CN101695958A - Force synthesizing arm applied to redundant actuating system - Google Patents
Force synthesizing arm applied to redundant actuating system Download PDFInfo
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- CN101695958A CN101695958A CN200910180643A CN200910180643A CN101695958A CN 101695958 A CN101695958 A CN 101695958A CN 200910180643 A CN200910180643 A CN 200910180643A CN 200910180643 A CN200910180643 A CN 200910180643A CN 101695958 A CN101695958 A CN 101695958A
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Abstract
The invention discloses a force synthesizing arm applied to a redundant actuating system. Aiming at the characteristics of a redundant power EHA applied to a key control surface of a multi-electric aircraft, the invention designs a novel force synthesizing arm structure which is mainly used for eliminating the force fighting phenomenon on the force synthesizing arm when the tail end of the EHA adopts a two-redundancy mechanical execution mechanism. In the design, an output end of an actuating barrel of one of the actuator passages is fixedly connected to one end of the force synthesizing arm through a spherical hinge, while an output end of the other actuator passage is fixed on a slide block through the spherical hinge, and the slide block can slide in a specific sliding groove of the force synthesizing arm. When the actuator outputs of the two passages are not consistent, the influence of the force fighting phenomenon on the force synthesizing arm caused by the synchronous displacement error can be effectively eliminated through the sliding of the slide block, and the structural reliability of the synthesizing arm is greatly improved so as to reduce the periodical maintenance cost of the actuating system.
Description
Technical field
The present invention relates to aircraft rudder surface actuating system technical field, be specifically related to a kind of force synthesizing arm that is applied to redundant actuating system.
Background technology
The aircraft actuating system is meant can realize on machine that some has output, a whole set of system mechanical action, relatively independent of suitable power.It comprises from secondary power source (hydraulic power source and motor etc.) and begins a complete set of power delivery conversion equipment to the mechanical action actuating unit, and its corresponding check implement and control system.Its manipulating objects comprises each aerodynamic force face (controlsurface), wheel-steering mechanism, wheel-retracting gear and other auxiliary power drive system.Actuating system under the ordinary meaning mainly refers to the controlsurface actuating system.These controlled controlsurfaces (rudder face, aerofoil) all can directly change the aerodynamic force force-bearing situation of aircraft as elevating rudder, yaw rudder, aileron, wing flap and flying tail etc., with control aircraft flight attitude and flight path.
Actuating system (being also referred to as steering wheel) on the crucial controlsurface of aircraft is redundance normally, guarantees that mainly rudder face is handled and the safe reliability of overall aircraft performance.All passages of airborne redundant actuating system all are hot spare states, and promptly each passage is all worked simultaneously.When flight control computer detects certain servicesubway recurring structure in the steering wheel or control fault, can faulty channel be isolated at once, the actuator of remaining normal channel will work on simultaneously.On some crucial controlsurfaces of aircraft, the comprehensive steering wheel of four remaining mechanical type power is a kind of hydraulic actuation system commonly used on the aircraft, the pressurized strut that is characterized in four passages is installed side by side, and their mouth is connected on the force synthesizing arm by the axis of the piston respectively, is converted to single output by force synthesizing arm again.But the shortcoming of the comprehensive steering wheel structure of mechanical type power is, when the input of each passage or construction parameter are variant, can cause interchannel power dispute phenomenon.The power dispute can reduce the life-span of force synthesizing arm even destroy its structure.From expendable weight, and improve aspects such as reliability, efficient and maintainability and consider, (as A380, what Boeing787) all adopt on crucial control surface is the power-by-wire actuating system to state-of-the-art how electric aircraft, comprises two types of electric liquid actuator (EHA) and electromechanical actuators (EMA) at present.Owing to can design two to the electric remaining of quadruplet at the drive motor end, therefore only need usually to arrange that two passages can satisfy the requirement of power-by-wire actuating system whole reliability in mechanical actuating mechanism part (pressurized strut among the EHA, the ball-screw among the EMA).Therefore, reduce even the power dispute phenomenon eliminated fully on the force synthesizing arm is the important means that improves aircraft reliability and reduce maintenance cost.
Domestic and international research shows that the common redundancy architecture of steering wheel mainly contains following several form:
(1) displacement composite type
As shown in Figure 1, the displacement composite type is that the piston rod of the pressurized strut of each passage is linked up with the displacement synthesizing arm, and the above steering wheel 101 of three remainings needs special " waving " mechanism 102 to realize that displacement is comprehensive.Output after comprehensive is the aviation value of each passage pressurized strut 103 output displacements.But this comprehensive method structure is complicated, is difficult for realizing that big displacement is comprehensive, and performance will demote (uncompensated measure) behind the et out of order.
(2) electromagnetism composite type
Be also referred to as the magnetic flux composite type, but mainly utilize the rare-earth cobalt permanent magnet motor of high-performance direct drive power control valve, replace links such as the electromagnetic type torque motor in the general hydraulic efficiency servo, preposition hydraulic amplifier, power hydraulic amplifier and auxiliary actuator.Therefore, only need in the control coil of force motor, remaining to be set, just can realize the redundance control of actuator, and not need to dispose the identical actuator of several covers.
For example, four remainings fly to control electron channel, and motor is provided with four control coils, the corresponding remaining of each coil.If hydraulic actuator is two remainings, the force motor output shaft drives two power control valves, or two force motors are set, and forms one four remaining electronic circuit and two remaining hydraulic actuation systems.Obviously, this scheme can be simplified the structure of redundancy actuator.
(3) aerodynamic force composite type
The aerodynamic force composite type is exactly that each control aerofoil is divided into several by required system margin quantity, each piece is driven by the actuator and the servo-unit of a no remaining, be that control effort is uncomprehensive at the mouth of actuator, but it is comprehensive to press aerodynamic force on control surface.The advantage of this structure is to adopt distinct single cover steering wheel to replace integral body or redundance steering wheel, realizes the remainingization of servo-unit, has simplified the structure of steering wheel, has improved system reliability.But do not adopt this mode on the airliner usually.
(4) power composite type
Power composite type redundancy actuator can be divided into two kinds of mechanical force composite type and hydraulic coupling composite types again.
The schematic diagram of mechanical force composite type structure as shown in Figure 2, comprises steering wheel 201, steering wheel 202, steering wheel 203, output shaft 204, axle 205, axle 206 and force synthesizing arm 207.Mechanical force composite type steering wheel can be divided into two kinds of mechanical force composite type redundancy actuator and hydraulic coupling composite type redundancy actuators again.
The characteristics of mechanical force composite type structure are that each steering wheel is arranged side by side, are connected on the force synthesizing arm 207 by output shaft 204, axle 205, axle 206 respectively, are converted to single output by force synthesizing arm 207 again.Its advantage is that force synthesizing arm 207 has voting character and can prevents that the fault transient state from reaching the ability of control surface.Shown in Fig. 3 (a), Fig. 3 (b), Fig. 3 (b) is than the complex structure of Fig. 3 (a), but from eliminating the eccentric wear phenomenon, improvement power dispute etc. consider that comprehensively the structure of Fig. 3 (b) is more reasonable.China adopts the redundancy actuator of this form more.
Hydraulic coupling composite type redundancy actuator is that the pressurized strut 301 of each passage is together in series, and the hydraulic coupling on each piston is superimposed, by 302 outputs of a piston rod, as shown in Figure 4.Its advantage is not have the power dispute.Because it is the series connection addition, when et out of order, the fault transient state passes on the control surface easily, and the remaining number is greater than 2 o'clock, and redundancy actuator is longer, has therefore limited application.
Summary of the invention
At the characteristics that are applied to the remaining power-by-wire actuator EHA on the crucial controlsurface of how electric aircraft, the present invention has designed a kind of later-model force synthesizing arm structure, the power dispute phenomenon when being mainly used to eliminate the terminal mechanical actuating mechanism that adopts two remainings of EHA on the force synthesizing arm.This design is fixed in the pressurized strut mouth of one of them actuator passage one end of force synthesizing arm by ball pivot, the mouth of another one actuator passage then is fixed on the slide block by ball pivot, and this slide block can slide in the specific chute of force synthesizing arm.When the output of the actuator of two passages exists when inconsistent, slip by slide block, can eliminate the influence of power dispute phenomenon that the synchronous shift error caused effectively, improve the structural reliability of synthesizing arm greatly, thereby reduced the periodical maintenance expense of actuating system force synthesizing arm.
A kind of force synthesizing arm that is applied to redundant actuating system of the present invention, the remaining system comprises force synthesizing arm, rudder face, steering wheel A, steering wheel B in redundant actuating system;
Force synthesizing arm comprises slide block, chute, passage A, channel B, comprehensive bar, principal arm.
The principal arm front left end of force synthesizing arm has a ball pivot groove A, and right-hand member has a chute, and in the slide block insertion force synthesizing arm chute, slide block can slide in chute.A ball pivot groove B is arranged on the described slide block; The length of described chute is to determine according to the maximum difference of passage A in the reality and the issuable asynchronous displacement of channel B mouth.
The end of described passage A and channel B is a spherical hinge structure, is connected with ball pivot groove B ball pivot with ball pivot groove A respectively.It is that the comprehensive bar of spherical hinge structure is connected with the ball pivot groove C ball pivot at the force synthesizing arm back side that one ball pivot groove C, an end are arranged at force synthesizing arm back side middle part.
Passage A on the force synthesizing arm is captiveed joint with the mouth of steering wheel B with steering wheel A respectively with channel B, it can guarantee that the power take-off lever after force synthesizing arm is comprehensive vertically acts on rudder face all the time, and according to the difference between two interchannel synchronous shift, the angle between power take-off lever and the synthesizing arm is variable.
The invention has the advantages that:
1, this force synthesizing arm is simple in structure, easy to process;
2 and elimination power fully dispute, increased the reliability of steering gear system, shortened maintenance intervals and expense.
Description of drawings
Fig. 1 is a displacement composite type redundancy actuator constructional drawing;
Fig. 2 is a mechanical force composite type redundancy actuator schematic diagram;
Fig. 3 a is first kind of structural representation of mechanical force composite type redundancy actuator force synthesizing arm;
Fig. 3 b is second kind of structural representation of mechanical force composite type redundancy actuator force synthesizing arm;
Fig. 4 is a hydraulic coupling composite type redundancy actuator schematic diagram;
Fig. 5 is that the present invention is applied in the constructional drawing in the redundancy actuator system;
Fig. 6 is force synthesizing arm Facad structure figure of the present invention.
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
The present invention is a kind of force synthesizing arm that is applied to the redundancy actuator system, and as shown in Figure 5, the redundancy actuator system comprises steering wheel A1, steering wheel B2, rudder face 3, force synthesizing arm 4;
As shown in Figure 6, force synthesizing arm 4 comprises slide block 401, chute 402, passage A403, channel B 404, comprehensive bar 405, principal arm 406.
Principal arm 406 positive ends of force synthesizing arm 4 have a ball pivot groove A407, and the other end has in a chute 402, one slide blocks 401 insertion force synthesizing arms 4 chutes 402, and slide block 401 can be slided in chute 402.A ball pivot groove B408 is arranged on the described slide block 401; The length of described chute 402 is to determine according to the maximum difference of passage A403 in the reality and the issuable asynchronous displacement of channel B 404 mouths.
The size of described maximum difference is relevant with the performance of steering gear control system, and the departure of synchronous shift is little, and chute 402 just designs for a short time; Otherwise chute 402 just designs greatly.Therefore, the length of chute 402 need could be determined after the flight measurement data of some are analyzed.
The end of described passage A403 and channel B 404 is a spherical hinge structure, is connected with ball pivot groove B408 with ball pivot groove A407 respectively.It is that the comprehensive bar 405 of spherical hinge structure is connected with the ball pivot groove C409 at force synthesizing arm 4 back sides that one ball pivot groove C409, an end are arranged at force synthesizing arm 4 back sides middle parts.
Passage A403 on the force synthesizing arm 4 is captiveed joint with the mouth of steering wheel B2 with steering wheel A1 respectively with channel B 404, as shown in Figure 5, it can guarantee that the comprehensive bar 405 of power take-off lever after force synthesizing arm 4 is comprehensive vertically acts on rudder face 3 all the time, and according to the difference between two interchannel synchronous shift, the angle between comprehensive bar 405 and the force synthesizing arm 4 is variable.
Captive joint with the left and right sides inwall of rudder face 3 respectively in the two ends of bar A6.The end of bar B7 is fixedly connected on steering wheel A1 and the steering wheel B2 outside wall surface, and the other end and bar A6 flexibly connect and can rotate each other.The rotation that bar B7 is mainly rudder face 3 provides a fixed pivot.When comprehensive bar 405 is exported displacements, can drive rudder face 3 by bar C8 and bar A6 and rotate.Bar C8 is fixedly connected on the middle part of bar A6, is rotationally connected between itself and the bar B7.The front end of the comprehensive bar 405 at force synthesizing arm 4 back sides and bar C8 flexibly connect and can rotate each other.When the output of the mouth among steering wheel A1 and steering wheel B2 certain displacement, comprehensive bar 405 travels forward, and can drive rudder face 3 by the mutual action between bar B7 and the C8 and rotate desired angle.
Because two passage A403 and channel B 404 are hot spare mode of operation, promptly two passages are respectively exported 50% load force.When the actuator of two passages is exported when asynchronous, can adjust the length of two channel output ends between the point of connection on the force synthesizing arm 4 by the slip of slide block 401, be that force synthesizing arm 4 can carry out the attitude adjustment according to the size of two pressurized strut mouths displacement, so just can eliminate the influence of phenomenon to force synthesizing arm 4 fully because the power that the synchronous shift error is caused is disputed.
Claims (4)
1. a force synthesizing arm that is applied to redundant actuating system is characterized in that: comprise slide block, chute, passage A, channel B, comprehensive bar, principal arm;
The principal arm front left end of force synthesizing arm has a groove A, and right-hand member has a chute, in the slide block insertion force synthesizing arm chute, slide block can be slided in chute, and a groove B is arranged on the slide block;
Described passage A is terminal to be connected with groove A ball pivot, and the end of channel B is connected with groove B ball pivot; It is that the comprehensive bar of spherical hinge structure is connected with the groove C ball pivot at the force synthesizing arm back side that one groove C, an end are arranged at force synthesizing arm back side middle part.
2. a kind of according to claim 1 force synthesizing arm that is applied to redundant actuating system is characterized in that: described groove A, groove B, groove C are the ball pivot groove.
3. a kind of according to claim 1 force synthesizing arm that is applied to redundant actuating system is characterized in that: the end of the end of described passage A and channel B, comprehensive bar is a spherical hinge structure.
4. a kind of according to claim 1 force synthesizing arm that is applied to redundant actuating system is characterized in that: the length of described chute is to determine according to the maximum difference of the asynchronous displacement of passage A in the reality and the generation of channel B mouth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910180643A CN101695958A (en) | 2009-07-02 | 2009-10-27 | Force synthesizing arm applied to redundant actuating system |
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|---|---|---|---|
| CN200910088112.6 | 2009-07-02 | ||
| CN200910180643A CN101695958A (en) | 2009-07-02 | 2009-10-27 | Force synthesizing arm applied to redundant actuating system |
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| CN101695958A true CN101695958A (en) | 2010-04-21 |
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| CN200910180643A Pending CN101695958A (en) | 2009-07-02 | 2009-10-27 | Force synthesizing arm applied to redundant actuating system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109470384A (en) * | 2018-11-08 | 2019-03-15 | 北京精密机电控制设备研究所 | A kind of two-way braking action device power output measurement caliberating device |
-
2009
- 2009-10-27 CN CN200910180643A patent/CN101695958A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109470384A (en) * | 2018-11-08 | 2019-03-15 | 北京精密机电控制设备研究所 | A kind of two-way braking action device power output measurement caliberating device |
| CN109470384B (en) * | 2018-11-08 | 2020-09-18 | 北京精密机电控制设备研究所 | Output force measuring and calibrating device of double-path brake actuator |
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Open date: 20100421 |