CN113534655A - Telex flight backup control system and starting method thereof - Google Patents
Telex flight backup control system and starting method thereof Download PDFInfo
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Abstract
A fly-by-wire backup control system and its starting method are disclosed. The starting method comprises the following steps: after the backup control computer is successfully electrified and initialized and self-detected, the backup control computer enters a cold backup state, wherein the backup control computer receives a state signal of a main control channel; when the state signal of the main control channel indicates that the main control channel has a fault, the backup control computer enters a pre-positioning state, wherein the backup control computer supplies power to the sensor module and the servo actuation module and enters a connection state after the backup control computer establishes communication with the sensor module and the servo actuation module, and wherein the backup control computer generates a control command to control the servo actuation module based on the sensor signal received from the sensor module.
Description
Technical Field
The invention relates to the field of aircrafts, in particular to a fly-by-wire flight backup control system and a starting method thereof.
Background
Flight control systems are complex and critical systems on aircraft and are of great importance to aircraft safety. A single failure, regardless of probability, cannot lead to catastrophic results, as required by airworthiness clause 25.1309. For the fly-by-wire system adopting hardware redundancy, if a fault which causes the normal operation failure of the main control system and the redundancy system exists, the whole fly-by-wire system may fail, namely a common mode problem occurs. Common mode problems destroy the independence of redundant architectures, and therefore, attention must be paid to the potential safety hazard that flight control systems may fail due to common mode problems. For the current mainstream airplane fly-by-wire flight control system, backing up a common-mode object is an effective measure for solving the common-mode problem.
In the first backup scheme, a horizontal stabilizer trim actuator can be used to control the horizontal stabilizer, and an EMA can be used to control the electrical backup of the two pairs of spoilers. In a second backup scheme, an aileron electrical backup may be employed, an analog line backup scheme for the elevator and rudder hydraulic actuators, and optionally a dual architecture (2H/2E), with separate backup power and control modules.
The first backup scheme is an ultimate backup, which is more compact in nature, but has weak backup capability and only has transient control capability to wait for the flight control system to recover. The second backup scheme has the capability of continuous safe flight and landing, however, adopts complex redundancy configuration and fault reconstruction logic.
Accordingly, there is a need in the art for an improved fly-by-wire backup control system and method for starting the same.
Disclosure of Invention
The invention provides a starting scheme of a telex flight backup control system based on cold backup. The backup control channel is added on the basis of the main control channel, and the backup control system is independent of the main control system and can realize minimum acceptable control on three shafts of the airplane in a switch-on state. When the airplane is in a normal condition, the backup system does not interfere the main system, and when the backup object (such as a main control computer) has a common-mode fault, the backup system can be quickly activated to take over the airplane control and provide the capability of continuous safe flight and landing.
In one embodiment of the present invention, there is provided a method of starting a fly-by-wire backup control system, including: a backup control computer of the fly-by-wire backup control system carries out power-on initialization and self-detection; after the power-on initialization and the self-detection are successful, the backup control computer enters a cold backup state, and in the cold backup state, the backup control computer receives a state signal of a main control channel; when the state signal of the main control channel indicates the fault of the main control channel, the backup control computer enters a pre-positioning state, and in the pre-positioning state, the backup control computer supplies power to a sensor module and a servo actuation module of the fly-by-wire backup control system; and after the backup control computer establishes communication with the sensor module and the servo actuation module, the backup control computer enters a switch-on state in which the backup control computer generates a control command to control the servo actuation module based on the sensor signal received from the sensor module.
In one aspect, the power-on initialization and self-test of the backup control computer comprises: and when the aircraft is in a ground state, the backup control computer performs power-on initialization and self-detection.
In one aspect, the backup control computer performing power-on initialization and self-test includes powering the sensor module and the servo actuation module to determine that the sensor module and the servo actuation module are in a normal state.
In one aspect, in the cold backup state, the backup control computer does not provide power to the sensor module and the servo actuation module of the fly-by-wire backup control system.
In one aspect, the method for starting the fly-by-wire backup control system further comprises: in the cold backup state, if a fly-by-wire flight backup control system starting instruction of a pilot is received, the backup control computer enters a pre-positioning state; or in the cold backup state, if the state signal of the main control channel received by the backup control computer indicates the main control channel failure when the airplane is in the air state, the backup control computer enters the pre-positioning state.
In one embodiment of the present invention, there is provided a fly-by-wire backup control system comprising: the servo actuator comprises a sensor module and a servo actuating module; and a backup control computer coupled to the sensor module and the servo actuation module, wherein the backup control computer performs power-on initialization and self-detection, after the power-on initialization and the self-detection are successful, the backup control computer enters a cold backup state, in the cold backup state, the backup control computer receives a status signal of a main control channel, wherein the backup control computer enters a pre-staging state when the status signal of the primary control channel indicates a failure of the primary control channel, in the pre-positioned state, the backup control computer supplies power to the sensor module and the servo actuation module, and after the backup control computer establishes communication with the sensor module and the servo actuation module, the backup control computer enters an on state and generates control commands to control the servo actuation module based on sensor signals received from the sensor module.
In one aspect, the power-on initialization and self-test of the backup control computer comprises: and when the aircraft is in a ground state, the backup control computer performs power-on initialization and self-detection.
In one aspect, the backup control computer performing power-on initialization and self-test includes powering the sensor module and the servo actuation module to determine that the sensor module and the servo actuation module are in a normal state.
In one aspect, in the cold backup state, the backup control computer does not provide power to the sensor module and the servo actuation module of the fly-by-wire backup control system.
In one aspect, the fly-by-wire backup control system further comprises: in the cold backup state, if a fly-by-wire flight backup control system starting instruction of a pilot is received, the backup control computer enters a pre-positioning state; or in the cold backup state, if the state signal of the main control channel received by the backup control computer indicates the main control channel failure when the airplane is in the air state, the backup control computer enters the pre-positioning state.
In one embodiment of the present invention, there is provided an aircraft comprising: a master control channel that generates control commands to control a master control servo actuation module based on sensor signals from a master control sensor module; and a fly-by-wire backup control system as described in any of the above.
In an embodiment of the invention, there is provided a computer readable storage medium storing a computer program executable by a processor to perform the method as defined in any one of the above.
As described above, the present invention proposes a new fly-by-wire flight Backup Control System (BCS) startup and control logic. Under the normal condition, the BCS does not interfere the work of the main system, and when the backup object common mode fails, the BCS can quickly take over the control of the airplane, provide the capabilities of continuous safe flight and landing for the airplane in preparation as soon as possible, and meet the high safety requirement of the airplane.
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FIG. 1 is a schematic diagram of a flight control system architecture according to one embodiment of the present invention.
Fig. 2 is a flow chart of a method of starting a fly-by-wire backup control system according to one embodiment of the invention.
Fig. 3 is a signal flow diagram of the fly-by-wire flight backup control system initialization and self-test state according to one embodiment of the present invention.
Fig. 4 is a signal flow diagram of a fly-by-wire backup control system pre-position state according to one embodiment of the present invention.
Fig. 5 is a flow diagram of a fly-by-wire backup control system on-state signal according to one embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the following specific examples and drawings, but the scope of the present invention should not be limited thereto.
The backup control channel is added on the basis of the main control channel, and the backup control system is independent of the main control system and can realize minimum acceptable control on three shafts of the airplane in a switch-on state. When the airplane is in a normal condition, the backup system does not interfere the main system, when the backup object has a common mode fault, the backup system can be quickly activated to take over airplane control, and the continuous safe flying and landing capability is provided.
FIG. 1 is a schematic diagram of a flight control system architecture 100, according to one embodiment of the invention. The invention provides a Backup Control System (BCS) independent of a main control channel, which effectively improves the safety margin of a flight control system. Flight control system architecture 100 may include a primary channel 101 and a backup channel 102. The master channel 101 may include a master sensor module 112 (e.g., cockpit steering sensors and aircraft sensors), a master computer 113, and various corresponding master servo actuation modules 114. The master computer 113 can generate control commands to control the master servo actuation module 114 based on sensor signals from the master sensor module 112. Each servo actuation module 114 may include remote control electronics (REU) and a corresponding control surface actuator (EHSV), and the REU may receive control commands from the master control channel 101 (e.g., the master computer 113) and cause the actuators to drive the corresponding control surfaces to move based on the received control commands. The master computer 113 and the backup control computer 130 may each communicate with other systems 150, such as with an airborne avionics system, a satellite system, and the like.
The backup tunnel 102 may include a backup sensor module 120, a backup control computer 130 (BCM), and corresponding various backup servo actuation modules 140. The backup sensor module 120 may include cockpit steering sensors for detecting operation of the cockpit and providing operational inputs and aircraft sensors for sensing aircraft state and motion and providing feedback information. The backup sensor module 120 may be a different or separate sensor module than the master sensor module 112. The backup control computer 130 may generate control commands based on sensor signals from the backup sensor module 120.
In one embodiment of the present invention, the backup servo actuation module 140 can be connected to the main control computer 113 and the backup control computer 130, respectively. For example, the backup servo actuation module 140 may include enhanced remote control electronics (EREU) 142 and corresponding control surface actuators (EHSV) 144. The EREU 142 (also referred to simply as the remote control electronics REU) may receive control commands from the main control channel 101 (e.g., the main control computer 113) and/or the backup control computer 130, and cause the actuators 144 to drive the corresponding control surfaces to move based on the received control commands. In one embodiment, the backup servo actuation module 140 may drive the associated control surface alone or may drive the same control surface in cooperation with the master servo actuation module 114.
According to one embodiment of the invention, the sensor module 120 of the backup aisle 102 (otherwise known as the backup control system) is independent of the main aisle and contains cockpit maneuver sensors as well as aircraft sensors (e.g., slat position sensors, etc.). That is, the backup channel uses a separate sensor, so that the backup control computer 130 can receive an independent sensor signal without being affected by the master channel 101. Although a single backup sensor module 120 is shown in fig. 1, it should be understood that the various sensors in the backup sensor module 120 may be distributed at suitable locations on the aircraft.
The cockpit operating sensors in the backup sensor module 120 collect pilot operating actions, convert the mechanical operating actions of the pilot into electrical signals (operating commands), and send the electrical signals to the backup control computer (BCM) 130. In addition, the aircraft sensors in the backup sensor module 120 collect aircraft information and send it to the BCM 130. The BCM 130 may perform control law calculations using the steering commands provided by the cockpit steering sensors and the aircraft information provided by the aircraft sensors to generate control commands that may be provided to the backup servo actuation module 140 to control the corresponding control surface operations. The sensor redundancy configuration of the backup sensor module 120 needs to meet the backup control system availability requirements. Since the backup control system is only a beneficial complement to the main control system and does not contribute to the satisfaction of the flight control system availability, the sensor module 120 may employ a single redundancy configuration or a redundancy configuration.
The BCM 130 is a control core of the backup control system, and can implement functions of power supply control, control law calculation, IO control, architecture monitoring (e.g., monitoring a power supply, a clock, etc.), sensor demodulation, and the like. The BCM 130 may be implemented using a computer, processor, integrated circuit, programmable logic device, microprocessor, controller, microcontroller, or state machine, among others. In one embodiment, the BCM 130 may employ a non-similar instruction-monitoring branch architecture design, wherein an instruction branch (COM) generates control commands based on received steering instructions and aircraft information, a monitoring branch (MON) generates control commands using a hardware and/or software structure that is dissimilar to the instruction branch and also based on the received steering instructions and aircraft information, the monitoring branch comparing the control commands calculated by the COM branch and the MON branch, ensuring the integrity of BCM output instructions. For example, the monitoring branch may provide an error message when the control commands calculated by the COM branch and the MON branch are inconsistent (e.g., differ by more than a threshold). Conversely, if the control commands calculated by the COM branch and the MON branch are consistent (e.g., within a threshold range of difference), then the control commands are correct, and the control commands generated by the command branch (COM) may be provided to the backup servo actuation module 140 to control the corresponding control plane operation.
According to one embodiment of the invention, the BCM 130 may be configured with a separate power module that is powered by onboard power consumers or a Power Conditioning Module (PCM). The BCM 130 may use the power module to supply power to other dc power devices of the backup control system, such as the backup sensor module 120, the backup servo actuator module 140, and the like.
When the master channel 101 is operating normally, the master computer 113 can generate control commands to control the master servo actuation module 114 based on the sensor signals from the master sensor module 112, and the master computer 113 can optionally generate control commands to control the backup servo actuation module 140 based on the sensor signals from the master sensor module 112.
The BCM 130 may receive a status signal of the main control channel 101, and when the main control channel 101 normally operates, the BCM 130 is in a cold backup state, and does not supply power to other electric devices of the backup control system, and does not provide a control command to the servo actuation module 140. For example, in a cold backup state, modules (e.g., hardware and/or software modules) in the BCM 130 associated with flight control may be selectively placed in a sleep or power-off state. By way of example and not limitation, interface modules and processing modules, control law modules, and the like associated with the sensor signals may be in an inoperative state. The BCM 130 may also selectively power down other components.
When the master control channel 101 fails and the aircraft is below a Minimum Acceptable Control (MAC), the BCM 130 may trigger the backup servo actuator module 140, which is powered down due to the influence of the master control channel 101, to re-supply power to the sensor module 120 and the control surface position sensor associated with the servo actuator module.
When the master control channel 101 fails to work and the servo actuation module 140 can work normally, the BCM 130 takes over the failed master control channel 101 to send a control command to the backup servo actuation module 140, and can receive an instruction and status data fed back by the backup servo actuation module 140 to monitor the working status of the backup servo actuation module 140. In one embodiment of the present invention, the data transfer between the BCM 130 and the backup servo actuation module 140 is independent of the master channel 101, and optionally employs a data bus that is dissimilar to the master channel 101.
Because the backup control system adopts a backup system architecture (including the independent sensor module 120, the backup control computer 130 and power supply) independent of the main control channel 101, when the common-mode fault occurs in the backup object and the main control channel 101 fails, the backup system architecture can quickly take over the airplane control and perform independent flight control, thereby providing the capabilities of the airplane for continuous safe flight and landing preparation as soon as possible. In one example, the backup system architecture may be of a non-similar design (e.g., non-similar hardware or software or a combination thereof) as compared to the master channel such that a failure in the master channel does not occur in the backup system architecture.
The invention provides a cold backup-based fly-by-wire backup control system starting scheme, wherein a BCM is responsible for exciting and demodulating a sensor module, receiving a state signal of a main control channel, when the main control channel fails to cause that an airplane is lower than an MAC (media access control), the BCM works according to the starting scheme of the invention, and sends a backup control instruction to a corresponding EREU (emergency radio over Ethernet) to carry out backup control on a corresponding control surface actuator.
Fig. 2 is a flow chart of a method of starting a fly-by-wire backup control system according to one embodiment of the invention.
At step 201, the fly-by-wire backup control system may perform power-on initialization and self-test.
For example, a backup control computer (BCM) of a fly-by-wire backup control system may receive aircraft state information (e.g., ground speed information), and when the aircraft is determined to be in a ground state according to the aircraft state information, the BCM may perform power-on initialization before flight and self-detection. The power-on initialization and self-test process may include: and the BCM powers up corresponding excitation modules including the EREU and receives a wrap-around data packet fed back by the EREU. If BCM initialization is not successfully completed or BCM initialization is completed but ground self-detection of the BCS system is not passed, the BCM can send a BCM initialization failure indication signal to the display system. If the power-on initialization and the self-detection cannot be completed smoothly, the BCM can set the self-state signal to be invalid.
If the power-on initialization and the self-test are successfully completed, the process proceeds to step 202, and the fly-by-wire backup control system enters a cold backup state. In step 202, the BCM is controlled to power down by the self-detection end flag signal and the BCM status signal may be asserted. In the cold backup state, the power supply module of the BCM may be in a powered state and supply power to the state control module of the BCM, but not to the EREU, sensors, etc. Thus, in the cold backup state, for example, in step 203, the BCM (e.g., a state control module) may receive status signals of the master channel, receive operation commands, and may send the state of the BCM to other systems. Additionally, in the cold backup state, modules (e.g., hardware and/or software modules) in the BCM associated with flight control may be selectively placed in a sleep or power-off state. By way of example and not limitation, interface modules and processing modules, control law modules, and the like associated with the sensor signals may be in an inoperative state. The BCM may also selectively power down other components.
At step 204, when the status signal of the master channel identifies a master channel failure, the BCM enters an ARM state.
For example, when the BCM receives airplane state information (e.g., ground speed information) and determines that the airplane is in an air state, if the BCM state signal is in an active state and the state signals of the multiple master control channels identify a master control channel fault (e.g., the master control system is lost so that the airplane is lower than the MAC), the BCM enters an Advance (ARM) state, excites the relevant sensors, and secondarily supplies power to the EREU.
In addition, when the BCM cannot receive the state signal of the main control channel for a long time, the pilot has the authority to control the BCM to enter the pre-positioning state through the switch. After the BCM is preset, the BCM sends a BCM preset indicating signal to the display system. According to one embodiment of the invention, after the BCM is in the preset position, the system cannot power off the BCM, the BCM cannot power off by itself, and only the pilot has the authority to power off the backup system through the switch.
In step 205, the BCM is activated into the on state.
When the main control channel fails and the BCM is in the pre-positioned state, the BCM takes over the failed main control channel to supply power to the actuator control unit, the EREU completes initialization within the designated time, and the BCM is in the connection state. The BCM sends a BCM on indication signal to the display system. If the BCM receives an EREU state signal sent by the EREU and is normal, the backup control channel where the EREU is located is activated, and if the EREU initialization does not pass through for multiple times, the backup control channel where the EREU is located is not activated. After the BCM enters the on state, the BCM generates control commands to control the EREU and corresponding control plane operation based on the sensor signals received from the backup sensor module.
Optionally, when the primary channel returns to normal, the method may return to step 202, switching from the backup control channel to the primary channel controlling the REU and EREU, and the BCM returning to the cold backup state.
The startup scheme of the fly-by-wire backup control system ensures that the backup control system is in a cold backup or pre-positioning state when the main system controls the airplane, thereby greatly avoiding the false activation of the backup control system and the interference to the work of the main control system. Meanwhile, the scheme shortens the starting time of the backup control system through the pre-navigation power-on initialization and the self-detection process, so that the backup system can be quickly activated when the backup object has a common mode fault.
Fig. 3 is a signal flow diagram of the fly-by-wire flight backup control system initialization and self-test state according to one embodiment of the present invention. The BCS has self-detection capability, and the BCM can perform initialization and self-detection when judging that the airplane is in a ground state and can perform both before and after the airplane is navigated. Under the condition that all the main control channels are completely normal, the functions of power-on initialization, state display, starting self-detection and the like of the BCM are realized by means of the ground logic state. Fig. 3 may be an example of step 201 shown in fig. 2.
As shown in fig. 3, the BCM may be powered by a power module or on-board power supply, but initially only the BCM internal power module and the state control module are in a powered state. In one example, the BCM may be powered up by operation of a control switch. In another example, the BCM may be powered up based on the operational instructions, e.g., the BCM may be powered up while all master channels are powered up.
After the BCM is powered on, the BCM receives airplane state signals, such as atmospheric data ADS and inertial navigation system information IRU (such as ground speed information), and when the airplane is judged to be in a ground state according to the airplane state signals, subsequent initialization and self-detection processes can be executed.
When all the main control channels are normally powered on, the BCM receives a power-on pre-position discrete enabling signal of the main control channels from the main control system, and the BCM initializes after the main control channels are detected to be normal. BCM initialization may perform a predetermined boot procedure. After the BCM is initialized normally (the initialization can be repeated for a specified number of times if the BCM is not initialized normally), the BCM performs self-detection, and self-detection objects comprise all peripheral associated equipment powered on by the BCM.
In the self-detection process, the BCS excitation module (including the EREU, the sensor and the like) is directly electrified by the BCM internal power supply module, feedback information is received, and whether the self-detection is successful or not is confirmed. If BCM initialization is not successfully completed or BCM initialization is completed but self-detection is not passed, the display system does not receive any information, and then the display system can display that the BCM is in a fault state. If BCM initialization and self-detection successfully pass through, the display system can not display any display according to the 'quiet and dark concept'.
In the initialization and self-detection processes, if the BCM cannot be successfully completed or the system self-detection (including peripheral equipment and signal channels) is abnormal, the BCM is set to be invalid, otherwise, the BCM is set to be valid. However, no matter whether the system is normal or effective, after the ground process is finished, the BCM automatically cuts off the power under the control of the self-detection end identification signal, or forcibly cuts off the power when the airplane exits the ground state. The difference is that although both are in the power-off state (at this time, the BCM is in the cold backup state, and only the power module is in the power-on state), if the self-test passes, the BCM has a prerequisite to enter the pre-set state based on the master channel failure enable signal in the "air state" when being set in the valid state. Furthermore, BCM initialization, self-test fail does not affect the dispatch or limit the dispatch.
Because of the limited time that the aircraft is in the ground state, the BCM self-test may not cover all test items, and the BCM device should perform ground checks periodically within a specified range of flight hours to ensure that the BCM is properly available.
Fig. 4 is a signal flow diagram of the fly-by-wire backup control system entering a pre-staging state according to one embodiment of the present invention.
After BCM initialization and self-detection are passed, the BCM is in a cold backup state, and only the internal power supply module and the state control module are in a power-on state. When the BCM receives an airplane state signal (such as ground speed information) to judge that the airplane is in an air state, if a plurality of main control channels are simultaneously lost (the main control system loses the minimum controllable control to the airplane), the BCM can receive a main control channel fault state enabling signal from the main control system. If a master channel fault status enable signal is received (a master channel fault is determined) and the BCM status signal is normal (initialization and self-test procedures have been successfully passed), the BCM may enter an ARM state, e.g., providing the BCM ARM status signal to the display system, and the BCM power module provides power to other functional modules of the BCM (e.g., sensors, EREUs). Because the initialization and the self-detection are completed before the navigation, the backup system can quickly enter a pre-position (ARM) state in a specified time after being electrified, namely, the actuator control unit which is powered off is supplied with power again, and the relevant sensor is excited.
After the BCM enters the preset position (ARM), the system cannot power off the BCM, the BCM cannot power off by itself, the backup system is always in the preset position (ARM) state, and the BCM sends a BCM preset indication signal to the display system. When the main control channel fault state enabling signal is interrupted or the main control channel state information cannot be received for a long time (at the moment, whether the main control channel is normal or not cannot be judged), the pilot can make a decision whether to start the backup system or not according to the main system fault condition and the alarm display information because the backup system cannot be automatically activated to take over the control of the airplane. If the pilot issues a BCM start command, the BCM may similarly enter a pre-staging state.
Fig. 5 is a flow diagram of a fly-by-wire backup control system on-state signal according to one embodiment of the present invention.
When the backup system is in a state of 'advanced RISC machine' (ARM) and supplies power to the actuator control unit (for example, EREU) again, the BCM sends an actuator initialization enabling signal to the actuator control unit, the actuator control unit completes initialization within a specified time, if the initialization is completed successfully, the BCM establishes communication with the actuator control unit, and the BCM sends a control command to the actuator control unit through the data bus and receives the rewinding information of the actuator control unit. That is, the BCM releases the command control output interface, and the master control channel taking over the fault supplies power to the corresponding actuator control unit and performs online monitoring, so as to enter an Activated (ACTIVE) state, and at the same time, the BCM sends a BCM on signal to the display system. Once activated, the backup system takes over control of the aircraft, at which point it cannot automatically exit or shut down its operating state.
After the EREU is powered on again by the BCM, if the initialization fails, the BCM controls power on and off to make the EREU have the opportunity of repeating the initialization (for example, the initialization can be set for 3 times), and if none of the EREU passes, the EREU only does not release the corresponding control channel (which is equivalent to the control channel is not activated), and the EREU is not powered off, so that the state information of the EREU can be grasped, and possible recovery is waited.
As described above, the present invention proposes a new fly-by-wire flight Backup Control System (BCS) startup and control logic. Under the normal condition, the BCS does not interfere the work of the main system, and when the backup object common mode fails, the BCS can quickly take over the control of the airplane, provide the capabilities of continuous safe flight and landing for the airplane in preparation as soon as possible, and meet the high safety requirement of the airplane.
The various steps and modules of the methods and apparatus described above may be implemented in hardware, software, or a combination thereof. If implemented in hardware, the various illustrative steps, modules, and circuits described in connection with the disclosure may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other programmable logic component, hardware component, or any combination thereof. A general purpose processor may be a processor, microprocessor, controller, microcontroller, or state machine, among others. If implemented in software, the various illustrative steps, modules, etc. described in connection with the disclosure may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. A software module implementing various operations of the present disclosure may reside in a storage medium such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, a removable disk, a CD-ROM, cloud storage, and the like. A storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium, and execute the corresponding program modules to perform the various steps of the present disclosure. Furthermore, software-based embodiments may be uploaded, downloaded, or accessed remotely through suitable communication means. Such suitable communication means include, for example, the internet, the world wide web, an intranet, software applications, cable (including fiber optic cable), magnetic communication, electromagnetic communication (including RF, microwave, and infrared communication), electronic communication, or other such communication means.
The numerical values given in the embodiments are only examples and do not limit the scope of the present invention. In addition, other components or steps not recited in the claims or specification of the invention may be present as a whole. Moreover, the singular reference of a component does not exclude the plural reference of such components.
It is also noted that the embodiments may be described as a process which is depicted as a flowchart, a flow diagram, a structure diagram, or a block diagram. Although a flowchart may describe the operations as a sequential process, many of the operations can be performed in parallel or concurrently. In addition, the order of the operations may be rearranged.
The disclosed methods, apparatus, and systems should not be limited in any way. Rather, the present disclosure encompasses all novel and non-obvious features and aspects of the various disclosed embodiments, both individually and in various combinations and sub-combinations with each other. The disclosed methods, apparatus, and systems are not limited to any specific aspect or feature or combination thereof, nor do any of the disclosed embodiments require that any one or more specific advantages be present or that a particular or all technical problem be solved.
The present invention is not limited to the above-mentioned embodiments, which are only illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (12)
1. A method for starting a fly-by-wire backup control system, comprising:
a backup control computer of the fly-by-wire backup control system carries out power-on initialization and self-detection;
after the power-on initialization and the self-detection are successful, the backup control computer enters a cold backup state, and in the cold backup state, the backup control computer receives a state signal of a main control channel;
when the state signal of the main control channel indicates the fault of the main control channel, the backup control computer enters a pre-positioning state, and in the pre-positioning state, the backup control computer supplies power to a sensor module and a servo actuation module of the fly-by-wire backup control system; and
after the backup control computer establishes communication with the sensor module and the servo actuation module, the backup control computer enters an on state in which the backup control computer generates a control command to control the servo actuation module based on the sensor signal received from the sensor module.
2. The method of starting a fly-by-wire backup control system according to claim 1, wherein the performing of power-on initialization and self-test by the backup control computer comprises: and when the aircraft is in a ground state, the backup control computer performs power-on initialization and self-detection.
3. The method of claim 1, wherein the backup control computer performing power-on initialization and self-test includes powering the sensor module and the servo actuation module to determine that the sensor module and the servo actuation module are in a normal state.
4. The method for starting a fly-by-wire backup control system according to claim 1, wherein in the cold backup state, the backup control computer does not supply power to a sensor module and a servo actuation module of the fly-by-wire backup control system.
5. A method of starting a fly-by-wire backup control system according to claim 1, further comprising:
in the cold backup state, if a fly-by-wire flight backup control system starting instruction of a pilot is received, the backup control computer enters a pre-positioning state; or
In the cold backup state, if the state signal of the main control channel received by the backup control computer indicates a fault of the main control channel when the airplane is in the air state, the backup control computer enters a pre-positioning state.
6. A fly-by-wire backup control system, comprising:
the servo actuator comprises a sensor module and a servo actuating module; and
a backup control computer coupled with the sensor module and the servo actuating module, wherein the backup control computer performs power-on initialization and self-detection, and enters a cold backup state after the power-on initialization and the self-detection are successful, and receives a state signal of a main control channel in the cold backup state,
wherein when the status signal of the main control channel indicates a failure of the main control channel, the backup control computer enters a pre-positioning state in which the backup control computer supplies power to the sensor module and the servo actuation module, and after the backup control computer establishes communication with the sensor module and the servo actuation module, the backup control computer enters a switch-on state and generates a control command to control the servo actuation module based on the sensor signal received from the sensor module.
7. The fly-by-wire backup control system of claim 6, wherein the backup control computer performing power-on initialization and self-test comprises: and when the aircraft is in a ground state, the backup control computer performs power-on initialization and self-detection.
8. The fly-by-wire backup control system of claim 6, wherein the backup control computer performing power-up initialization and self-test comprises powering the sensor module and the servo actuation module to determine that the sensor module and the servo actuation module are in a normal state.
9. The fly-by-wire backup control system of claim 6, wherein in the cold backup state, the backup control computer does not provide power to a sensor module and a servo actuation module of the fly-by-wire backup control system.
10. The fly-by-wire backup control system of claim 6, further comprising:
in the cold backup state, if a fly-by-wire flight backup control system starting instruction of a pilot is received, the backup control computer enters a pre-positioning state; or
In the cold backup state, if the state signal of the main control channel received by the backup control computer indicates a fault of the main control channel when the airplane is in the air state, the backup control computer enters a pre-positioning state.
11. An aircraft, characterized in that it comprises:
a master control channel that generates control commands to control a master control servo actuation module based on sensor signals from a master control sensor module; and
fly-by-wire backup control system according to any of claims 6-10.
12. A computer-readable storage medium storing a computer program executable by a processor to perform the method of any one of claims 1-5.
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Application publication date: 20211022 |