CN115808869A - Flight control system - Google Patents

Abstract

The invention discloses a flight control system, which is provided with a plurality of redundant flight control computers, wherein each flight control computer is correspondingly provided with a signal switch, and the signal switches are connected with the flight control computers and an actuator processing module. In addition, an arbitration unit is added, and the arbitration unit is connected with all flight control computers and corresponding signal switches and used for judging whether the flight control computers have faults or not. When a certain flight control computer breaks down, a disconnection signal is sent to a signal switch corresponding to the broken flight control computer, and then the stability and the safety of the aircraft are improved through normal flight control computer control equipment.

Description

flight control system

technical field

The invention relates to the technical field of aircraft, in particular to a flight control system.

Background technique

With the development of small aircraft design technology, manufacturing technology and related supporting industries, the functions, performance, and output of small aircraft have gradually stabilized and matured. However, due to the particularity of the flight platform itself, it also poses a new challenge to the safety of the aircraft. In related technologies, the control links of each flight control computer are fixed. When a flight control computer on a certain control path fails, the control system on the normal control path cannot control the faulty equipment on other control paths, resulting in The reliability of the aircraft is reduced.

Contents of the invention

The embodiments of the present application aim to improve the stability and safety of the aircraft by providing a flight control system.

An embodiment of the present application provides a flight control system, the flight control system includes:

At least two flight control computers;

At least two signal switches, set corresponding to the flight control computer, for connecting the flight control computer and the actuator processing module;

An arbitration unit, the arbitration unit is respectively connected with each of the flight control computers and the signal switch, and is used to send a disconnection signal to the signal switch corresponding to the flight control computer where the failure occurs when the flight control computer fails, and the signal switch The default state of is closed.

Optionally, the flight control computer includes: a first flight control computer and a second flight control computer, and the signal switch includes: a first signal switch and a second signal switch; the first signal switch and the second signal switch The signal switches are all connected to the actuator processing module.

Optionally, the actuator processing module includes at least two actuation processing units, each actuation processing unit includes an actuator processor, an actuator, a power switch and an actuator, and the power switch is connected to between the actuator and the actuator;

a locking mechanism, the locking mechanism is located between each of the actuators;

Each of the actuator processors is respectively connected to the corresponding power switch and the locking mechanism, and is used to send an interrupt to the power switch of the faulty actuator processor when a failure of the actuator processor is detected. open signal, and send a locking signal to the locking mechanism; the default state of the locking mechanism is off.

Optionally, the actuator processor includes: a first actuator processor and a second actuator processor, the first signal switch and the second signal switch are both connected to the first actuator and/or, both the first signal switch and the second signal switch are connected to the second actuator processor.

Optionally, the flight control system further includes: a limiter, the limiter is connected to the actuator processor and the power switch, and is configured to receive disconnection signals sent by all the actuator processors. , to control the power switch connected to at least one actuator processor to close, or to control at least one actuator processor to switch to the locking mechanism when receiving disconnection signals sent by all actuator processors Send lock signal.

Optionally, the actuator is connected to the actuator processor, and the actuator processor is further configured to send a disconnection signal to the corresponding actuator when a failure of the actuator is detected. , and send a locking signal to the locking mechanism.

Optionally, the flight control system further includes: a detection sensor, the detection sensor is connected to the actuator processor and is used to collect the actual manipulation amount of the actuator, and the actual The manipulated amount is fed back to the actuator processor, so that the actuator processor detects whether the actuator fails according to the actual manipulated amount.

Optionally, the actuator includes a rudder surface, a landing gear retractable unit, a tilting unit or a cabin door.

Optionally, the flight control system further includes: a third signal switch, the third signal switch is connected to the joystick and the actuator processing module; the arbitration unit is also used to: When a fault occurs, a close signal is sent to the third signal switch; the default state of the third signal switch is an open state.

Optionally, the flight control system further includes a display module, the display module is connected to the arbitration unit, and is used to display the determination result of the faulty flight control computer.

In the technical solution of a flight control system provided in the embodiment of the present application, a plurality of redundant flight control computers are set, and each flight control computer is correspondingly provided with a signal switch, and the flight control computer and the operating system are connected through the signal switch. actuator processing module. In addition, the present application also adds an arbitration unit, which is connected with all flight control computers and corresponding signal switches, and is used for judging whether the flight control computers are faulty. When a flight control computer fails, a disconnect signal is sent to the signal switch corresponding to the faulty flight control computer, and then the normal flight control computer controls the actuator to improve the stability and safety of the aircraft.

Description of drawings

Fig. 1 is a schematic structural diagram of the first embodiment of the flight control system of the present invention;

Fig. 2 is a connection diagram when the first flight control computer of the present invention fails;

Fig. 3 is the structural representation of joystick control of the present invention;

4 is a schematic diagram of the connection between the arbitration unit and the display module of the present invention;

Fig. 5 is a schematic structural diagram of all actuator processors of the flight control system of the present invention when they are working normally;

Fig. 6 is a schematic diagram of connection when the processor of the first actuator fails in the present invention.

The realization of the object of the present application, functional features and advantages will be further described in conjunction with the embodiments, with reference to the accompanying drawings. The above-mentioned accompanying drawings are only a diagram of an embodiment, rather than the whole of the invention.

Explanation of reference numbers:

label name label name 10 flight control system 110 First flight control computer 120 second flight control computer 130 first signal switch 140 Second signal switch 150 Arbitration unit 160 Actuator Processing Module 161 first actuator processor 162 first actuator 163 first power switch 164 first executive agency 165 Second Actuator Processor 166 second actuator 167 second power switch 168 second executive body 170 locking mechanism 200 third signal switch 210 display module 220 joystick

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relationship between the components in a certain posture (as shown in the accompanying drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.

In addition, the descriptions involving "first", "second" and so on in the present invention are only for descriptive purposes, and should not be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist , nor within the scope of protection required by the present invention.

At present, the traditional flight control system architecture adopts a federated architecture. Among them, the federated architecture means that different control systems obtain the data collected by certain designated sensing units, and are in charge of designated certain actuating units after processing. However, the disadvantages of the federated architecture are as follows: First, it does not have scalability. For a specific configuration or configuration modification, the flight control system is facing a lot of redesign and verification work. Second, it is impossible to achieve functional redundancy and fault isolation. Once a certain device or module on a certain control path in the federation fails, the control system on the normal control path cannot control the faulty equipment on other control paths. or modules. Seriously affect the stability and reliability of the aircraft, which is not conducive to flight safety.

Therefore, the present application proposes a flight control system 10, which can use a normal flight control computer to control the equipment on the path of the failed flight control computer when a certain flight control computer fails. Thereby improving the stability and safety of the aircraft.

Please refer to Fig. 1-Fig. 4, in the present embodiment, described flight control system 10 comprises at least two flight control computers; The actuator processing module 160; the arbitration unit 150, the arbitration unit 150 is respectively connected with each of the flight control computers and the signal switch, and is used to switch the corresponding signal switch to the flight control computer when the flight control computer fails. A disconnection signal is sent, and the default state of the signal switch is a closed state.

Optionally, each signal switch includes two states, namely a closed state and an open state. The default state of each signal switch is closed. When each signal switch is closed, each flight control computer can control the actuator processing module 160 through the corresponding signal switch. Optionally, the flight control computer can be set to be redundant. That is, in the flight control system 10, there may be two or more flight control computers, and the number of the flight control computers can be set according to actual usage and specific application scenarios.

Optionally, each flight control computer will send control instructions to the actuator processing module 160 in real time during the flight, so that the actuator processing module 160 can control the actuator based on the control instructions sent by the flight control computer. And because various emergencies may be encountered during the flight, the flight control computer cannot work normally. In order to improve the flight safety performance, an arbitration unit 150 is also provided in the present application. The arbitration unit 150 is respectively connected with each flight control computer and signal switch. The control information of each flight control computer will be sent to the arbitration unit 150, and the arbitration unit 150 will be used to judge whether the flight control computer is faulty in real time, and determine the corresponding control strategy to control the actuator processing module 160 according to the judgment result, thereby improving flight safety.

Optionally, each flight control computer will send its own control information to the arbitration unit 150, the control information including control instructions and check codes. Receive the control information of at least two flight control computers in the arbitration unit 150; According to the control information, determine whether there is a fault in the flight control computer; cut off the signal output of the flight control computer that has a fault; the flight control computer that controls normal work will receive The received control command is sent to the actuator processing module 160.

Optionally, when each flight control computer outputs a control command, it is accompanied by a set of verification codes to prove that it is still working normally. The arbitration unit 150 will compare and verify the control commands output by each flight control computer. Check the code to judge whether the flight control computer is faulty.

Optionally, a preset check code is preset in the arbitration unit 150, and the format and type of the preset check code should be consistent with the format and type of the check code sent by the flight control computer. That is to say, after the arbitration unit 150 receives the check codes of each flight control computer, it will match the format and type of the received check codes of each flight control computer with the preset check codes. If the check code of the flight control computer does not match the preset check code, it is determined that the unmatched flight control computer is a faulty flight control computer, that is, a failed flight control computer. Optionally, a flight control computer with no signal output or garbled output can also be determined as a faulty flight control computer. Optionally, when the flight control computer outputs control commands at a constant frequency, if the arbitration unit 150 detects that the output frequency is disconnected, then it is determined that the flight control computer is a faulty flight control computer.

Optionally, when there are at least two flight control computers whose verification codes match, an error between the control instructions received by the matching flight control computers is determined. The flight control computers whose determination error is greater than the preset error are faulty flight control computers.

Optionally, the flight control computer includes a first flight control computer 110 and a first flight control computer 120 . The signal switches include a first signal switch 130 and a second signal switch 140 . Wherein, the first signal switch 130 is used for connecting the first flight control computer 110 and the actuator processing module 160 , and the second signal switch 140 is used for connecting the first flight control computer 120 and the actuator processing module 160 .

For example, assuming that the check code of the first flight control computer 110 is inconsistent with the preset check code, the first flight control computer 110 is determined to be a faulty flight control computer; if the check code of the first flight control computer 120 When inconsistent with the preset check code, the first flight control computer 120 is determined to be a faulty flight control computer; it is assumed that the check codes of the first flight control computer 110 and the first flight control computer 120 are both consistent with the preset check code When the codes are inconsistent, both the first flight control computer 110 and the first flight control computer 120 are determined to be faulty flight control computers.

Assuming that the first flight control computer 110 is determined to be faulty, a disconnection signal is sent to the first signal switch 130 connected to the first flight control computer 110, and then the first flight control computer 120 is used to control the actuator processing module 160 . Similarly, when it is determined that the first flight control computer 120 fails, a disconnection signal is sent to the second signal switch 140 connected to the first flight control computer 120, and then the first flight control computer 110 is used to control the actuator processing module 160. Take control.

Referring to FIG. 1 , when the first signal switch 130 and the second signal switch 140 are closed, the first flight control computer 110 can control the actuator processing module 160 . The first flight control computer 120 can also control the actuator processing module 160 . At this time, the control priority of the first flight control computer 110 and the first flight control computer 120 to the actuator processing module 160 or which flight control computer is the main control can be determined according to the actual situation.

Referring to FIG. 2 , when a certain signal switch is turned off, the transmission channel between the corresponding flight control computer and the actuator processing module 160 is disconnected. If the first signal switch 130 is disconnected, the transmission channel between the first flight control computer 110 and the actuator processing module 160 is disconnected; if the second signal switch 140 is disconnected, the first flight control computer 120 and the Transmission channel between actuator processing modules 160 .

In one embodiment, the control of the aircraft of the present application can be controlled by a flight control computer, and can also be switched to a manual control mode. When all arbitration units 150 determine that all flight control computers are faulty, they can switch to the manual control mode; optionally, the flight control system 10 of the present application also includes a third signal switch 200, the third signal switch 200 The joystick 220 and the actuator processing module 160 are connected. The third signal switch 200 includes two states, namely a closed state and an open state. The default state of the third signal switch 200 is an off state. When the third signal switch 200 is closed, the transmission channel between the joystick 220 and the actuator processing module 160 is communicated.

Optionally, the arbitration unit 150 sends a closing signal to the third signal switch 200 when it is determined that all the flight control computers are faulty, so as to connect the transmission channel between the joystick 220 and the actuator processing module 160 .

Referring to FIG. 3 , when the arbitration unit 150 determines that both the first flight control computer 110 and the first flight control computer 120 are faulty, it sends a disconnection signal to the first signal switch 130 and the second signal switch 140 , and sends a disconnection signal to the third signal switch 200 . Send a close signal, thereby connecting the transmission channel between the joystick 220 and the actuator processing module 160, so that the joystick 220 can control the actuator processing module 160, thereby avoiding damage to the aircraft when all flight control computers fail. impact on stability and security. When all flight control computers fail, the control of the manual joystick 220 is used to improve the safety and stability of the aircraft. Optionally, the operator can also choose at any time how to control the aircraft. It can be that under the normal operation of all flight control computers, an open signal is sent to the first signal switch 130 and the second signal switch 140, and a close signal is sent to the third signal switch 200 to cut off the control outputs of all flight control computers and connect The signal channel between the joystick 220 and the actuator processor is used to send the control signal output by the joystick 220 to the actuator processor.

In one embodiment, referring to FIG. 4 , the flight control system 10 of the present application further includes a display module 210 , which is connected to the arbitration unit 150 and used to display the determination result of the faulty flight control computer. The arbitration unit 150 can send the determination result of the faulty flight control computer to the display module 210 for display. Wherein, the determination result is specifically which flight control computer is faulty, which may be the serial number of the faulty flight control computer. Optionally, the arbitration unit 150 will also send the reason for the fault judgment to the display module 210. The reason for the fault judgment may be inconsistent check codes, errors between control commands greater than preset errors, and the like. In this way, the operator can intuitively see the operation status of all flight control computers, so as to adjust the control mode of the aircraft in time and improve flight safety.

In this embodiment, according to the above technical solution, multiple redundant flight control computers are provided, and each flight control computer is correspondingly provided with a signal switch, and the flight control computer and the actuator processing module 160 are connected through the signal switch. In addition, the present application also adds an arbitration unit 150, which is connected to all flight control computers and corresponding signal switches for judging whether the flight control computer is faulty. When a flight control computer fails, a disconnect signal is sent to the signal switch corresponding to the faulty flight control computer, and then the normal flight control computer controls the equipment to improve the stability and safety of the aircraft. In addition, by setting the joystick 220 and the third signal switch 200, when all the flight control computers fail, the actuator processing module 160 can be controlled by the joystick 220, thereby improving the safety and stability of the aircraft. In addition, a display module 210 is also provided, and the display module 210 is used to display the determination result of the faulty flight control computer and the reason for fault judgment, so that the operator can visually see the running conditions of all flight control computers, so as to timely Adjust the control mode of the aircraft to improve flight safety.

Please refer to Fig. 5-Fig. 6, based on the first embodiment. In the second embodiment of the present application, the actuator processing module 160 of the present application includes at least two actuation processing units, and each actuation processing unit includes an actuator processor, an actuator, a power switch, and an execution Mechanism, the power switch is connected between the actuator and the executive mechanism; a locking mechanism 170, the locking mechanism 170 is located between each of the actuators; each actuator processor They are respectively connected with the corresponding power switch and the locking mechanism 170, and are used to send a disconnection signal to the power switch of the faulty actuator processor and send a disconnection signal to the locking mechanism when a failure of the actuator processor is detected. 170 sends a locking signal; the default state of the locking mechanism 170 is an off state.

There are two or more action processing units in the present application. This application takes two motion processor units as an example. Each actuator processor is used to verify whether the other party's actuator processor fails, and when the other party's actuator processor fails, cut off the signal output of the other party's actuator processor. Each actuator processor is also used to send a disconnection signal to the actuator connected to itself, and send a disconnection signal to the locking mechanism 170 Send a locking signal, so that the normal actuators can synchronously control all the actuators, so that the aircraft can fly safely.

Optionally, the actuator processor includes: a first actuator processor 161 and a second actuator processor 165 . The actuators include a first actuator 162 and a second actuator 166 . The actuators include a first actuator 164 and a second actuator 168 . The power switch includes a first power switch 163 and a second power switch 167 . The locking mechanism 170 includes two states, namely a locked state and a disconnected state. When the locking mechanism 170 is locked, the first actuator 164 and the second actuator 168 can be locked together, and the locked first actuator 164 and the second actuator 168 can be synchronously controlled. When the locking mechanism 170 is disconnected, the first actuator 164 and the second actuator 168 are separated, and the separated first actuator 164 and the second actuator 168 can be independently controlled through different control paths.

Referring to Fig. 5, under the condition that all flight control computers and all actuator processors work normally, the first flight control computer 110 is connected with the first actuator processor 161 through the first signal switch 130; the first power The switch 163 connects the first actuator 162 and the first actuator 164, and the first actuator processor 161 converts the control command sent by the first flight control computer 110 into a current signal and forwards it to the first actuator 162. Similarly, the first flight control computer 120 is connected to the second actuator processor 165 through the second signal switch 140; the second power switch 167 is connected to the second actuator 166 and the second actuator 168, and the second actuator The actuator processor 165 converts the control command sent by the first flight control computer 120 into a current signal and forwards it to the second actuator 166 .

The control process is as follows: the first flight control computer 110 sends the main flight control command to the first actuator processor 161; the first actuator processor 161 converts the main control command into a current signal and sends it to the first actuator The first actuator 162 sends the current signal to the first actuator 164 , so that the first flight control computer 110 can drive the first actuator 164 . At the same time, the first flight control computer 120 sends the main flight control command to the second actuator processor 165; the second actuator processor 165 converts the main control command into a current signal and sends it to the second actuator 166 , the second actuator 166 then sends the current signal to the second actuator 168 , thereby realizing the driving of the second actuator 168 by the first flight control computer 120 . Therefore, under the condition that all devices are working normally, each device can perform its own duties, so that the aircraft can work normally. During this process, the locking mechanism 170 is in an open state, and the first power switch 163 and the second power switch 167 are in a closed state.

Referring to FIG. 6 , for the case where all the flight control computers are normal, but the first actuator processor 161 or the second actuator processor 165 fails. The control process for the failure of the first actuator processor 161 is as follows: the first flight control computer 120 sends the main control command to the second actuator processor 165, and the second actuator processor 165 converts the main control command is a current signal and sent to the second actuator 166 . At the same time, the second actuator processor 165 sends a locking signal to the locking mechanism 170 to lock the first actuator 164 and the second actuator 168, and sends the corresponding first power to the first actuator processor 161. The switch 163 sends an open signal to turn off the output of the first power switch 163 . The flight control computer can control all actuators through the second actuator processor 165 . Similarly, the control flow for the failure of the second actuator processor 165 is as follows: the first flight control computer 110 sends the main control command to the first actuator processor 161, and the first actuator processor 161 sends the main control command to the first actuator processor 161. The control command is converted into a current signal and sent to the first actuator 162 . At the same time, the first actuator processor 161 sends a locking signal to the locking mechanism 170 to lock the actuator, and sends a disconnection signal to the second power switch 167 corresponding to the second actuator processor 165, so that the flying The control computer can control all actuators through the first actuator processor 161. Therefore, when one actuator processor fails, the normally operating flight control computer can be used to control the normally operating actuator processor to control all the actuators, thereby improving flight safety.

Optionally, referring to FIG. 5 , when both the first actuator processor 161 and the second actuator processor 165 are working normally, when the actuator processor includes the first actuator processor 161 and the second actuator processor When the actuator processor 165 is used, the first signal switch 130 and the second signal switch 140 are both connected to the first actuator processor 161, and the first signal switch 130 and the second signal switch 140 are both It is connected with the second actuator processor 165 so as to receive control instructions from two flight control computers at the same time. Therefore, each actuator processor can simultaneously receive control commands from two flight control computers. Since each signal switch can be connected to all actuator processors, when one of the control paths fails, another normal control path can be used for control to ensure the flight safety of the aircraft.

Optionally, referring to FIG. 6, when the first actuator processor 161 fails, both the first signal switch 130 and the second signal switch 140 are connected to the second actuator processor 165, and the second The actuator processor 165 can simultaneously receive control instructions from the first flight control computer 110 and the first flight control computer 120 . The second actuator processor 165 converts the main control command into a current signal and sends it to the second actuator 166 . At the same time, the second actuator processor 165 sends a locking signal to the locking mechanism 170 to lock the first actuator 164 and the second actuator 168, and sends the corresponding first power to the first actuator processor 161. The switch 163 sends an open signal to turn off the output of the first power switch 163 . The flight control computer can control all actuators through the second actuator processor 165 . Therefore, when one actuator processor fails, the normally operating flight control computer can be used to control the normally operating actuator processor to control all the actuators, thereby improving flight safety.

Similarly, when the second actuator processor 165 fails, both the first signal switch 130 and the second signal switch 140 are connected to the first actuator processor 161, and the control method is the same as that of the second actuator processor 161. The control flow of an actuator processor 161 having a failure is similar, and will not be repeated here.

Optionally, the actuator is connected to the actuator processor, and the actuator processor is also used to send a disconnection signal to the corresponding actuator and send a lock to the locking structure when a failure of the actuator is detected. stop signal.

In an embodiment, the flight control system 10 further includes a detection sensor, which can be used to detect the deflection angle of the actuator and the like. A corresponding detection sensor can be set for each actuator, and the detection sensor is connected with the actuator and the actuator processor to collect the actual manipulation amount of the actuator and feed back the actual manipulation amount to the actuator processor, so that The actuator processor detects whether the actuator fails according to the actual manipulated quantity.

Optionally, a first detection sensor can be provided at the first actuator 164, and the actual manipulation amount of the first actuator 164 collected by the first detection sensor can be sent to the first actuator processor 161, so that the first actuation The controller processor 161 can determine whether the first actuator 164 fails according to the matching result of the actual manipulation amount and the theoretical manipulation amount of the first flight control computer 110 . Optionally, a second detection sensor can also be set at the second actuator 168, and the actual manipulation amount of the second actuator 168 collected by the second detection sensor is sent to the second actuator processor 165, so that the second actuator The actuator processor 165 can determine whether the second actuator 168 fails according to the matching result of the actual manipulation amount and the theoretical manipulation amount of the first flight control computer 120 .

In one embodiment, the first actuator 164 and the second actuator 168 are all active parts on the aircraft, and the actuators may include rudder surfaces, landing gear retractable units, tilting units or cabin doors. Wherein, the tilting unit is a rotor tilting unit; the rudder surface includes a rudder surface on a wing, a rudder surface on a vertical tail and a rudder surface on a horizontal tail.

In one embodiment, before the actuator is controlled, the actuator processor needs to convert the main control command sent by the flight control computer into an output current to the actuator. In order to be able to control normally, it is necessary to ensure that the actuator processor can work normally. Therefore, this application adopts the mutual supervision mechanism of the actuator processors, each actuator processor will receive all the control instructions of the flight control computer, and one of the control instructions is its own main control instruction, which is used to output to the actuator to drive the actuator; another flight control computer control command has the function of verifying whether the other actuator processor is normal. When a single actuator processor fails, another normally working actuator processor will intervene to cut off the output of the faulty actuator processor, and at the same time lock the two separate actuators so that the normal working actuator The actuator operates all actuators.

Optionally, if both the first actuator processor 161 and the second actuator processor 165 verify that the other party has a fault. In order to avoid the problem that all actuator processors are shut down, the actuators or actuators cannot be controlled, and the aircraft cannot fly normally, the flight control system 10 of the present application further includes a limiter. The limiter of the present application is connected to the actuator processor and the power switch, and is used for controlling at least one power switch connected to the actuator processor to close when receiving disconnection signals sent by all the actuator processors.

Optionally, if both the first actuator processor 161 and the second actuator processor 165 verify that the other party has an input fault, the counterpart of the actuator processor that first verified that the other party has a fault can be disconnected. The output of the Actuator of the Actuator Processor. For example, if the first actuator processor 161 first checks that the second actuator processor 165 is faulty, it may send a disconnection signal to the power switch corresponding to the second actuator processor 165 . Optionally, a disconnection signal is sent to the limiter, so as to avoid disconnecting the first actuator processor 161 corresponding power switch.

Optionally, if both the first actuator processor 161 and the second actuator processor 165 verify that their own actuators or actuators are faulty. In order to avoid the problem that all the actuators or actuators are closed and the aircraft cannot fly normally, the application is also provided with a limiter, which is connected to the actuator processor and the power switch. The actuator level and the actuator processor level share a limiter, which is used to limit that only one side of the signal can be cut off at the same time, that is, to control when all the disconnection signals sent by the actuator processor are received. At least one actuator processor sends a lock signal to the lock mechanism 170 .

In this embodiment, according to the above technical solution, the actuator is divided into two parts at the output level of the actuator, and each actuator performs synchronously. Each actuator controls the left and right parts separately. When the manipulation value fed back by one of the actuators does not match the control output of the corresponding actuator processor, the actuator is cut off and the locking mechanism 170 is connected to make the other actuator simultaneously Control all actuators, protect the maneuverability of the overall actuators, and improve flight safety. In addition, by setting a limiter, it is limited that only one side of the signal can be cut off at the same time, so as to prevent all actuator processors from being disconnected or limit the existence of at least one actuator processor to send a locking signal to the locking mechanism 170, Improve aircraft stability.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Under the conception of the present invention, the equivalent structural transformation made by using the description of the present invention and the contents of the accompanying drawings, or directly/indirectly used in Other relevant technical fields are included in the patent protection scope of the present invention.

Claims (10)

1. An flight control system, comprising:

at least two flight control computers;

the at least two signal switches are arranged corresponding to the flight control computer and are used for connecting the flight control computer with the actuator processing module;

and the arbitration unit is respectively connected with each flight control computer and the signal switch and is used for sending a disconnection signal to the signal switch corresponding to the flight control computer with the fault when the flight control computer has the fault, and the default state of the signal switch is a closed state.

2. The flight control system of claim 1, wherein the flight control computer comprises: the first flies to control computer and second and flies to control the computer, the signal switch includes: a first signal switch and a second signal switch; the first signal switch and the second signal switch are connected with the actuator processing module.

3. The flight control system according to claim 2, wherein the actuator processing module comprises at least two actuation processing units, each actuation processing unit comprising an actuator processor, an actuator, a power switch, and an actuator mechanism, the power switch being connected between the actuator and the actuator mechanism;

the locking mechanism is positioned between the actuating mechanisms;

each actuator processor is respectively connected with the corresponding power switch and the locking mechanism and is used for sending a disconnection signal to the power switch of the actuator processor with the fault and sending a locking signal to the locking mechanism when the actuator processor with the fault is detected; the default state of the locking mechanism is an off state.

4. The flight control system of claim 3, wherein the actuator processor comprises: the first actuator processor and the second actuator processor are connected with the first signal switch and the second signal switch respectively; and/or the first signal switch and the second signal switch are both connected with the second actuator processor.

5. The flight control system of claim 3, further comprising: and the limiter is connected with the actuator processors and the power switches and used for controlling the power switches connected with at least one actuator processor to be closed when the limiter receives the disconnection signals sent by all the actuator processors or controlling at least one actuator processor to send locking signals to the locking mechanism when the limiter receives the disconnection signals sent by all the actuator processors.

6. The flight control system of claim 3, wherein the actuators are connected to the actuator processor, and wherein the actuator processor is further configured to send an off signal to the corresponding actuator and a lock signal to the locking mechanism upon detecting a failure of the actuator.

7. The flight control system of claim 3, further comprising: the detection sensor is connected with the executing mechanism and the actuator processor and used for collecting the actual manipulation amount of the executing mechanism and feeding back the actual manipulation amount to the actuator processor, so that the actuator processor detects whether the executing mechanism breaks down or not according to the actual manipulation amount.

8. The flight control system of claim 3, wherein the actuator comprises a control surface, a landing gear retraction unit, a tilt unit or a hatch.

9. The flight control system of claim 1, further comprising: a third signal switch connecting a joystick and the actuator processing module;

the arbitration unit is further configured to: when all flight control computers have faults, a closing signal is sent to the third signal switch; the default state of the third signal switch is an off state.

10. The flight control system according to claim 1, further comprising a display module connected to the arbitration unit for displaying the determination result of the faulty flight control computer.

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