CN102991491A - Electromechanical brake system of unmanned plane - Google Patents

Electromechanical brake system of unmanned plane Download PDF

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Publication number
CN102991491A
CN102991491A CN2012104704866A CN201210470486A CN102991491A CN 102991491 A CN102991491 A CN 102991491A CN 2012104704866 A CN2012104704866 A CN 2012104704866A CN 201210470486 A CN201210470486 A CN 201210470486A CN 102991491 A CN102991491 A CN 102991491A
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China
Prior art keywords
brake
signal
control box
control
motor
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CN2012104704866A
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CN102991491B (en
Inventor
刘劲松
周世民
杨金日
张琦
何学工
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Xian Aviation Brake Technology Co Ltd
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Xian Aviation Brake Technology Co Ltd
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Priority to CN201210470486.6A priority Critical patent/CN102991491B/en
Publication of CN102991491A publication Critical patent/CN102991491A/en
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Abstract

The invention provides an electromechanical brake system of an unmanned plane. An anti-slip brake control box receives a brake instruction of a flight control computer, calculates the brake quantity, simultaneously receives a frequency signal of an airplane wheel speed sensor, and calculates the anti-slip quantity; the brake quantity and the anti-slip quantity are synthesized and then a brake signal is output to a drive control box; a force sensor collects output force of a motor, and inputs a feedback signal into the drive control box; the drive control box outputs six paths of pulse-width modulation (PWM) signals to the drive circuit of the drive control box; the drive circuit drives and controls a three-phase full-bridge inverter circuit composed of six metal-oxide-semiconductor field effect transistors (MOSFET); and the drive motor outputs the demanded brake force. By adopting the electromechanical brake system, the airplane testability, the maintainability and the security are improved, and the weight of the airplane is reduced.

Description

The dynamo-electric brake system of a kind of unmanned plane
Technical field
The present invention relates to a kind of brake system, especially a kind of full electric brake system.
Background technology
The unmanned aerial vehicle brake system is a sub-systems of function opposite independent on the aircraft, its function is the communication instruction according to flight-control computer, provide brake pressure to actuating unit-brake wheel, make it produce lock torque, keep correct line of travel or turning thereby make the aircraft deceleration of on the ground motion and handle it.In aircraft moderating process, brake system also has anti-skidding control function, can automatically regulate brake pressure according to runway apparent condition at that time, STRUCTURAL CONTROL OF BRAKING MOMENT and runway apparent condition are at that time adapted, ensure that aircraft is at multiple runway, particularly pollute safety, reliability, the raising braking efficiency of runway brake at ponding, accumulated snow, greasy dirt and rubber, shorten distance of landing run, prevent that wheel from deeply skidding and stop quick-fried tire.Modern medium-and-large-sized unmanned aerial vehicle uses digital control, hydraulic actuation brake system more, and typical unmanned aerial vehicle brake system mainly is comprised of antiskid braking control box, electro-hydraulic pressure servovalve, electromagnetic switch valve, batchmeter, change-over valve and wheel spin-up transducer etc.The anti-skidding principle of work of basic brake is: flight-control computer sends the brake instruction to antiskid braking control box by communication, and antiskid braking control box goes out corresponding brake electric current according to command calculations.Antiskid braking control box is accepted the wheel speed signal of wheel spin-up transducer output simultaneously, judges the sliding mode of wheel, and according to the depth that wheel slides, calculates corresponding anti-skidding electric current.To brake electric current and anti-skidding electric current comprehensive after, antiskid braking control box output control signal makes it open to connect electro-hydraulic pressure servovalve oil-feed path to electromagnetic switch valve, control electric current behind the output integrated is to the electro-hydraulic pressure servovalve simultaneously, regulation output is to the brake pressure of brake wheel, produce suitable lock torque, the brake of realization aircraft and anti-skidding.
In the prior art, brake system is mainly carried out by digital control hydraulic unit mechanism and is realized, but hydraulic brake system exists and forms that product is many, quality re-mounts capacity weight and the maintainability that the dismounting complexity has reduced aircraft.And the fault of hydraulic unit is difficult for monitoring and exists hydraulic fluid leak burning equivalent risk to make it affect the safety of aircraft in the brake system.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides the dynamo-electric brake system of a kind of unmanned plane, testability, maintainability and the safety that can improve unmanned aerial vehicle.
The technical solution adopted for the present invention to solve the technical problems is: comprise antiskid braking control box, drive control capsule and wheel spin-up transducer, after antiskid braking control box receives the brake instruction of flight-control computer, calculate corresponding brake amount, antiskid braking control box receives the frequency signal of wheel spin-up transducer simultaneously, change calculations according to frequency signal goes out corresponding anti-skidding amount, the output brake signal was given and is driven control capsule after brake amount and anti-skidding amount were comprehensive, simultaneously, the power sensor gathers the power output of motor, the feedback signal input is driven control capsule, drive control capsule and comprise DSP and CPLD, DSP carries out comprehensive rear by classical PI control algorithm to brake signal and feedback signal, output is used for the pwm signal of control brshless DC motor and motor steering signal to CPLD, CPLD is to the pwm signal of DSP output, the motor rotor position signal, carry out logic synthesis behind the motor positive and inverse acquisition of signal, export 6 road pwm signals and offer the driving circuit that drives control capsule, driving circuit drives the three phase full bridge inverter circuit that 6 MOSFET of control form, the brake weight that drive motor output requires.
The invention has the beneficial effects as follows: make original braking action mode by Hydraulic Elements realize, brake pressure without closed loop feedback mode of operation change into motor start brake modes, and formed the brake weight closed loop control, thereby improved aircraft testability, maintainability and safety, alleviated aircraft weight.
Description of drawings
Fig. 1 is that the dynamo-electric brake system of certain type unmanned aerial vehicle forms constructional drawing, and wherein: 1. antiskid braking control box 2. drives control capsule 3. speed sensors;
Fig. 2 is the antiskid braking control box control block diagram;
Fig. 3 drives the control capsule control block diagram.
The specific embodiment
The present invention includes antiskid braking control box, drive control capsule and wheel spin-up transducer, it is characterized in that having changed the braking action mode, after the brake instruction of antiskid braking control box by the flight-control computer of inner micro controller system reception unmanned aerial vehicle, calculate corresponding brake amount, antiskid braking control box receives the frequency signal of wheel spin-up transducer simultaneously, square wave level circuit and velocity stage circuit through inside enter micro controller system, micro controller system goes out corresponding anti-skidding amount according to the change calculations of frequency signal, the output brake signal was given and is driven control capsule after brake amount and anti-skidding amount were comprehensive, drive simultaneously the feedback signal of control capsule reception sensor (gathering the power output of motor), after these two kinds of signals enter and drive the inner dsp controller of control capsule, dsp controller carries out comprehensive rear by classical PI control algorithm to these two kinds of signals, output is given the CPLD device that drives control capsule inside for pwm signal and the motor steering signal of control brshless DC motor, the CPLD device is to the pwm signal of DSP output, the motor rotor position signal, carry out logic synthesis behind the acquisition of signals such as motor positive and inverse, export 6 road pwm signals and offer the driving circuit that drives control capsule, the three phase full bridge inverter circuit that 6 MOSFET of driving chip drives control in the driving circuit form, the brake weight that drive motor output requires.
The present invention is further described below in conjunction with drawings and Examples.
The dynamo-electric brake system of present embodiment type unmanned plane.
Present embodiment comprises antiskid braking control box 1, drives control capsule 2, wheel spin-up transducer 3.In the enforcement:
Antiskid braking control box 1, the information such as the instruction of brake amount, self-checking command and air speed by 422 communications reception UAV Flight Control computing machines go out corresponding brake electric current according to brake amount command calculations.Meanwhile, the antiskid brake unit of antiskid braking control box is judged the sliding mode of wheel, and according to the depth that wheel slides, is calculated corresponding anti-skidding electric current according to the wheel speed signal of the wheel spin-up transducer output that gathers.To brake electric current and anti-skidding electric current comprehensive after, antiskid braking control box output control signal is given and is driven control capsule, drive control capsule according to the instruction current signal, drive motor output brake weight on the control brake main wheel, simultaneously according to power sensor feedback current signal on the main wheel motor brake weight of output is carried out closed loop control, with the brake that realizes unmanned plane and anti-skidding.Antiskid braking control box and drive control capsule and all have self-checking function in the system, can the detection speed sensor, in the antiskid braking control box in braking circuit and anti-skidding circuit, communication failure, the driving control capsule in driving circuit fault, power sensor fault, the fault of motor own and the motor failure message such as Hall element send to the TTC ﹠ DT Systems of unmanned plane by communicating by letter.
In the present embodiment, wheel spin-up transducer designs routinely.

Claims (1)

1. the dynamo-electric brake system of a unmanned plane, comprise antiskid braking control box, drive control capsule and wheel spin-up transducer, it is characterized in that: after antiskid braking control box receives the brake instruction of flight-control computer, calculate corresponding brake amount, antiskid braking control box receives the frequency signal of wheel spin-up transducer simultaneously, change calculations according to frequency signal goes out corresponding anti-skidding amount, the output brake signal was given and is driven control capsule after brake amount and anti-skidding amount were comprehensive, simultaneously, the power sensor gathers the power output of motor, the feedback signal input is driven control capsule, drive control capsule and comprise DSP and CPLD, DSP carries out comprehensive rear by classical PI control algorithm to brake signal and feedback signal, output is used for the pwm signal of control brshless DC motor and motor steering signal to CPLD, CPLD is to the pwm signal of DSP output, the motor rotor position signal, carry out logic synthesis behind the motor positive and inverse acquisition of signal, export 6 road pwm signals and offer the driving circuit that drives control capsule, driving circuit drives the three phase full bridge inverter circuit that 6 MOSFET of control form, the brake weight that drive motor output requires.
CN201210470486.6A 2012-11-19 2012-11-19 A kind of unmanned plane Electromechanical brake system Active CN102991491B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201210470486.6A CN102991491B (en) 2012-11-19 2012-11-19 A kind of unmanned plane Electromechanical brake system

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CN201210470486.6A CN102991491B (en) 2012-11-19 2012-11-19 A kind of unmanned plane Electromechanical brake system

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CN102991491B CN102991491B (en) 2016-06-29

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103248290A (en) * 2013-05-23 2013-08-14 西北工业大学 Grey sliding mode control method for dual-redundancy brushless direct current motor of electric brake of airplane
CN103786877A (en) * 2014-01-26 2014-05-14 北京航空航天大学 Multi-wheel aircraft braking system based on energy regenerative braking device and control method thereof
CN103786704A (en) * 2014-01-26 2014-05-14 北京航空航天大学 Dissimilar redundancy airplane braking system and control method thereof
CN104658402A (en) * 2013-11-22 2015-05-27 中国航空工业集团公司西安飞机设计研究所 Semi-physical real-time simulation system and method for airplane anti-skid brake
CN105620455A (en) * 2016-02-04 2016-06-01 西安航空制动科技有限公司 Aircraft brake system and ground protection control method thereof
CN106741877A (en) * 2016-12-22 2017-05-31 北京航空航天大学 A kind of electro-hydraulic ground taxi of multi-wheeled bogie promote with from energy regenerative brake combined device

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CN102602382A (en) * 2011-04-14 2012-07-25 中南大学 Anti-skid braking controller for airplane
CN102700534A (en) * 2012-05-31 2012-10-03 西北工业大学 Driving control method for electric brake of airplane

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CN102602382A (en) * 2011-04-14 2012-07-25 中南大学 Anti-skid braking controller for airplane
CN102700534A (en) * 2012-05-31 2012-10-03 西北工业大学 Driving control method for electric brake of airplane

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Title
文延: "飞机全电刹车系统控制器设计", 《中国优秀博硕士学位论文全文数据库(硕士)工程科技Ⅱ辑》, 15 September 2004 (2004-09-15) *

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103248290A (en) * 2013-05-23 2013-08-14 西北工业大学 Grey sliding mode control method for dual-redundancy brushless direct current motor of electric brake of airplane
CN104658402A (en) * 2013-11-22 2015-05-27 中国航空工业集团公司西安飞机设计研究所 Semi-physical real-time simulation system and method for airplane anti-skid brake
CN103786877A (en) * 2014-01-26 2014-05-14 北京航空航天大学 Multi-wheel aircraft braking system based on energy regenerative braking device and control method thereof
CN103786704A (en) * 2014-01-26 2014-05-14 北京航空航天大学 Dissimilar redundancy airplane braking system and control method thereof
CN103786877B (en) * 2014-01-26 2016-01-13 北京航空航天大学 Based on from many wheels airplane brake system of energy brake gear and control method thereof
CN103786704B (en) * 2014-01-26 2016-03-30 北京航空航天大学 Aircraft dissimilar redundancy brake system and control method thereof
US10093288B2 (en) 2014-01-26 2018-10-09 Beihang University Multi-wheel aeroplane braking system based on self-energy-regenerative braking device and controlling method therefor
CN105620455A (en) * 2016-02-04 2016-06-01 西安航空制动科技有限公司 Aircraft brake system and ground protection control method thereof
CN105620455B (en) * 2016-02-04 2018-08-31 西安航空制动科技有限公司 A kind of control method of airplane brake system and its ground protection
CN106741877A (en) * 2016-12-22 2017-05-31 北京航空航天大学 A kind of electro-hydraulic ground taxi of multi-wheeled bogie promote with from energy regenerative brake combined device
CN106741877B (en) * 2016-12-22 2019-03-29 北京航空航天大学 A kind of electro-hydraulic ground taxi of multi-wheeled bogie push with from energy regenerative brake combined device

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