CN106184774A - Many gradients people's induction device and method for designing thereof - Google Patents
Many gradients people's induction device and method for designing thereof Download PDFInfo
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- CN106184774A CN106184774A CN201510212471.3A CN201510212471A CN106184774A CN 106184774 A CN106184774 A CN 106184774A CN 201510212471 A CN201510212471 A CN 201510212471A CN 106184774 A CN106184774 A CN 106184774A
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Abstract
The present invention is artificial feel system's designing technique of flight control system, relates to many gradients people's induction device method for designing of a kind of flight control system.The present invention provides artificial feel system's designing technique of a kind of airplane operation system.Substantially reduce the perceptibility design error that people's induction device provides, it is thus achieved that excellent steering force sensation, and make the design of artificial feel system, installation and debugging cycle significantly shorten.It addition, the present invention also provides for the people's induction device example in multiple airplane operation system.
Description
Technical field
The present invention is artificial feel system's designing technique of flight control system, relates to many gradients people's induction device method for designing of a kind of flight control system.
Background technology
Manual flight's flight control system includes Aileron control system, elevator-control system and rudder control system, realizes rolling, pitching and driftage for operating aircraft.As the critical function system of aircraft, directly affect the flight safety of aircraft, the design of flight control system it is critical that.In nonreversible control, the function of people's induction device is the effect of simulation hinge moment, provides the sensation of steering force for pilot；In two systems overlapping crosslinking relation, the function of people's induction device is when set of system generation clamping stagnation, and another set of normal system still can handle (being now augmenting portion steering force).
The design of various aircraft manual control system linear systems is different, is all that the theory according to designer is carried out in the case of people's induction device is more when designing, and the performance of people's induction device depends entirely on the personal knowledge level of designer.Having due to control feel simulator that complexity, cycle length, the amount of doing over again be big, state is difficult to the shortcomings such as guarantee in the design, give design, produce and cause a lot of puzzlement, flight control system is lacked effectively by existing technology, the method for specification.During fortune eight airplane design, people's induction device (control feel simulator) method for designing is relatively simple, by steering force and steerable system design, the characteristic curve of control feel simulator is calculated with control system gear ratio, single gradient or double gradient straight line is used to be fitted, the factor such as compressed-air actuated damping impact when ignoring frictional resistance and motion in design process, power when driver is returned in control feel simulator's power anti-pass of matching and design load have certain error.The present invention gives more complete, implementation is strong people's induction device method for designing, the compressed-air actuated damping impact on people's induction device performance when having taken into full account frictional resistance, motion, and people's induction device is carried out dynamics simulation, reduce the perceptibility design error that people's induction device provides.
Summary of the invention
(1). goal of the invention
It is an object of the invention to: artificial feel system's designing technique of a kind of airplane operation system is provided.Substantially reduce the perceptibility design error that people's induction device provides, it is thus achieved that excellent steering force sensation, and make the design of artificial feel system, installation and debugging cycle significantly shorten.
It addition, the present invention also provides for the people's induction device example in multiple airplane operation system.
(2) technical scheme:
The technical scheme is that
Many gradients people's induction device, it includes control feel simulator's moving parts monaural screw shell 1, first retainer 6, second retainer 9, 3rd retainer 16, 4th retainer 30, first steel ball 7, second steel ball 10, 3rd steel ball 17, 4th steel ball 20, 5th steel ball 31, actuating rod 8, first prestressing force actuator 11, second prestressing force actuator 26, 3rd prestressing force actuator 33, first sleeve 12, second sleeve 15, 3rd sleeve 18, 4th sleeve 22, 5th sleeve 23, 6th sleeve 25, 7th sleeve 28, big spring 13, urceolus 14, travel adjustment 19, middle spring 21, little spring 24, 8th sleeve 29, end cap 34, ear shape joint 36, wherein:
The fixing connection of actuating rod 8 left end and the first sleeve 12 left side, the first sleeve 12 is sleeved in urceolus 14 in rolling friction mode by the first steel ball 7.
Big spring 13 left end set withstands on the step of the first sleeve 12 right side, big spring 13 left end set withstands on the step of the second sleeve 15 right part, the left end of the second sleeve 15 is arranged in the installing hole of the first sleeve 12 right side in sliding friction mode, is regulated the position of the first sleeve 12 by the first prestressing force actuator 11 simultaneously.
3rd sleeve 18 inner peripheral surface is fixedly mounted on the step of the second sleeve 15 right part, middle spring 21 left end set withstands on the 3rd sleeve 18 outer circumference surface left end, middle spring 21 right-hand member set withstands on the 6th sleeve 25 outer circumference surface, the left end of the 4th sleeve 22 is arranged in the 3rd sleeve 18 in sliding friction mode, 3rd sleeve 18 right-hand member has the step that the left end preventing the 4th sleeve 22 comes off, 6th sleeve 25 is fixedly mounted on the right part of the 4th sleeve 22 by the second prestressing force actuator 26, the outer circumference surface of travel adjustment 19 is arranged on the left end inner peripheral surface of the 4th sleeve 22 in rolling friction mode, the inner peripheral surface of travel adjustment 19 is fixedly mounted on the second sleeve 15 right-hand member.
nullOn the inner peripheral surface of the right part that the 5th sleeve 23 left end outer circumference surface is arranged on the 4th sleeve 22 with sliding friction form，Also have limited step to carry out spacing to the sliding position of the 5th sleeve 23 simultaneously，On the outer circumference surface of the left end that the 5th sleeve 23 right-hand member inner peripheral surface is arranged on the 7th sleeve 28 with sliding friction form，The step preventing the 5th sleeve 23 right-hand member from coming off is had on the left end of the 7th sleeve 28，Little spring 24 left end set withstands on the 5th sleeve 23 left end，Little spring 24 right-hand member set withstands on the 8th sleeve 29，8th sleeve 29 outer circumference surface is installed on the 4th sleeve 22 right-hand member inner peripheral surface in rolling friction mode by the 5th steel ball 31，8th sleeve 29 inner peripheral surface is installed on the 7th sleeve 28 right-hand member outer circumference surface in sliding friction mode，Regulated the position of the 8th sleeve 29 by the 3rd prestressing force actuator 33 simultaneously.
Actuating rod 8 from left to right passes sequentially through the second retainer 9 and the second steel ball 10 installs 15 inner peripheral surfaces in rolling friction mode, in rolling friction mode, the second sleeve 15 inner peripheral surface is installed by the 3rd retainer 16 and the 3rd steel ball 17, the step inner peripheral surface of the 7th sleeve 28 is installed in sliding friction mode, in sliding friction mode, end cap 34 right side installing hole inner peripheral surface is installed.
End cap 34 is fixed be connected with urceolus 14 and monaural screw shell 1.
Wherein, different motion part is closed and is provided with passage between chamber, the damping of gas when reducing motion.Steel ball and retainer reduce frictional force.
Many gradients people's induction device method for designing, its step is as follows:
The first step: according to steering force and the steerable system design of handling quality design, calculate the characteristic curve of people's induction device with control system gear ratio, use three sections of straight lines to be fitted；
Second step: according to steerable system motion and installing space, determine overall dimensions and the stroke of people's induction device；
3rd step: according to the characteristic curve of matching, determines the overall dimensions of spring in people's induction device, the selected material of three springs, spring section form circle or rectangle.According to spring cross section, stroke, pretightning force, material mechanical performance, calculate big spring 13, middle spring 21, the maximum compressibility of little spring 24 and length.
4th step: according to big spring 13, middle spring 21, little spring 24 size and space, stroke, complete the design of the parts such as pretightning force actuator, sleeve, retainer, actuating rod.
5th step: carry out intensity, Life Calculation analysis according to the part completed, and the part that intensity, life-span are low is carried out perfect.
6th step: the frictional force of people's induction device is calculated, draws frictional force during each section of spring movement, in conjunction with the characteristic curve of people's induction device, determine the pretightning force of each section of spring.Adjust pretightning force actuator the first prestressing force actuator the 11, second prestressing force actuator the 26, the 3rd prestressing force actuator 33 can each section of initial tension of spring be adjusted.
7th step: be analyzed people's induction device, when finding out motion, compressed air produces the major part of damping and designs air vent, reduces damping.
8th step: people's induction device is carried out vibration analysis, draws the natural frequency of people's induction device, it is ensured that will not resonate with system.Dynamics simulation, draws the power that people's induction device exports under different motion speed, by the steering force relative analysis of this power Yu design, it is determined whether meets and uses requirement.
(3) beneficial effect
The present invention solves that artificial feel system adjusts that complexity, cycle length, the amount of doing over again be big, system mode is difficult to ensure, the concordance of every frame machine system call interception state or the shortcoming such as proximity is poor, the each section of force value sectional not only making people's induction device adjusts, simplify the adjustment process of people's induction device, minimizing repeatedly works, shortens the system call interception cycle, and ensures the adjustment state returning neutrality and system that steerable system linear system is good.
Accompanying drawing explanation
Fig. 1 is single gradient people's induction device；
Fig. 2 is double gradient people's induction devices；
Fig. 3 is three gradient people's induction devices；
Fig. 4 is that three sections of straight lines are fitted schematic diagram.
nullIn Fig. 3，1. spring 22. the 4th sleeve 23. the 5th sleeve 24. little spring 25. the 6th sleeve 26. second prestressing force actuator 27. stop nail 28. the 7th sleeve 29. the 8th sleeve 30. the 4th retainer 31. the 5th steel ball 32. stop nail 33. the 3rd prestressing force actuator 34. end cap 35. polyfluortetraethyledust dust circle 36. ear shape joints during 3. nut 4. locked spacer 5. end cap 6. first retainer 7. first steel ball 8. actuating rod 9. second retainer 10. second steel ball 11. first prestressing force actuator 12. first sleeve 13. big spring 14. urceolus 15. second sleeve 16. the 3rd retainer 17. the 3rd steel ball 18. the 3rd sleeve 19. travel adjustment 20. the 4th steel balls 21. are followed closely in monaural screw shell 2. stop
Detailed description of the invention
The present inventor's induction device method for designing, it includes people's induction device part monaural screw shell monaural screw shell 1, first retainer 6, second retainer 9, 3rd retainer 16, 4th retainer 30, first steel ball 7, second steel ball 10, 3rd steel ball 17, 4th steel ball 20, 5th steel ball 31, actuating rod 8, first prestressing force actuator 11, second prestressing force actuator 26, 3rd prestressing force actuator 33, first sleeve 12, second sleeve 15, 3rd sleeve 18, 4th sleeve 22, 5th sleeve 23, 6th sleeve 25, 7th sleeve 28, big spring 13, urceolus 14, travel adjustment 19, middle spring 21, little spring 24, 8th sleeve 29, end cap 34, ear shape joint 36.
Wherein, different motion part is closed and is provided with passage between chamber, the damping of gas when reducing motion, and described steel ball reduces the frictional force of control feel simulator with retainer.When adjusting control feel simulator's pretightning force, the pretightning force actuator of inside only need to be adjusted.
According to steering force characteristic curve, it is not to use a lot of section straight lines to be fitted during to the design of control feel simulator, can be extremely complex and be difficult to install and adjust during the design of such control feel simulator.Typically, control feel simulator uses one section of straight line, two sections of straight lines or three sections of fitting a straight lines.
During control feel simulator's design, according to systematic analysis be uniformly coordinated down, the steering force in the steerable system determined is designed after gear ratio.In present embodiment, as a example by three gradient people's induction device designs (see Fig. 3), its method for designing is as follows:
The first step: according to steering force and the steerable system design of handling quality design, calculate the characteristic curve of people's induction device with control system gear ratio, use three sections of straight lines to be fitted, as shown in Figure 4.
Second step: according to steerable system motion and installing space, determine overall dimensions and the stroke of people's induction device；
3rd step: according to the characteristic curve of matching, determines the overall dimensions of spring in people's induction device, and the selected material of spring, spring section form are circular.According to spring cross section, stroke, pretightning force, material mechanical performance, calculate big spring 13, middle spring 21, the maximum compressibility of little spring 24 and length, complete layout design.
4th step: according to big spring 13, middle spring 21, little spring 24 size and space, stroke, complete monaural screw shell 1, locked spacer 4, end cap 5, first retainer 6, second retainer 9, 3rd retainer 16, 4th retainer 30, first steel ball 7, second steel ball 10, 3rd steel ball 17, 4th steel ball 20, 5th steel ball 31, actuating rod 8 length, first prestressing force actuator 11, second prestressing force actuator 26, 3rd prestressing force actuator 33, first sleeve 12, second sleeve 15, 3rd sleeve 18, 4th sleeve 22, 5th sleeve 23, 6th sleeve 25, 7th sleeve 28, 8th sleeve 29, urceolus 14, travel adjustment 19, end cap 34, dust ring 35, the design of ear shape joint 36 part such as grade.
5th step: part carries out intensity, Life Calculation analysis, and the part that intensity, life-span are low is carried out perfect.
6th step: the frictional force of people's induction device is calculated, draws frictional force during each section of spring movement, in conjunction with the characteristic curve of people's induction device, determine the pretightning force of each section of spring.Adjust first prestressing force actuator the 11, second prestressing force actuator the 26, the 3rd prestressing force actuator 33 can each section of initial tension of spring be adjusted.
7th step: people's induction device is analyzed, when finding out motion, compressed air produces major part end cap the 5, first sleeve the 12, second sleeve the 15, the 4th sleeve 22 of damping, and end cap the 5, first sleeve the 12, second sleeve the 15, the 4th sleeve 22 is designed air vent size.
8th step: people's induction device is carried out vibration analysis, draws the natural frequency of people's induction device, it is ensured that will not resonate with system.Dynamics simulation, draws the power that people's induction device exports under different motion speed, by the steering force relative analysis of this power Yu design, it is determined whether meets and uses requirement.
The present invention many gradients people's induction device is verified on certain serial model No. aircraft, and through associated production department and customer responsiveness, steering force feels excellent, and state the most easily ensures, reaction effect is good, has good prospect of the application.
Claims (2)
1. more than gradient people induction device, is characterized in that, it includes control feel simulator's moving parts
Monaural screw shell (1), the first retainer (6), the second retainer (9),
Three retainers (16), the 4th retainer (30), the first steel ball (7), the second steel
Pearl (10), the 3rd steel ball (17), the 4th steel ball (20), the 5th steel ball (31),
Actuating rod (8), the first prestressing force actuator (11), the second prestressing force actuator (26),
3rd prestressing force actuator (33), the first sleeve (12), the second sleeve (15),
3rd sleeve (18), the 4th sleeve (22), the 5th sleeve (23), the 6th sleeve
(25), the 7th sleeve (28), big spring (13), urceolus (14), stroke are adjusted
Joint device (19), middle spring (21), little spring (24), the 8th sleeve (29),
End cap (34), ear shape joint (36), wherein:
The fixing connection of actuating rod (8) left end and the first sleeve (12) left side, first
Sleeve (12) is sleeved on urceolus (14) by the first steel ball (7) in rolling friction mode
In；
Big spring (13) left end set withstands on the step of the first sleeve (12) right side,
Big spring (13) left end set withstands on the step of the second sleeve (15) right part, the second set
The left end of cylinder (15) is arranged on the first sleeve (12) right side in sliding friction mode
In installing hole, regulate the first sleeve (12) by the first prestressing force actuator (11) simultaneously
Position；
3rd sleeve (18) inner peripheral surface is fixedly mounted on the second sleeve (15) right part
On step, middle spring (21) left end set withstands on the 3rd sleeve (18) outer circumference surface left end,
Middle spring (21) right-hand member set withstands on the 6th sleeve (25) outer circumference surface, the 4th sleeve (22)
Left end be arranged on the 3rd sleeve (18) in sliding friction mode in, the 3rd sleeve (18)
Right-hand member has the step that the left end preventing the 4th sleeve (22) comes off, the 6th sleeve (25)
The right part of the 4th sleeve (22) it is fixedly mounted on by the second prestressing force actuator (26),
The outer circumference surface of travel adjustment (19) is arranged on the 4th sleeve in rolling friction mode
(22) on left end inner peripheral surface, the fixing peace of the inner peripheral surface of travel adjustment (19)
It is contained in the second sleeve (15) right-hand member；
5th sleeve (23) left end outer circumference surface is arranged on the 4th set with sliding friction form
On the inner peripheral surface of the right part of cylinder (22), the most also limited step is to the 5th sleeve (23)
Sliding position carry out spacing, the 5th sleeve (23) right-hand member inner peripheral surface is with sliding friction
On the outer circumference surface of the left end that form is arranged on the 7th sleeve (28), the 7th sleeve (28)
Left end on have the step preventing the 5th sleeve (23) right-hand member from coming off, little spring (24)
Left end set withstands on the 5th sleeve (23) left end, and little spring (24) right-hand member set withstands on the 8th
On sleeve (29), the 8th sleeve (29) outer circumference surface by the 5th steel ball (31) with
Rolling friction mode is installed on the 4th sleeve (22) right-hand member inner peripheral surface, the 8th sleeve (29)
Inner peripheral surface is installed on the 7th sleeve (28) right-hand member outer circumference surface in sliding friction mode,
Simultaneously by the position of the 3rd prestressing force actuator (33) regulation the 8th sleeve (29)；
Actuating rod (8) from left to right passes sequentially through the second retainer (9) and the second steel ball
(10) in rolling friction mode, (15) inner peripheral surface is installed, by the 3rd retainer (16)
In rolling friction mode, the second sleeve (15) inner peripheral surface is installed with the 3rd steel ball (17),
The step inner peripheral surface of the 7th sleeve (28) is installed in sliding friction mode, rubs to slide
Wiping mode installs end cap (34) right side installing hole inner peripheral surface；
End cap (34) is fixing with urceolus (14) and monaural screw shell (1) to be connected.
2. more than gradient people induction device method for designing, is characterized in that, its step is as follows:
The first step: according to steering force and the steerable system design of handling quality design, to handle
Drive system ratio calculates the characteristic curve of people's induction device, uses three sections of straight lines to be fitted；
Second step: according to steerable system motion and installing space, determine the overall dimensions of people's induction device
And stroke；
3rd step: according to the characteristic curve of matching, determines the overall dimensions of spring in people's induction device,
The selected material of three springs, spring section form circle or rectangle；According to spring cross section,
Stroke, pretightning force, material mechanical performance, calculate big spring (13), middle spring (21),
The maximum compressibility of little spring (24) and length；
4th step: according to big spring (13), middle spring (21), little spring (24) size with
Space, stroke, complete the parts such as pretightning force actuator, sleeve, retainer, actuating rod
Design；
5th step: carry out intensity, Life Calculation analysis according to the part completed, and to intensity, longevity
Order low part and carry out perfect；
6th step: the frictional force of people's induction device is calculated, draws friction during each section of spring movement
Power, in conjunction with the characteristic curve of people's induction device, determines the pretightning force of each section of spring；Adjust
Pretightning force actuator the first prestressing force actuator (11), the second prestressing force actuator (26),
Each section of initial tension of spring can be adjusted by the 3rd prestressing force actuator (33)；
7th step: be analyzed people's induction device, when finding out motion, compressed air produces the master of damping
Want part and design air vent, reducing damping；
8th step: people's induction device is carried out vibration analysis, draws the natural frequency of people's induction device, really
Guarantor will not resonate with system；Dynamics simulation, show that people's induction device is in different motion speed
The power of the lower output of degree, by the steering force relative analysis of this power Yu design, it is determined whether meet and make
With requiring.
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| CN107444616A (en) * | 2017-04-25 | 2017-12-08 | 西安航空学院 | The speed adaptive wing sweeping mechanism and control method of manual height gear |
| CN107444615A (en) * | 2017-04-25 | 2017-12-08 | 西安航空学院 | A kind of combined elastic adaptive wing becomes sweepback mechanism and control method |
| CN108216581A (en) * | 2017-12-08 | 2018-06-29 | 贵州华烽电器有限公司 | A kind of control feel simulator's device of adjustable pretightning force |
| CN108945425A (en) * | 2018-06-28 | 2018-12-07 | 中国直升机设计研究所 | A kind of soft limiting device of helicopter flight manipulation |
| CN110816815A (en) * | 2019-10-12 | 2020-02-21 | 中航通飞研究院有限公司 | Human sensing device of airplane flight control system |
| CN110844047A (en) * | 2019-10-25 | 2020-02-28 | 中航通飞研究院有限公司 | Load simulator |
| CN112678152A (en) * | 2020-12-25 | 2021-04-20 | 中国航空工业集团公司沈阳飞机设计研究所 | Double-gradient load mechanism |
| CN112693596A (en) * | 2020-12-25 | 2021-04-23 | 中国航空工业集团公司沈阳飞机设计研究所 | Variable gradient load mechanism |
| CN114671035A (en) * | 2022-03-04 | 2022-06-28 | 湖南山河科技股份有限公司 | Flight control pull rod control device, installation method and application |
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| CN107444616A (en) * | 2017-04-25 | 2017-12-08 | 西安航空学院 | The speed adaptive wing sweeping mechanism and control method of manual height gear |
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| CN112693596A (en) * | 2020-12-25 | 2021-04-23 | 中国航空工业集团公司沈阳飞机设计研究所 | Variable gradient load mechanism |
| CN114671035A (en) * | 2022-03-04 | 2022-06-28 | 湖南山河科技股份有限公司 | Flight control pull rod control device, installation method and application |
| CN114671035B (en) * | 2022-03-04 | 2024-08-16 | 山河星航实业股份有限公司 | Flight control pull rod control device, installation method and application |
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