is connected with the output end of the first comparator in a certain deflection direction and the output end of the second comparator in the other deflection direction; and the input end of the second AND gate is connected with the output end of the first comparator in the other deflection direction and the output end of the second comparator in the certain deflection direction. In addition, the judging device comprises an OR gate, wherein the input end of the OR gate is connected with the output end of the first AND gate and the output end of the second AND gate, and is connected with the alarm triggering device.
According to the above constitution, the edge detection method can be realized by using the delay device and the signal generator with timing function, and the alarm logic can be realized by combining various logic gates (AND gate and OR gate), thereby, the position signal value of the current pedal position of the rudder pedal is converted into digital signals (True value and False value) according to the pedal position threshold, and the judgment realization of the alarm system can be more concise by detecting the rising edge (False value- > True value) and the falling edge (True value- > False value) of the digital signals (True value and False value).
In addition, according to the above configuration, the reciprocating deflection of the rudder pedal in the other deflection direction opposite to the one deflection direction can be recognized at the pedal position in any one deflection direction, and early warning monitoring and warning presentation in the two directions can be realized.
In addition, preferably, the alarm triggering apparatus further includes: an alarm suppression device, which judges whether the alarm prompt is allowed or not, and allows or suppresses the alarm prompt device to perform the alarm prompt according to the judgment result; and the input end of the third AND gate is connected with the signal generator and the alarm suppression device, and the output end of the third AND gate is connected with the alarm prompt device.
According to the above configuration, when the reciprocating deflection of the rudder pedal is necessary in a special case, the warning indication of the reciprocating deflection of the rudder pedal can be suppressed based on the result of other logical judgment or manual control by the pilot.
Drawings
Fig. 1 is a schematic side view of an aircraft to which the warning system of the invention is applicable for preventing improper operation of rudder pedals of the aircraft.
Fig. 2 is a schematic view schematically showing a deflection amplitude (pedal position) of a rudder pedal in a deflection direction in an alarm system for preventing an improper operation of a rudder pedal of an aircraft according to the present invention, wherein an exemplary pedal position is shown and a deflection limit position and a pedal position threshold value as an alarm action monitoring position are shown.
Fig. 3 is a schematic logic diagram schematically representing alarm logic (alarm method) employed in the alarm system of the present invention for preventing improper operation of rudder pedals of an aircraft.
Detailed Description
An alarm system and an alarm method for preventing an improper operation of a rudder pedal of an aircraft according to the present invention will be described with reference to fig. 1 to 3.
The aircraft 10 schematically illustrated in fig. 1 and moving on the ground S comprises: a pair of main wheel assemblies 20; nose landing gear 30 disposed near the nose of aircraft 10; and a rudder 40 arranged at the rear of the aircraft 10, which rudder 40 is hinged and can pivot about a vertical axis in two opposite pivoting directions.
The rudder foot rest 100 is used to control the rotation of the rudder 40 about the vertical axis in two opposite pivoting directions when the aircraft is flying on the ground or in the air. For this reason, the rudder pedal 100 is provided with a first pedal 101 and a second pedal 102, and depression of the first pedal 101 causes the rudder pedal 100 to deflect in a pedal first deflection direction L (refer to fig. 2) associated with the rudder 40 toward one pivoting direction (left pivoting direction), and depression of the second pedal 102 causes the rudder pedal 100 to deflect in a pedal second deflection direction R (refer to fig. 2) associated with the rudder 40 toward the other pivoting direction (right pivoting direction).
As shown in fig. 2, the rudder pedal 100 has two deflection directions (a pedal first deflection direction L and a pedal second deflection direction R), and the deflection angle of the rudder pedal 100 is positive (+θ) when the pedal position P θ is deflected in the pedal first deflection direction L, is negative (- θ) when the pedal position P -θ is deflected in the pedal second deflection direction R, and is zero (0) when the pedal neutral position P 0 is not deflected in the pedal first deflection direction L and the pedal second deflection direction R. In addition, the rudder pedal 100 has a deflection limit position P θmax（P+θmax、P-θmax in each deflection direction), for example, at the deflection limit position P +θmax, the rudder pedal 100 is deflected by a maximum deflection angle +θmax from the pedal neutral position P 0 to the pedal first deflection direction L, and at the deflection limit position P -θmax, the rudder pedal 100 is deflected by a maximum deflection angle- θmax from the pedal neutral position P 0 to the pedal second deflection direction R. The amount of depression of the first pedal 101 or the second pedal 102 (i.e., the amount of mechanical displacement of the foot pedal (mechanical) position P θ relative to the foot pedal neutral position P 0) determines the magnitude of the deflection amplitude γ of the rudder foot pedal 100 from the foot pedal neutral position P 0 to the foot pedal first deflection direction L or to the foot pedal second deflection direction R (the ratio of the deflection angle θ (+θ, - θ) to the maximum deflection angle θmax (+θmax, - θmax), i.e., γ=θ/θmax, where 0% Σ is less than or equal to 100%.
It is noted herein that although the yaw direction of the rudder pedal 100 (pedal first yaw direction L, pedal second yaw direction R) is associated with two opposite pivot directions of the rudder 40, in the present invention, the rudder pedal 100 being in the yaw limit position P +θmax、P-θmax means that the actual mechanical position of the rudder pedal 100 is in the maximum mechanical position, and there is no necessity to be associated with whether the rudder 40 pivots to the maximum pivot position at this time. That is, the rudder pedal 100 being in the deflection limit position P +θmax、P-θmax does not mean that the rudder 40 has been pivoted to the maximum pivot position in the associated pivot direction.
As shown in fig. 2, a step position threshold P θ1（θ2） as an alarm operation monitoring position is provided in each of the step first yaw direction L and the step second yaw direction R. More specifically, the alarm action monitoring position (step position threshold) P θ1（θ2） includes a delay action trigger position P θ1（P+θ1、P-θ1 that triggers a delay action and an alarm action trigger position P θ2（P+θ2、P-θ2 that triggers an alarm action, wherein a first deflection amplitude threshold γ1 (=θ1/θmax) corresponding to the delay action trigger position P θ1 is greater than a second deflection amplitude threshold γ2 (=θ2/θmax) corresponding to the alarm action trigger position P θ2. As an example, γ1=90%, γ2=85% at airspeed of ≡180 knots; and when 140 knots < airspeed < 180 knots, γ1=70%, γ2=65%. But may be that γ1 (=θ1/θmax) is equal to γ2 (=θ2/θmax), or γ1 (=θ1/θmax) is smaller than γ2 (=θ2/θmax). The deflection amplitude threshold may be set appropriately according to the handling characteristics of the aircraft itself, the pedal tolerance, the alert demand setting, etc. In addition, note that the delayed action trigger position and the alert action trigger position of the present invention are some of the pedal mechanical positions in which the rudder pedal 100 may be located, and they are one mechanically determinable and detectable fixed position.
The aircraft 10 comprises an alert system 50 for preventing improper operation of the rudder pedal 100 of the aircraft 10, the alert system 50 comprising: foot pedal position receiving means 51 for receiving a position signal value of a current foot pedal position P θ of the rudder foot pedal 100; limit position receiving means 52 for receiving a deflection limit position P θmax of the rudder pedal 100; Threshold setting means 53 for setting a step position threshold P θ1（θ2） as an alarm operation monitoring position; a judging means 54 for judging whether the history of the pedal position P θ of the rudder pedal 100 satisfies the warning trigger condition; and an alarm triggering device 55 for triggering an alarm action when the history of the pedal position P θ of the rudder pedal 100 satisfies an alarm triggering condition. The alarm action monitoring position P θ1（θ2） includes a delay action trigger position P θ1 that triggers a delay action and an alarm action trigger position P θ2 that triggers an alarm action, the alarm trigger conditions include a delay action trigger condition and an alarm action trigger condition, The rudder pedal 100 is configured such that the pedal position P +θ (or P -θ) deflected in either the pedal first deflection direction L or the pedal second deflection direction R exceeds the delay action trigger position P +θ1 (or P -θ1) in the deflection direction (time t 0), and then returns to the delay action trigger position P +θ1 (or P -θ1) in the yaw direction again (time t 1), the determining means 54 determines that the delay action trigger condition is satisfied, and triggers a predetermined delay (for example, a delay of 3 seconds). If, within a predetermined delay, the rudder pedal 100 deflects in the other deflection direction (the opposite deflection direction) from the pedal position P +θ (or P -θ) deflected in either of the pedal first deflection direction L and the pedal second deflection direction R, And when the pedal position P -θ (or P +θ) at this time reaches the warning-action triggering position P -θ2 (or P +θ2) in the reverse yaw direction (time t 2, And t 2＜t1 +3), the judging means 54 judges that the alarm action triggering condition is satisfied. At this time, the determining means 54 determines that the history of the pedal position P θ of the rudder pedal 100 satisfies the warning triggering condition.
If the step position threshold P θ1（θ2） as the warning-action monitoring position is an absolute value which does not distinguish between directions, the threshold setting means 53 sets the multiplier 531 for the warning-action monitoring position in the second yaw direction R and sets a negative value (e.g., -1) in advance in order to distinguish the step position thresholds in the different yaw directions. If the pedal position threshold P θ1（θ2） as the warning action monitoring position is a direction-differentiated value, the multiplier 531 may be omitted. Although not shown, a proportional signal multiplier may be provided for the pedal position P θ and the pedal position threshold P θ1（θ2） to multiply the position signal value of the pedal position P θ and the pedal position threshold P θ1（θ2） input to the determination device 54 (more specifically, the first comparator 541 (541L, 541R) and the second comparator 542 (542L, 542R) described later) in equal proportion to each other, so as to realize more accurate monitoring and determination.
The determining device 54 includes first comparators 541 (541L, 541R), and the first comparators 541 (541L, 541R) are configured to determine whether a history of the pedal position P θ of the rudder pedal 100 satisfies a delay action triggering condition; and a second comparator 542 (542L, 542R), the second comparator 542 (542L, 542R) being configured to determine whether the history of the pedal position P θ of the rudder pedal 100 satisfies the alarm-triggering condition.
More specifically, the first comparator 541 compares whether the current deflection amplitude γ corresponding to the current pedal position P +θ (or P -θ) of the rudder pedal 100 is greater than the first deflection amplitude threshold γ1 corresponding to the delay action trigger position P +θ1 (or P -θ1) in the same deflection direction. If gamma > gamma 1, the logic value is output as True value, and if gamma is less than or equal to gamma 1, the logic value is output as False value. The first comparator 541 triggers a delay action of the delay 543 at a point in time when its logical value changes from the True value to the False value.
The second comparator 542 compares whether the current deflection amplitude γ corresponding to the current pedal position P -θ (or P +θ) of the rudder pedal 100 is greater than the second deflection amplitude threshold γ2 corresponding to the warning action trigger position P -θ2 (or P +θ2) in the same deflection direction. If gamma > gamma 2, the logic value is output as True value, and if gamma is less than or equal to gamma 2, the logic value is output as False value. The second comparator 542 triggers an alarm action at a time point when the deflection direction of the current pedal position P -θ (or P +θ) of the rudder pedal 100 is different from the deflection direction of the pedal position P +θ (or P -θ) of the rudder pedal 100 when the first comparator 541 makes a judgment to trigger a delay action, and the logical value of the second comparator 542 changes from the False value to the True value.
The first comparator 541 has two first comparators 541L and 541R that compare in the first deflection direction L and the second deflection direction R, respectively. Similarly, the second comparator 542 has two second comparators 542L, 542R that compare in the first yaw direction L and the second yaw direction R, respectively. The judging means 54 includes a first and gate 544 and a second and gate 545. The input terminal of the first and gate 544 is connected to the output terminal of the first comparator 541L in the first yaw direction L and the output terminal of the second comparator 542R in the second yaw direction R, and the input terminal of the second and gate 545 is connected to the output terminal of the first comparator 541R in the second yaw direction R and the output terminal of the second comparator 542L in the first yaw direction L. In each and gate (first and gate 544, second and gate 545), only first comparator 541L (541R) and second comparator 542R (542L) trigger corresponding actions at the same time, and the and gates (first and gate 544, second and gate 545) output True values, otherwise output False values.
In addition, the judging means 54 includes an or gate 546. The input of the or gate 546 is connected to the output of the first and gate 544 and to the output of the second and gate 545, and the output is connected to the alarm triggering device 55. Only when the first and gate 544 and the second and gate 545 output a False value, the or gate 546 outputs a False value, and otherwise outputs a True value, and causes the alarm triggering device 55 to trigger an alarm.
The alarm triggering device 55 includes: a signal generator 551 with timing function, the signal generator 551 starting timing when the alarm trigger 55 is triggered to alarm and continuously outputting an alarm signal for a prescribed timing time (for example, 5 seconds); and an alarm prompting device 552, wherein the alarm prompting device 552 prompts an alarm to remind the pilot to immediately stop the pedal operation.
The alarm triggering apparatus 55 further includes: an alarm suppressing means 553, wherein the alarm suppressing means 553 determines whether the alarm prompting is allowed, and allows or suppresses the alarm prompting by the alarm prompting means 552 according to the determination result; and a third and gate 554, wherein an input end of the third and gate 554 is connected with the signal generator 551 and the alarm suppression device 553, and an output end of the third and gate 554 is connected with the alarm prompt device 552.
The possible situations in which the suppression alert presentation device 552 may present the alert presentation are exemplified by the following:
1. Suppressing alarms when an engine failure condition is detected (e.g., the engine is shut down due to some malfunction of the engine or the engine is accidentally shut down due to incorrect pilot operation);
2. presetting an airspeed value, and suppressing alarm when the speed of the aircraft is smaller than the airspeed value;
3. and when the failure of the engine state signal, the pedal and the airspeed parameter is detected, suppressing the alarm.
Those skilled in the art will appreciate that the above scenario is merely exemplary and that other settings may be made for the suppression conditions of the alert prompt.
In addition, the warning method for preventing improper operation of the rudder pedal 100 of the aircraft 10 of the present invention includes: a step of receiving a position signal value of the current pedal position P θ of the rudder pedal 100; a judging step for judging whether the history of the pedal position P θ of the rudder pedal 100 satisfies the warning trigger condition; And an alarm triggering step of triggering an alarm action when a history of the pedal position P θ of the rudder pedal 100 satisfies an alarm triggering condition including a delay action triggering condition and an alarm action triggering condition, in the judging step, A delay action trigger determination is performed as to whether or not the pedal position P +θ (or P -θ) in which the rudder pedal 100 is deflected in either one of the pedal first deflection direction L and the pedal second deflection direction R exceeds the delay action trigger position P +θ1 (or P -θ1) in the deflection direction (time t 0) and returns to the delay action trigger position P +θ1 (or P -θ1) in the deflection direction, And triggers a predetermined delay (for example, a delay of 3 seconds) when it is determined that the delay action triggering condition is satisfied and simultaneously performs an alarm action triggering determination as to whether or not the rudder foot rest 100 is deflected in the other deflection direction (the reverse deflection direction) from the foot rest position P +θ (or P -θ) deflected in either one of the foot rest first deflection direction L and the foot rest second deflection direction R within the predetermined delay and whether or not the foot rest position P -θ (or P +θ) at that time reaches the alarm action triggering position P -θ2 (or P +θ2) in the reverse deflection direction, and executing the alarm triggering step when judging that the alarm action triggering condition is met.
According to the warning system 50 and the warning method of the present invention, it is possible to prevent the pilot from performing the reciprocating operation of the rudder pedal by monitoring the rudder pedal of the aircraft and prompting the pilot to stop such an improper operation in the form of a warning when the improper operation such as the rapid and large-stroke reciprocating deflection of the rudder pedal is found, thereby enabling to improve the safety of the heading operation during the flight of the aircraft.
According to the warning system 50 and the warning method of the present invention, by monitoring whether the step position P +θ (or P -θ) in which the rudder step 100 is deflected in either one of the step first deflection direction L and the step second deflection direction R exceeds the delay action trigger position P +θ1 (or P -θ1) in the deflection direction (time t 0) and returns to the delay action trigger position P +θ1 (or P -θ1) in the deflection direction, namely, by taking the point of time at which the rudder step 100 exceeds the delay action trigger position and returns to the delay action trigger position as the trigger point of the delay action, the holding time of the rudder step at the larger deflection position is irrelevant, and even if the step position of the rudder step exceeds the delay action trigger position in any one deflection direction and remains at the larger deflection position in the deflection direction for a longer time, the recognition of the reciprocating deflection is not affected by the delay failure, as long as the improper operation such as the pilot' quick and the large-deflection-stroke reciprocation from the position in the certain deflection direction occurs, the warning step can be recognized immediately and stopped in such an improper operation.
In addition, according to the warning system 50 and the warning method of the present invention, the edge detection method can be implemented by using the delay 543 and the signal generator 551 with timing function, and the warning logic can be implemented by combining various logic gates (and gates, or gates), so that the determination implementation of the warning system 50 can be more concise and the occupied computing resources can be reduced by detecting the rising edge (False value- > True value) and the falling edge (True value- > False value) of the digital signal (True value and False value) according to the position signal value of the current pedal position P θ of the rudder pedal 100 converted into the digital signal (True value and False value) according to the pedal position threshold P θ1（θ2）.
Additional advantages and modifications will readily appear to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described herein. Accordingly, modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.
In the embodiment of the present invention, for example, the threshold setting device 53 is provided as an external input device for setting the pedal position threshold P θ1（θ2） as the warning operation monitoring position between the pedal neutral position P 0 and the yaw limit position P θmax（P+θmax、P-θmax) of the rudder pedal 100, but the pedal position threshold P θ1（θ2） as the warning operation monitoring position, that is, the delay operation trigger position P θ1（P+θ1、P-θ1) for triggering the delay operation and the warning operation trigger position P θ2（P+θ2、P-θ2) for triggering the warning operation may be provided in advance without the threshold setting device as the external input device, which are preset values.
Claims (10)
1. An alert system for preventing improper operation of a rudder pedal of an aircraft, the rudder pedal (100) being used to control rotation of a rudder (40) of the aircraft (10) about a vertical axis in two opposite pivoting directions, the rudder pedal (100) having a pedal neutral position (P 0) and being deflectable in two deflection directions associated with the two opposite pivoting directions of the rudder (40), the rudder pedal (100) having a deflection limit position (P θmax) in each deflection direction,
It is characterized in that the method comprises the steps of,
The alarm system (50) comprises:
Foot pedal position receiving means (51) for receiving a position signal value of a current foot pedal position (P θ) of the rudder foot pedal (100);
Limit position receiving means (52) for receiving a deflection limit position (P θmax) of the rudder pedal (100);
A judging device (54) for judging whether the history of the pedal position (P θ) of the rudder pedal (100) meets the alarm triggering condition; and
An alarm trigger device (55) for triggering an alarm action when the history of the pedal position (P θ) of the rudder pedal (100) satisfies the alarm trigger condition,
The step position threshold value as the warning operation monitoring position includes a delay operation trigger position (P θ1) for triggering a delay operation and a warning operation trigger position (P θ2) for triggering a warning operation, the warning trigger condition includes a delay operation trigger condition and a warning operation trigger condition, when the step position of the rudder step (100) deflected in any one of the two deflection directions exceeds the delay operation trigger position (P θ1) in the one deflection direction and then returns to the delay operation trigger position (P θ1) in the one deflection direction, the judgment means (54) judges that the delay operation trigger condition is satisfied and triggers a predetermined delay, and when the step position of the rudder step (100) deflected from the step position deflected in the one deflection direction to the other deflection direction reaches the warning operation trigger position (P θ2) in the other deflection direction within the predetermined delay time, the judgment means (54) judges that the warning operation trigger condition is satisfied.
2. An alert system for preventing improper operation of a rudder pedal of an aircraft as recited in claim 1,
The delay action triggering position and the alarm action triggering position are fixed positions which can be mechanically determined and detected.
3. An alert system for preventing improper operation of rudder pedals of an aircraft according to claim 2, characterized in that said determining means (54) comprises:
A first comparator (541), where the first comparator (541) is configured to determine whether a history of a pedal position (P θ) of the rudder pedal (100) meets the delay action triggering condition, and trigger a delay action of a delay device when the delay action triggering condition is met; and
And a second comparator (542), wherein the second comparator (542) is configured to determine whether the history of the pedal position (P θ) of the rudder pedal (100) satisfies the alarm triggering condition.
4. An alert system for preventing improper operation of a rudder pedal of an aircraft as recited in claim 3,
The first comparator (541) compares whether or not a current deflection amplitude (gamma) corresponding to a current pedal position (P θ) of the rudder pedal (100) is larger than a first deflection amplitude threshold value (gamma 1) in the same deflection direction, outputs a True value when the current deflection amplitude is larger than the first deflection amplitude threshold value, outputs a False value when the current deflection amplitude is smaller than or equal to the first deflection amplitude threshold value,
The first comparator (541) triggers a delay action of a delay device (543) at a point in time when its logical value changes from the True value to the False value.
5. An alert system for preventing improper operation of a rudder pedal of an aircraft as recited in claim 4,
The second comparator (542) compares whether a current deflection amplitude (gamma) corresponding to a current pedal position of the rudder pedal (100) is larger than a second deflection amplitude threshold value (gamma 2), and outputs a True value when the current deflection amplitude is larger than the second deflection amplitude threshold value and a False value when the current deflection amplitude is smaller than or equal to the second deflection amplitude threshold value,
The second comparator (542) triggers an alarm action at a time point when a deflection direction of a current pedal position of the rudder pedal (100) is different from a deflection direction of the pedal position of the rudder pedal (100) when the first comparator (541) makes a judgment to trigger a delay action, and a logic value of the second comparator (542) changes from the False value to the True value.
6. An alert system for preventing improper operation of a rudder pedal of an aircraft according to any one of claims 3 to 5,
The first comparator (541) has two first comparators that compare in each of the two deflection directions,
The second comparator (542) has two second comparators that compare in each of the two yaw directions,
The judging device (54) further includes:
A first and gate (544), wherein an input end of the first and gate (544) is connected with an output end of the first comparator in the certain deflection direction and an output end of the second comparator in the other deflection direction; and
And a second and gate (545), wherein an input end of the second and gate (545) is connected to an output end of the first comparator in the other deflection direction and an output end of the second comparator in the certain deflection direction.
7. An alert system for preventing improper operation of a rudder pedal of an aircraft as recited in claim 6,
The judging device (54) comprises an OR gate (546), wherein the input end of the OR gate (546) is connected with the output end of the first AND gate (544) and the output end of the second AND gate (545), and is connected with the alarm triggering device (55).
8. An alarm system for preventing improper operation of rudder pedals of an aircraft according to claim 1, characterized in that said alarm triggering means (55) comprise:
a signal generator (551) with timing function, wherein the signal generator (551) starts timing when the alarm triggering device (55) is triggered to alarm and continuously outputs an alarm signal within a prescribed timing time; and
And the alarm prompting device (552), wherein the alarm prompting device (552) performs alarm prompting.
9. An alert system for preventing improper operation of a rudder pedal of an aircraft as recited in claim 8,
The alarm triggering device (55) further comprises an alarm suppression device (553), the alarm suppression device (553) judges whether the alarm prompt is allowed or not, and allows or suppresses the alarm prompt device (552) to perform the alarm prompt according to the judging result; and a third AND gate (554), wherein the input end of the third AND gate (554) is connected with the signal generator (551) and the alarm suppression device (553), and the output end of the third AND gate is connected with the alarm prompt device (552).
10. An alert method for preventing improper operation of a rudder pedal of an aircraft, the rudder pedal (100) being used to control rotation of a rudder (40) of the aircraft (10) about a vertical axis in two opposite pivoting directions, the rudder pedal (100) having a pedal neutral position (P 0) and being deflectable in two deflection directions associated with the two opposite pivoting directions of the rudder (40), the rudder pedal (100) having a deflection limit position (P θmax) in each deflection direction, a pedal position threshold being set between the pedal neutral position (P 0) and the deflection limit position (P θmax) of the rudder pedal (100), wherein the alert action monitoring position includes a delay action trigger position (P θ1) triggering a delay action and an alert action trigger position (P θ2) triggering an alert action,
It is characterized in that the method comprises the steps of,
The alarm method comprises the following steps:
A step of receiving a position signal value of a current pedal position (P θ) of the rudder pedal (100);
An alarm trigger determination step of performing a delay action trigger determination as to whether or not a pedal position of the rudder pedal (100) deflected in any one of the two deflection directions has exceeded the delay action trigger position (P θ1) in the one deflection direction and returned to the delay action trigger position (P θ1) in the one deflection direction, and triggering a predetermined delay when it is determined that the delay action trigger condition is satisfied, and simultaneously performing an alarm action trigger determination as to whether or not the rudder pedal (100) is deflected from a pedal position deflected in the one deflection direction to another deflection direction opposite to the one deflection direction and whether or not the pedal position at that time has reached the alarm action trigger position (P θ2) in the other deflection direction within a predetermined delay;
And an alarm triggering step of triggering an alarm action when the step of judging the alarm triggering judges that the pedal position (P θ) of the rudder pedal (100) meets the alarm triggering condition.
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| CN103057697A (en) * | 2013-01-07 | 2013-04-24 | 中国商用飞机有限责任公司 | Rudder pedal control device and control method for airplane |
| CN103693190A (en) * | 2012-09-27 | 2014-04-02 | 空中客车营运有限公司 | Method for providing alarm against inappropriate actuation of swing bar of transport aircraft and equipment thereof |
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| DE2837842A1 (en) * | 1978-08-30 | 1980-03-13 | Anschuetz & Co Gmbh | ARRANGEMENT CONTROLLING ARRANGEMENT |
| DE102009027979B4 (en) * | 2009-07-23 | 2013-11-07 | Airbus Operations Gmbh | A method and apparatus for providing a pilot alert signal to a pilot of an aircraft |
| CN106347636B (en) * | 2016-08-30 | 2019-03-01 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of push rod stall protection control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103693190A (en) * | 2012-09-27 | 2014-04-02 | 空中客车营运有限公司 | Method for providing alarm against inappropriate actuation of swing bar of transport aircraft and equipment thereof |
| CN103057697A (en) * | 2013-01-07 | 2013-04-24 | 中国商用飞机有限责任公司 | Rudder pedal control device and control method for airplane |
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