CN102092373B - Automatic braking method and device for plane - Google Patents
Automatic braking method and device for plane Download PDFInfo
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- CN102092373B CN102092373B CN2010105990480A CN201010599048A CN102092373B CN 102092373 B CN102092373 B CN 102092373B CN 2010105990480 A CN2010105990480 A CN 2010105990480A CN 201010599048 A CN201010599048 A CN 201010599048A CN 102092373 B CN102092373 B CN 102092373B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Abstract
The invention discloses an automatic braking method and device for a plane. The method comprises the following steps: determining the brake current of a servo valve according to a difference value between a target deceleration rate and a plane deceleration rate; determining whether the braking slides or not, and calculating the anti-slide current; acquiring the brake pressure of a plane braking system according to the brake current and the anti-slide current; and repeating the steps until the plane is stopped completely. By adopting constant speed reducing control, the invention ensures stable work of the braking system, so the comfort of people on a plane is improved, the safety of plane landing brake is improved, the accessory composition is reduced, the weight is lightened, the fundamental reliability is improved, and the development period is shortened.
Description
Technical field
The present invention relates to a kind of aircraft brake method, also relate to the device of realizing this method.
Background technology
Autobrake system and control method are used widely in passenger plane medium wave phonetic system row aircraft, Air Passenger series aircraft.In the patent No. was 5024491 US Patent, a kind of aircraft autobrake system that comprises wheel speed responsive controller was disclosed.Use this system, it can apply and regulate brake pressure automatically behind ground contact, and aircraft is slowed down according to the moderating ratio of preliminary election.The wheel speed signal inputs to automatic brake control circuit after wheel speed logic processing of circuit, when other signals that provide satisfy rated condition, the automatic brake control circuit decision circuit makes the ramp generator circuit produce control signal, this signal is in parallel with skid control system, the control of antiskid valve drive current is below horizontal in slip, to realize previously selected aircraft moderating ratio.The technical scheme that this patent is taked has realized self-actuating brake and anti-skidding Comprehensive Control, and the configuration by system simultaneously can realize artificial brake and self-stopping switching, has the advantages that principle is simple, be easy to realize.In addition owing at the uniform velocity increase or reduce brake pressure according to selected moderating ratio with ramp function at self-actuating brake initial stage and when closing, when skidding appears in wheel, by making the force value that is applied on the brake gear reduce in conjunction with anti-skidding control, skid thereby remove, make the aircraft brake initial stage very steady, increase chaufeur and passenger's comfort level.
After reaching the moderating ratio of preliminary election by ramp function, autobrake system keeps the brake pressure value constant by constant pressure control, pressure-moment characteristics of considering brake gear is nonlinear relationship, therefore the mode taked of this patent can not guarantee in the aircraft brake process under no slipping state with permanent moderating ratio deceleration, thereby can reduce comfort of passenger.
In addition, self-actuating brake at present is to realize by the autobrake system of special use, mainly comprise annexes such as self-actuating brake select switch, automatic anti-slip valve, brake control unit and automatic stop valve, autobrake system and normal braking system are separate control system, mechanism is lengthy and tedious, increase the weight of brake gear, improved the cost of brake gear.
Summary of the invention
Can not under no slipping state, slow down and the lengthy and tedious deficiency of mechanism with permanent moderating ratio in order to overcome prior art, the invention provides a kind of aircraft self-actuating brake method, do not need annexes such as special self-actuating brake antiskid valve, self-actuating brake control unit, self-actuating brake shutoff valve, saved cost of development, alleviated brake system weight, and can take the permanent control of slowing down, make the brake system stable working.
The technical solution adopted for the present invention to solve the technical problems may further comprise the steps:
The first step, determine the difference of target deceleration rate and aircraft moderating ratio.
By gathering the moderating ratio of aircraft inertial navigation system data acquisition aircraft, compare with the target deceleration rate that the hope of setting reaches, obtain 100 times of difference e=a of target deceleration rate and aircraft moderating ratio
o-a
f, wherein, a
oFor amplifying the target deceleration rate value after 100 times, a
fFor amplifying the aircraft moderating ratio value after 100 times.
Second goes on foot, determines servovalve brake electric current.
The increment type PID control algorithm of amplitude limit is regulated e by arranging of pid control parameter in the utilization, makes the e value go to zero as far as possible.By output brake control voltage signal behind the pid control algorithm, by multiply by brake current conversion coefficient this voltage signal is converted to the brake current signal of servovalve according to the servovalve characteristic then, specifically may further comprise the steps:
(1) calculates PID output brake control voltage U
k=U
K-1+ Ae
k+ Be
K-1+ Ce
K-2
A＝Kp*(1+1/TI+TD)
B＝Kp*(1+2*TD)
C＝Kp*TD
Wherein, Kp is ratio level coefficient, and TI is the integration stages coefficient, and TD is the differentiating stage coefficient, (Kp=6～15 wherein, TI=0.01～0.5, TD=0.01～0.9.) U
K-1Be the k-1 time brake voltage output value, e
kBe target deceleration rate and the aircraft moderating ratio difference of the k time brake, e
K-1Be target deceleration rate and the aircraft moderating ratio difference of the k-1 time brake, e
K-2Be target deceleration rate and the aircraft moderating ratio difference of the k-2 time brake.
U
0Brake voltage for target deceleration rate correspondence.If U
k≤ U
Kmin, U then
k=U
KminIf U
k〉=U
Kmax, U then
k=U
Kmax, U wherein
Kmin, U
KmaxBe respectively U
kLower limit and the upper limit.
The target deceleration rate that in application of practical project, requires for difference, U
Kmin, U
KmaxThe U when value that correspondence is different is for the low target moderating ratio respectively
Kmin=0～0.5V, U
Kmax=1.1～1.5V; U during for middle target deceleration rate
Kmin=0～0.5V, U
Kmax=1.4～1.8V; U during for high target deceleration rate
Kmin=0～0.5V, U
Kmax=1.7～2.1V; The corresponding system that brake is used when taking off for termination applies following moderating ratio U that can reach of maximum brake pressure
Kmin=0～0.5V, U
Kmax=2.6～3.0V;
(2) calculate servovalve drive current I
s=U
k* k
s, k wherein
sBe brake current conversion coefficient, after the servovalve device is determined, k
sBe unique definite.
The 3rd goes on foot, determines whether to skid.
Calculate the wheel reference velocity according to the wheel speed signal value of gathering, after wheel reference velocity (also can be before turbine wheel speed or air speed) deducts wheel speed with the ratio of wheel reference velocity greater than 30% the time, be slipping state, entered for the 4th step, otherwise be non-slipping state, anti-skidding electric current refers to be 0, enters for the 5th step.
The 4th step: determine anti-skidding electric current.
As input, export to comprehensive driver stage by the PD+PBM control algorithm with the difference of wheel reference velocity and wheel speed, comprehensive driver stage with the output of instantaneous level, differentiating stage and PBM level by separately the anti-skidding control voltage signal of weights stack back output.By multiply by anti-skidding current conversion coefficient anti-skidding control voltage signal is converted to the anti-skidding current signal of servovalve according to the servovalve characteristic then, anti-skidding current conversion coefficient=1/ (servovalve coil resistance+connect with servovalve resistance value).
In practical project, anti-skidding control voltage signal need be gone up the amplitude limit setting, generally goes up the maximum current output coil resistance corresponding voltage value with servovalve on duty that amplitude limit is set to servovalve.
The 5th step: determine system's brake pressure.
The brake current signal in second step and the anti-skidding current signal in the 4th step are made after the difference received current as servovalve, according to the characteristic that the received current of servovalve is directly proportional with delivery pressure, finally draw the brake pressure of airplane brake system.
The 6th went on foot, repeats second step to the 5th step, stopped fully until aircraft and stopped.
The present invention also provides a kind of device of realizing said method, comprise the self-actuating brake select switch, the brake control unit, electromagnetic valve and servovalve, the brake control unit comprises self-actuating brake select switch collection modulation module, the bus signals conditioning module, wheel speed signal conditioning module, target deceleration rate and aircraft moderating ratio control module, anti-skidding electric current generation module, brake electric current generation module and servovalve drive current generation module, the self-actuating brake select switch is one group of switches set, export different target deceleration rates to self-actuating brake select switch collection modulation module according to different selection gears, the bus signals conditioning module obtains the moderating ratio of aircraft by the 1553B bus, by exporting the brake current value by brake electric current generation module after the difference of target deceleration rate and aircraft moderating ratio control module acquisition target deceleration rate and aircraft moderating ratio, judge whether skid and generate anti-skidding current value by anti-skidding electric current generation module behind the wheel speed signal conditioning module harvester wheel speed signal, by shutoff valve and the servovalve of servovalve drive current generation module according to the output valve control brake fluid line of anti-skidding electric current generation module and brake electric current generation module, by the break-make of shutoff valve management brake fluid line, by the pressure size of servovalve control brake fluid line.
The invention has the beneficial effects as follows:
A kind of control method of aircraft autobrake system realizes self-actuating brake and antiskid function for utilizing fax brake system carrier and steering unit self-actuating brake select switch by software and hardware circuit design, can improve safety and the reliability of airplane brake system, increase persons on board's traveling comfort simultaneously.
The present invention has realized permanent moderating ratio control by the slope mode being changed into the pid control mode of increment type under no slipping state.And this method designs by means of existing fax brake system accessory product, therefore do not need to reconfigure system, only need add self-actuating brake select switch annex and self-actuating brake control unit (or in existing control unit, adding the self-actuating brake function) on this basis and can realize.
Design by this aircraft self-actuating brake control method can realize self-actuating brake and antiskid function.Simultaneously can realize following function:
1. by taking the permanent control of slowing down, make the brake system stable working, thereby improve persons on board's comfort level;
2. the self-stopping termination function of taking off can realize immediately brake pressure being put on the brake gear, reduces the brake that the artificial origin causes and postpones, thereby can improve the safety of aircraft landing brake.
In addition, consider except self-actuating brake control member self-actuating brake select switch, do not need to design separately other autobrake system accessory product.Therefore, for whole airplane brake system, have the annex of minimizing and form, expendable weight improves advantages such as basic reliability and shortening lead time.
The present invention is further described below in conjunction with drawings and Examples.
Description of drawings
Fig. 1 is method flow diagram of the present invention;
Fig. 2 is the method flow diagram that the present invention determines servovalve brake electric current;
Fig. 3 is the method flow diagram that the present invention determines anti-skidding electric current;
Fig. 4 is device scheme drawing of the present invention;
Wherein, 1 is that self-actuating brake select switch, 2 is that brake control unit, 3 is that shutoff valve, 4 is that servovalve, 5 is that avionics or dynamo-electric computing machine, 6 are that 1553B bus, 7 is the brake wheel.
Fig. 5 is the brake composition frame chart of control unit of the present invention.
The specific embodiment
Method embodiment:
The first step: the difference of determining target deceleration rate and aircraft moderating ratio.
The self-actuating brake select switch arranges three landing gears at least according to standard, the self-actuating brake select switch has five grades in the native system, be respectively LO, MED, HI, OFF and RTO, LO, MED and HI are used for landing braking to be used, the moderating ratio value that difference is corresponding different, can formulate according to system's needs, in actual landing mission, chaufeur can carry out the replacing of three gears and select; RTO is used for ending to take off the brake use, and corresponding system applies following moderating ratio that can reach of maximum brake pressure; OFF is used for the self-actuating brake function and closes.The deceleration value of each gear correspondence is in the present case: LO=1.79; MED=2.33; HI=3.40; The corresponding maximum available moderating ratio of RTO.
At first driver's operation self-actuating brake select switch is determined a certain moderating ratio value, this moderating ratio signal sends the self-actuating brake plate to by rigid line, the plate of self-actuating brake is simultaneously gathered the aircraft moderating ratio signal that the aircraft inertial navigation system sends, two signals are nursed one's health into voltage signal by voltage comparator circuit, draw the difference of two moderating ratio values then by subtraction circuit, this difference is as the input of pid control algorithm circuit on the self-actuating brake plate.
Second step: determine servovalve brake electric current.
As shown in Figure 2, utilize the output of the first step that the Kp in the PID typical circuit, TI, TD control parameter are regulated, calculate A, B, C by Kp, TI, TD, the design parameters that present case is determined is Kp=8 respectively, TI=0.2, TD=0.6.PID typical circuit output back passing ratio amplifying circuit obtains the brake voltage signal of servovalve.Have load resistor in application of practical project in this output circuit, the brake electric current of servovalve obtains by servovalve is connected between voltage signal output point and the load circuit.
The 3rd step: determine whether to skid.At first by frequency-voltage conversion circuit frequency signal is converted the wheel speed signal of gathering to voltage signal, utilize typical voltage comparator circuit, ratio amplifying circuit, subtraction circuit to determine the wheel reference speed value then, reference speed value and wheel velocity amplitude are exported to typical dividing circuit after by subtraction circuit, ratio amplifying circuit, another road of dividing circuit is input as reference speed value, when the output valve of dividing circuit greater than 30～35% the time, be slipping state, otherwise be non-slipping state.
The 4th step: determine anti-skidding electric current.
As shown in Figure 3, reference speed value and wheel velocity amplitude export to after by subtraction circuit, ratio amplifying circuit the ratio regulating circuit with this signal limitations in 0～5V, directly enter the A/D acquisition port of dsp chip then, realize PD+PBM (bias-level) control algorithm, comprehensively drive output algorithm and export anti-skidding control voltage signal by the D/A mouth by the C Programming with Pascal Language.Identical with second step, in application of practical project, in this output circuit, have load resistor, the anti-skidding electric current of servovalve obtains by servovalve is connected between voltage signal output point and the load circuit.
Wheel reference velocity accounting equation:
Wherein: V
rBe datum velocity
Be the wheel speed at change-over point place, V
wBe wheel speed, a is the moderating ratio of reference velocity, and a determines according to the runway condition, is generally 0.6～0.8.Usually dry runway gets 0.8.
The comparative degree accounting equation:
Comparative degree is poor according to wheel speed and datum velocity, and carry out ratio then and amplify, as shown in the formula expression:
ΔV
b＝K
b·(V
r-V
w)
Wherein: Δ V
bBe the magnitude of voltage of comparative degree output, K
bBe coefficient of amplification (10～40).Comparative degree gain K
bMagnification factor that can the governing speed difference can influence the sensitieness of anti-skidding control within the specific limits, and it is more big to gain, and sensitieness is more high.
PD+PBM level accounting equation:
1. instantaneous grade (P level)
Instantaneous level requires to carry out ratio and amplify output, otherwise be output as 0 when anti-skidding controlled stage is exported greater than a certain thresholding, and formula is as follows:
Wherein: V
pBe instantaneous level output, K
pBe coefficient of amplification (value range is 0.2～6), Δ V
PtThreshold value (value range is 0.02～4) for instantaneous level.The corresponding levels are the proportioning element of a band thresholding in fact, and the setting of thresholding makes system that certain anti-interference capability be arranged, and can remove sliding more deeply of wheel.
2. differentiating stage (D level)
When differentiating stage requires output when anti-skidding controlled stage greater than a certain thresholding, export the magnitude of voltage that is directly proportional with the rate of change of this difference, otherwise be output as 0, formula is as follows:
Wherein: V
dBe the output voltage of differentiating stage, K
dBe magnification factor (value range is 0.1～10), T
dBe time constant, its value is quite little, Δ V
DtThresholding (value range is 0.2～6) for differentiating stage.As time constant T
dWhen very little, can be similar to and think that it is equivalent to a derivative element (T
d=0.02).
3. bias-level
Bias-level is the most key part of control capsule, improves aircraft brake efficient by the discharge characteristic to this one-level.The requirement of PBM level, when the output of anti-skidding controlled stage during greater than a certain threshold value, the output of PBM level should progressively increase, and error hour rate of rise is little, and rate of rise was big when error was big; The reason of She Zhiing is like this, skid more shallow but time length when longer at wheel, illustrate that brake torque is not very big with differing in conjunction with moment, it is smaller that wheel speed is lower than the amount of reference velocity, should make anti-skidding electric current that slowly increases of control capsule output, to reduce brake pressure, remove wheel and slightly skid for a long time; And when the wheel slippage was big, it is very big that velocity contrast also becomes, and along with the prolongation of the time of skidding, anti-skidding electric current that increases fast of PBM output allows wheel break away from dark slipping state; When anti-skidding controlled stage is exported less than this threshold value, output at the corresponding levels slowly reduces by a certain discharging law, namely when wheel is non-slip, when wheel speed and datum velocity differs very little even be zero, this moment, the control capsule outgoing current was controlled by the PBM level fully, in this case, should export an electric current that progressively descends, increase brake torque to seek ground maximum combined coefficient again, improve system's braking efficiency.Formula is as follows:
Wherein: V
IBe the output voltage of PBM level, V
I0', V
I0", V
I0" ' all represent the V at state transition point place
IValue, Δ V
IT1(value range is 0.1～6), Δ V
IT2(value range is 0.1～6) is the threshold value of PBM level, K
I1Be the rate of rise (value range is 0.1～5), K
I2Be discharge acceleration/accel (value range is 0.1～1).
4. comprehensive level and driver stage
Comprehensive level be the output of instantaneous level, differentiating stage and PBM level by separately weights stack, and restriction is maximum exports; Driver stage is exactly the voltage of comprehensive level to be exported through power gain and converted constant current source to export.
V
s＝K
ps·V
p+K
ds·V
d+K
Is·V
I V
s≤V
sm
I
o＝K
c×V
s
Wherein: V
sBe the voltage output of comprehensive level, K
PsBe the equilibrium factor (value range is 0.5～1) of instantaneous level, K
DsBe the equilibrium factor (value range is 0.01～0.1) of differentiating stage, K
IsBe the equilibrium factor (value range is 0.5～1) of PBM level, V
SmBe the saturated output valve of comprehensive level, I
oBe the output of comprehensive level, K
cBe current ampliication factor (value range is 0.8～1.3).
Can find out that from analyzing comprehensive level can be regulated instantaneous level, differentiating stage and PBM level respectively to the size of anti-skidding control action by changing magnification factor at different levels; Driver stage is revised magnification factor, the ride gain of the whole skid control system of change that can be linear, and add a non-linear saturation element at this, its outgoing current is done a restriction.
The 5th step: determine system's brake pressure.
The brake magnitude of voltage and the 3rd that second step was determined goes on foot definite anti-skidding magnitude of voltage directly by behind the typical subtraction circuit, as servovalve ground driving voltage, but because servovalve belongs to current-driven apparatus, therefore in two voltage difference output circuits, add load resistor, by the servovalve series connection is wherein obtained driving current signal.At last drive current is converted to the brake pressure signal that is directly proportional with it by servovalve.
The 6th went on foot, repeats second step to the 5th step, stopped fully until aircraft and stopped.
Device embodiment:
The present invention also provides a kind of device of realizing said method, comprise the self-actuating brake select switch, the brake control unit, electromagnetic valve and servovalve, the brake control unit comprises self-actuating brake select switch collection modulation module, the bus signals conditioning module, wheel speed signal conditioning module, target deceleration rate and aircraft moderating ratio control module, anti-skidding electric current generation module, brake electric current generation module and servovalve drive current generation module, the self-actuating brake select switch is one group of switches set, export different target deceleration rates to self-actuating brake select switch collection modulation module according to different selection gears, the bus signals conditioning module obtains the moderating ratio of aircraft by the 1553B bus, by exporting the brake current value by brake electric current generation module after the difference of target deceleration rate and aircraft moderating ratio control module acquisition target deceleration rate and aircraft moderating ratio, judge whether skid and generate anti-skidding current value by anti-skidding electric current generation module behind the wheel speed signal conditioning module harvester wheel speed signal, by shutoff valve and the servovalve of servovalve drive current generation module according to the output valve control brake fluid line of anti-skidding electric current generation module and brake electric current generation module, by the break-make of shutoff valve management brake fluid line, by the pressure size of servovalve control brake fluid line.
The selection gear of self-actuating brake select switch has five grades: LO, MED, HI, OFF and RTO, LO, MED and HI are used for landing braking to be used, and the different moderating ratio of correspondence can be formulated according to system's needs respectively; RTO is used for ending to take off the brake use, and corresponding system applies following moderating ratio that can reach of maximum brake pressure; OFF is used for the self-actuating brake function and closes.Self-actuating brake select switch incoming signal inputs to CPU after photoelectric coupler isolation I/O mouth carries out acquisition process.
After self-actuating brake select switch gear is selected, need judge whether to satisfy the self-actuating brake implementation condition, when aircraft is in the landing braking pattern, meets the following conditions and can implement self-actuating brake:
1) be in " ground " state when the wheel load signal indicating, and air speed is greater than 100Km/h;
2) throttle lever is to the slow train position;
3) spoiler is opened.
When aircraft is in when stopping taking off pattern, meets the following conditions and can implement self-actuating brake:
1) the wheel load signal is in " ground " state;
2) the wheel average velociity is greater than 110Km/h (fixing tentatively);
3) engine power control arm is in idling rating.
Wherein throttle lever position signal, spoiler position signal, air speed and aircraft moderating ratio signal are that avionics or Mechatronic Systems are sent to the brake control unit by the 1553B bus.
Driver's operation self-actuating brake select switch is determined a certain moderating ratio value, this moderating ratio signal sends the self-actuating brake plate to by rigid line, the plate of self-actuating brake is simultaneously gathered the aircraft moderating ratio signal that the aircraft inertial navigation system sends, two signals are nursed one's health into voltage signal by voltage comparator circuit, draw the difference of two moderating ratio values then by subtraction circuit, this difference is as the input of pid control algorithm circuit on the self-actuating brake plate.
Claims (4)
1. an aircraft self-actuating brake method is characterized in that comprising the steps:
The first step, the moderating ratio of passing through to gather aircraft inertial navigation system data acquisition aircraft are compared with the target deceleration rate that the hope of setting reaches, and obtain 100 times of difference e=a of target deceleration rate and aircraft moderating ratio
o-a
f, wherein, a
oFor amplifying the target deceleration rate value after 100 times, a
fFor amplifying the aircraft moderating ratio value after 100 times;
The increment type PID control algorithm of amplitude limit is regulated e by arranging of pid control parameter in second step, the utilization, make the e value go to zero as far as possible, by output brake control voltage signal behind the pid control algorithm, by multiply by brake current conversion coefficient this voltage signal is converted to the brake current signal of servovalve according to the servovalve characteristic then, specifically may further comprise the steps:
(1) calculates PID output brake control voltage U
k=U
K-1+ Ae
k+ Be
K-1+ Ce
K-2
A＝Kp*(1+1/TI+TD)
B＝Kp*(1+2*TD)
C＝Kp*TD
Wherein, Kp is ratio level coefficient, and TI is the integration stages coefficient, and TD is the differentiating stage coefficient, Kp=6～15, TI=0.01～0.5, TD=0.01～0.9, U
K-1Be the k-1 time brake voltage output value, e
kBe the target deceleration rate of the k time brake and 100 times of differences of aircraft moderating ratio, e
K-1Be the target deceleration rate of the k-1 time brake and 100 times of differences of aircraft moderating ratio, e
K-2Be the target deceleration rate of the k-2 time brake and 100 times of differences of aircraft moderating ratio, U
0Be the brake voltage of target deceleration rate correspondence, if U
k≤ U
Kmin, U then
k=Uk
MinIf U
kU
Kmax, U then
k=U
Kmax, U wherein
Kmin, U
KmaxBe respectively U
kLower limit and the upper limit;
(2) calculate servovalve drive current I
s=U
k* k
s, k wherein
sBe brake current conversion coefficient;
The 3rd step, calculate the wheel reference velocity according to the wheel speed signal value of gathering, after the wheel reference velocity deducts wheel speed with the ratio of wheel reference velocity greater than 30% the time, be slipping state, entered for the 4th step, otherwise be non-slipping state, anti-skidding electric current refers to be 0, enters for the 5th step;
The 4th step, with the difference of wheel reference velocity and wheel speed as input, export to comprehensive driver stage by the PD+PBM control algorithm, comprehensively driver stage is exported anti-skidding control voltage signal with the output of instantaneous level, differentiating stage and PBM level by weights stack back separately, by multiply by anti-skidding current conversion coefficient anti-skidding control voltage signal is converted to the anti-skidding current signal of servovalve according to the servovalve characteristic then, anti-skidding current conversion coefficient=1/ (servovalve coil resistance+connect with servovalve resistance value);
The 5th step, brake current signal and the anti-skidding current signal in the 4th step in second step are made after the difference received current as servovalve, according to the characteristic that the received current of servovalve is directly proportional with delivery pressure, finally draw the brake pressure of airplane brake system;
The 6th went on foot, repeats second step to the 5th step, stopped fully until aircraft and stopped.
2. aircraft self-actuating brake method according to claim 1 is characterized in that: for the target deceleration rate of different brackets, U
Kmin, U
KmaxThe value that difference is corresponding different, U during for the low target moderating ratio
Kmin=0～0.5V, U
Kmax=1.1～1.5V; U during for middle target deceleration rate
Kmin=0～0.5V, U
Kmax=1.4～1.8V; U during for high target deceleration rate
Kmin=0～0.5V, U
Kmax=1.7～2.1V; The corresponding system that brake is used when taking off for termination applies following moderating ratio U that can reach of maximum brake pressure
Kmin=0～0.5V, U
Kmax=2.6～3.0V.
3. aircraft self-actuating brake method according to claim 1, it is characterized in that: described anti-skidding control voltage signal need be gone up the amplitude limit setting, and last amplitude limit is set to the maximum current output coil resistance corresponding voltage value with servovalve on duty of servovalve.
4. device of realizing the described aircraft self-actuating brake of claim 1 method, comprise the self-actuating brake select switch, the brake control unit, electromagnetic valve and servovalve, it is characterized in that: the brake control unit comprises self-actuating brake select switch collection modulation module, the bus signals conditioning module, wheel speed signal conditioning module, target deceleration rate and aircraft moderating ratio control module, anti-skidding electric current generation module, brake electric current generation module and servovalve drive current generation module, the self-actuating brake select switch is one group of switches set, export different target deceleration rates to self-actuating brake select switch collection modulation module according to different selection gears, the bus signals conditioning module obtains the moderating ratio of aircraft by the 1553B bus, by exporting the brake current value by brake electric current generation module after the difference of target deceleration rate and aircraft moderating ratio control module acquisition target deceleration rate and aircraft moderating ratio, judge whether skid and generate anti-skidding current value by anti-skidding electric current generation module behind the wheel speed signal conditioning module harvester wheel speed signal, by electromagnetic valve and the servovalve of servovalve drive current generation module according to the output valve control brake fluid line of anti-skidding electric current generation module and brake electric current generation module, by the break-make of electromagnetic valve management brake fluid line, by the pressure size of servovalve control brake fluid line.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN112623199B (en) * | 2020-12-09 | 2022-08-05 | 北京北摩高科摩擦材料股份有限公司 | Self-adaptive anti-skid brake control method for airplane |
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