CN106828893B - Antiskid brake control method and system based on binding force estimation - Google Patents
Antiskid brake control method and system based on binding force estimation Download PDFInfo
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- CN106828893B CN106828893B CN201611216018.0A CN201611216018A CN106828893B CN 106828893 B CN106828893 B CN 106828893B CN 201611216018 A CN201611216018 A CN 201611216018A CN 106828893 B CN106828893 B CN 106828893B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/42—Arrangement or adaptation of brakes
- B64C25/44—Actuating mechanisms
- B64C25/46—Brake regulators for preventing skidding or aircraft somersaulting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1703—Braking or traction control means specially adapted for particular types of vehicles for aircrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention provides a kind of Control Method for Airplane Antiskid Braking System based on binding force estimation, comprising: target slip ratio generation step, for generating target slip ratio based on the binding force of the slip rate of calculating and estimation；Pressing creation step is controlled, for generating the brake pressure for acting on airplane wheel based on the difference of the target slip ratio and the slip rate of calculating；Speed interpolation filter step, for based on the brake pressure, the wheel wheel speed measured after the brake pressure acts on airplane wheel and air speed, using Extended Kalman filter method, interpolation and filtering are carried out to the wheel wheel speed and air speed of the measurement；Slip rate calculates step, for calculating slip rate based on the wheel wheel speed and air speed Jing Guo interpolation and filtering；And binding force estimating step, for estimating the binding force between airplane wheel and runway surface using Kalman-Bucy filtering method based on the brake pressure, by the wheel wheel speed and air speed of interpolation and filtering.The present invention also provides a kind of antiskid braking control system for airplane based on binding force estimation.
Description
Technical field
The present invention relates to aircraft brake control fields, and in particular to the airplane antiskid braking controlling party based on binding force estimation
Method and system.
Background technique
The take-off and landing of aircraft is the multiple stage of aircraft accident.Anti-skid brake system (ABS) is that important airborne of aircraft is set
It is standby, the safety taken off, landed is had a major impact.It is required that aircraft still is able under the conditions of complicated runway environment
Safe landing and stopping stops, this is of great significance to aircraft safety and reliability is promoted.
Aircraft Anti-skid Break Control be one it is complicated there is probabilistic nonlinear system, there are many non-in system
Linear factor directly influences the performance of antiskid brake.The sliding process time that runs of aircraft landing is shorter, therefore it is required that antiskid brake system
System is stablized, quickly and correctly works, it is ensured that the safety of aircraft.The performance of anti-skid brake system (ABS) is influenced by many factors, such as
Whether runway surface slot, the situation of runway surface (dry, wet or accumulated snow etc.), the variation of air speed, tire the blowing pressure
Deng.Substantially, what these factors influenced is aircraft by the tire of brake wheel and the binding force of runway surface and rolling resistance.It is anti-skidding
The main purpose of brake system is the binding force for making full use of runway to provide, and stops aircraft brake in distance as short as possible.
The variation of runway surface situation is more serious external disturbance for Aircraft Anti-skid Break Control.Such as work as wheel
When locating runway surface attachment coefficient is lower by height, wheel occurs to skid due to strongly reducing in conjunction with torque or even locking is existing
As this requires antiskid braking control boxes to make a response in time, and by reducing rapidly brake pressure, to be able to wheel speed extensive
It is multiple.Therefore brake adaptability of the control algolithm to different runway surface situations and the Shandong when runway surface situation changes
Stick directly affects antiskid brake effect.
In existing airplane antiskid braking control algolithm, the speed refresh rate that is provided due to aircraft inertial navigation system
It is lower, can not matching system control the period, generally use zeroth order holding method or normal interpolation method carry out velocity compensation, because
This existing brake method, which carries out anti-sliding control by the rate of deceleration or slip rate, sliding velocity etc., can not obtain very high brake
Efficiency is easy to appear slipping phenomenon in some cases, causes to seriously affect to the safety of aircraft.
Summary of the invention
In view of the above problems, the present invention provides it is a kind of based on binding force estimation Control Method for Airplane Antiskid Braking System and be
System, can be improved brake system braking efficiency, and inhibit the generation of slipping phenomenon, guarantees the safety of aircraft.
According to an aspect of the present invention, a kind of Control Method for Airplane Antiskid Braking System based on binding force estimation, packet are provided
It includes:
Target slip ratio generation step, for generating target sliding based on the binding force of the slip rate of calculating and estimation
Rate；
Pressing creation step is controlled, for acting on based on the difference of the target slip ratio and the slip rate of calculating to generate
The brake pressure of airplane wheel；
Speed interpolation filter step, for based on the brake pressure, the brake pressure act on airplane wheel it
The wheel wheel speed and air speed measured afterwards, using Extended Kalman filter method, to the wheel wheel speed and aircraft of the measurement
Speed carries out interpolation and filtering；
Slip rate calculates step, for calculating slip rate based on the wheel wheel speed and air speed Jing Guo interpolation and filtering；
And
Binding force estimating step, for based on the brake pressure, by interpolation and the wheel wheel speed and aircraft of filtering speed
Degree estimates the binding force between airplane wheel and runway surface using Kalman-Bucy filtering method.
According to embodiment, the difference input that pressing creation step includes the slip rate by the target slip ratio and calculating is controlled
It is converted into brake valve current signal to generate control signal and the control signal to controller, so that brake valve is defeated
The brake pressure of airplane wheel is acted on out.
According to embodiment, the air speed is obtained by aircraft inertial navigation system measurement.
According to embodiment, the speed interpolation filter step includes: the refreshing speed based on the aircraft inertial navigation system
Rate and required control frequency carry out multiple interpolation to the wheel wheel speed and air speed of the measurement.
According to embodiment, the target slip ratio generation step includes:
When brake is enabled, the initial maximum slip rate upper limit and original allocation ratio are set, wherein original allocation ratio
Example is equal to the initial maximum slip rate divided by brake instruction maximum value；
In the maximum slip rate of no update and the original allocation ratio, so that the target slip ratio is equal to given stop
Vehicle is instructed multiplied by the original allocation ratio；
If the target slip ratio is more than the initial maximum slip rate upper limit, using the maximum slip rate as institute
State target slip ratio output；
If the target slip ratio is less than the initial maximum slip rate upper limit, step is calculated by the slip rate
Suddenly it obtains the slip rate of the calculating, obtained described in binding force and the calculating of the estimation by the binding force estimating step
Derivative of the binding force of estimation relative to the slip rate of the calculating；
If the derivative is greater than predetermined threshold, the target slip ratio is exported；
If the derivative is less than the predetermined threshold, record slip rate at this time with update the maximum slip rate and
The original allocation ratio.
According to another aspect of the present invention, a kind of antiskid braking control system for airplane based on binding force estimation is provided,
Include:
Target slip ratio generating means, for generating target sliding based on the binding force of the slip rate of calculating and estimation
Rate；
Pressure generation device is controlled, for acting on based on the difference of the target slip ratio and the slip rate of calculating to generate
The brake pressure of airplane wheel；
Speed interpolation filter, for based on the brake pressure, the brake pressure act on airplane wheel it
The wheel wheel speed and air speed measured afterwards, using Extended Kalman filter method, to the wheel wheel speed and aircraft of the measurement
Speed carries out interpolation and filtering；
Slip rate computing device, for calculating slip rate based on the wheel wheel speed and air speed Jing Guo interpolation and filtering；
And
Binding force estimation device, for based on the brake pressure, by interpolation and the wheel wheel speed and aircraft of filtering speed
Degree estimates the binding force between airplane wheel and runway surface using Kalman-Bucy filtering method.
According to embodiment, controls pressure generation device and be used to input the difference of the target slip ratio and the slip rate of calculating
It is converted into brake valve current signal to generate control signal and the control signal to controller, so that brake valve is defeated
The brake pressure of airplane wheel is acted on out.
According to embodiment, the air speed is obtained by aircraft inertial navigation system measurement.
According to embodiment, the speed interpolation filter includes: the refreshing speed based on the aircraft inertial navigation system
Rate and required control frequency carry out multiple interpolation to the wheel wheel speed and air speed of the measurement.
According to embodiment, the target slip ratio generating means are used for:
When brake is enabled, the initial maximum slip rate upper limit and original allocation ratio are set, wherein original allocation ratio
Example is equal to the initial maximum slip rate divided by brake instruction maximum value；
In the maximum slip rate of no update and the original allocation ratio, so that the target slip ratio is equal to given stop
Vehicle is instructed multiplied by the original allocation ratio；
If the target slip ratio is more than the initial maximum slip rate upper limit, using the maximum slip rate as institute
State target slip ratio output；
If the target slip ratio is less than the initial maximum slip rate upper limit, dress is calculated by the slip rate
It sets and obtains the slip rate of the calculating, obtained described in binding force and the calculating of the estimation by the binding force estimation device
Derivative of the binding force of estimation relative to the slip rate of the calculating；
If the derivative is greater than predetermined threshold, the target slip ratio is exported；
If the derivative is less than the predetermined threshold, record slip rate at this time with update the maximum slip rate and
The original allocation ratio.
Detailed description of the invention
Fig. 1 is to illustrate the Control Method for Airplane Antiskid Braking System and system according to an embodiment of the present invention based on binding force estimation
Working principle block diagram.
Fig. 2 is signal of the binding force of wheel and runway relative to the relation curve of slip rate under one runway state of instruction sheet
Figure.
Fig. 3 is to illustrate the Control Method for Airplane Antiskid Braking System and system according to an embodiment of the present invention based on binding force estimation
Target slip ratio generation step and device working principle flow chart.
Specific embodiment
The airplane antiskid braking control according to an embodiment of the present invention based on binding force estimation is illustrated referring to the drawings
Method and system processed.
Fig. 1 shows the Control Method for Airplane Antiskid Braking System and system according to an embodiment of the present invention based on binding force estimation
Working principle.As shown in Figure 1, the Control Method for Airplane Antiskid Braking System according to an embodiment of the present invention based on binding force estimation/
System includes:
Target slip ratio generation step/device 7, for generating mesh based on the binding force F of the slip rate λ of calculating and estimation
Mark slip rate λd；
Pressing creation step/device 4,5 is controlled, for being based on the target slip ratio λdAnd the difference of the slip rate λ of calculating
To generate the brake pressure P for acting on airplane wheelb, specifically, target slip ratio λdAnd the difference of the slip rate λ of calculating is as control
The input of device 5 processed, control pressure output unit 4 are used to the control signal that controller 5 exports being converted to brake valve current signal,
So that brake valve output acts on the brake pressure P of wheel 3 accordinglyb, wherein controller may, for example, be fuzzy-adaptation PID control
Device, however the invention is not limited thereto, any appropriate controller is used equally for the present invention；
Speed interpolation filter step/device 2, for being based on the brake pressure Pb, act in the brake pressure it is winged
The wheel wheel speed ω and air speed V measured after machine wheel 3p, using Extended Kalman filter method, to the machine of the measurement
Take turns wheel speed ω and air speed VpCarry out interpolation and filtering, specifically, brake system 3 include airplane wheel and represent wheel with
The real process of ground friction samples wheel speed signal ω, and the electronics for passing through aircraft by wheel speed sensors from brake system 3
Inertial navigation system 1 obtains air speed freshness value Vp；
Slip rate calculates step/device 9, for based on the wheel wheel speed ω and air speed V Jing Guo interpolation and filteringp,
Calculate slip rate λ；And
Binding force estimating step/device 8, for being based on the brake pressure Pb, by the wheel wheel speed of interpolation and filtering
ω and air speed Vp, using Kalman-Bucy filtering method, estimate the binding force F between airplane wheel and runway surface.
In embodiment, speed interpolation filter step/device include: the refresh rate based on aircraft inertial navigation system with
And required control frequency, multiple interpolation is carried out to the wheel wheel speed and air speed of the measurement.For example, airplane inertial navigates
The refresh rate of system is 50ms, and the control frequency of system is 10ms, then is carried out 4 times by speed interpolation filter step/device 2
Interpolation is for 4 secondary control processes among 2 inertial navigation speed refresh process.
For the above process, detailed description below speed interpolation filter step/device 2 therein, target slip ratio are generated
Step/device 7 and binding force estimating step/device 8, brake system model used in whole system are as follows:
1, in brake process, speed interpolation filter step/device 2 combines wheel by Extended Kalman filter method
Fast ω, the measured value V of air speedpAnd brake pressure inputs Pb, speed interpolation calculating is carried out, and to air speed VpAnd wheel
Fast ω is filtered, that is, concrete methods of realizing is as follows:
Kalman filter is designed, brake system state variable is defined:
Wherein VpFor air speed, ω is airplane wheel revolving speed,For aircraft rate,For the variation of aircraft rate
Brake pressure is defined as system input by rate, then system state equation can be described as:
Wherein:
X=[x1 x2 x3 x4]T (4)
F (x)=[f1(x) f2(x) f3(x) f4(x)]T (5)
Expanded expression:
f3(x)=x4 (8)
f4(x)=0 (9)
B=[0-kb/I 0 0] (10)
Wherein: n is by brake wheel quantity, and I is single wheel rotary inertia, kbFor brake pressure-torque conversion coefficient, μ
It can be calculated by runway model and slip rate, T0For engine residual thrust, kvFor the thrust-velocity coefficient of engine, M is winged
Machine quality, ρ are atmospheric density, CdFor aircraft running drag coefficient, CpFor parachute drag coefficient, S is wing area, SPTo subtract
Fast umbrella reference area, L are the distance between center of gravity and front-wheel, KgCentered on the distance between with rear-wheel, μfFor front-wheel and runway
Attachment coefficient, CLLift coefficient when being run for aircraft is sliding.R is wheel rolling radius.hcIt is the center of gravity of airplane away from ground level.htFor
Motor power line and the horizontal angle of aircraft.hsFor motor power coefficient.
For measurement equation, have:
H (x)=[h1(x) h2(x)] (11)
h1(x)=x1 (12)
h2(x)=x2 (13)
Discrete Extended Kalman filter is carried out below for above-mentioned model, is estimated here using 4 state variables as filtering
Value, using air speed and wheel speed as measured value.
First by above-mentioned equation discretization, obtain:
The sequence run later according to program executes following steps when executing program every time:
1) model sytem matrix after linearizing is calculated:
2) computing system covariance matrix and system state variables priori estimates
3) model observational equation matrix after linearizing is calculated
4) system state variables posterior estimate and covariance matrix are updated
It is obtained by above-mentioned iterative processAs state estimation of the system after Extended Kalman filter, therefrom
The aircraft rate extracted, the change rate of aircraft rate can be used to the calculating of following procedure.Since aircraft inertial navigation provides
Air speed refreshing frequency it is excessively slow, be greater than control the period, then no air speed update period in, can use priori
Estimated valueCalculated instead of posterior estimate, air speed update after, using new measurement amount carry out state update with
Correction.
2, the aircraft inertial navigation speed and wheel speed provided for a upper process, combination pressure input, design Kalman's filter
Wave device estimates wheel binding force, i.e. binding force estimating step/device 8, and concrete methods of realizing is as follows:
Aerodynamic drag is reduced to the proportional component of speed by the model simplification that will be observed.Random walk model is integrated to use
The dynamic of wheel Yu floor binding force F is modeled, which can obtain random value after thinking more differential of binding force F.Ignore and falls
Lift effect behind ground enables the state vector for being observed model are as follows:
The state space expression of model can must be observed by arranging:
Wherein: KdIndicate pneumatic drag coefficient；PbAnd wdIt is inputted as system；wdIndicate random white noise；we(t) it represents
Procedure activation noise, and be white Gaussian noise, covariance matrix Q.It defines observation vector Y=[v, w]T, then the side of measurement
Journey are as follows:
Wherein: n (t) represents the white noise of Gaussian Profile, covariance matrix R.
Kalman-Bucy filtering method is different from Extended Kalman filter method, the prediction not separated and renewal equation,
The renewal equation of the estimation renewal equation and estimation error covariance matrix of its state are as follows:
Wherein: band (^) indicates the estimated value of the variable；P (t) is estimation error covariance matrix；K (t) is Kalman
Filtering gain is determined by following formula:
K (t)=P (t) HTR-1 (23)
It could be incorporated power estimation by the above process.
3, illustrate target slip ratio generation step/device 7 workflow referring to Fig. 2 and 3.
The air speed that target slip ratio generation step/device 7 is obtained by first two steps, wheel speed calculate slip rate, and
According to the air speed in Kalman filter, the change rate of wheel speed calculates the change rate of slip rate, and can be combined
Power change rate.Such as following formula:
According to runway and wheel attachment coefficient influence factor, Fig. 2 shows the knots of wheel and runway under single runway state
Relation curve of the resultant force F relative to slip rate λ.It is stopped under single runway state using maximum combined power provided by runway
Vehicle, namely slip rate corresponding to curve highest point is looked for, and control brake pressure and slip rate is made to reach this maximum slip rate.
Road conditions change or wheel load changes, then curve can jump, and how dynamically smoothly to track current bonding state
Under maximum combined power, be main problem of interest, in this course, wheel should not have skidded state as far as possible.
In the whole process, design of control law can be carried out according to sliding curve relationship, whenAircraft brake system
Ascent stage of the system in sliding curve, the generation that do not skid, whenWhen, it is in curve right-hand component, in skidding
State utilizes in engineeringAnti-skidding judgement can be carried out, δ is a positive number, represents and is determined in engineering
Threshold value, this threshold value make judgement point on the left of highest point in Fig. 2, ensure that the stability and safety of system.Threshold value choosing
What is taken is smaller, then for test point closer to the highest point of curve, whole process braking efficiency is higher, but is more easy to happen and crosses highest
The phenomenon that point skids obtains a suitable judgment threshold and carries out so needing to comprehensively consider between safety and high efficiency
Control.Before the control instruction that pilot provides not yet makes test point cross curve point of safes, pressed according to the given instruction of pilot
Pro rate brake pressure, once crossing point of safes, then within that the control period crossed, record aircraft slip rate is as winged
Machine maximum slip rate, and the given instruction of pilot is recorded as given instruction maximum value, when the given instruction of pilot is more than given
When instructing maximum value, maximum slip rate closed-loop control is carried out；When the given instruction of pilot is less than maximum value, again proportionally
Brake pressure is distributed, brake control is carried out.
Target slip ratio generation step/device process is illustrated referring to Fig. 3.
Firstly, setting initial maximum slip rate upper limit λ when brake enables 11max0, this value can be set to as far as possible
When greatly, so that aircraft is in this setting value, skidding can be generated；And original allocation ratio K0If pilot's brake pedal plate
Output order is up to Vmax, then K0=λmax0/Vmax, then 12 brake instruction V are given by pilot, new λ is updated nomaxWith
K0When, so that 13 output λd=V × K0.Determine later output whether the super upper limit 14, if more than the upper limit, by λmaxAs target value
Output 15, then carry out following detection.If not exceeded, then directly being detected.Step/device 9 is calculated by slip rate to calculate
18 slip rate λ and 17 binding force F are estimated by binding force estimating step/device 8.By rightCalculating 19 is carried out, and rightCarry out threshold determination 20.If more than threshold value, illustrate to be not close to highest point, brake pressure can be continued growing, it is not necessary to
Upper limit value etc. is updated, λ can be directly exporteddFor target value 16.If being less than threshold value, wheel is in curve close to highest point at this time
Position, the slip rate recorded at this time subtract a secure threshold, can be used as maximum target slip rate, realize to λmaxMore
New 21.Pilot command exports maximum target slip rate still then if it exceeds this value to prevent the generation skidded.Remember at this time
Pilot command V is recorded, and by K=λmaxThe update to K can be realized in/V.When there is external disturbance, it is ok after all
It is attributed to friction curve to be changed, thenIt can occur to change accordingly, pass throughThis condition determined,
The generation of slipping phenomenon can rapidly be detected.By above-mentioned renewal process, then entire brake system has adapted to the current of runway
State, so that brake system work is near friction curve highest point, braking efficiency is high, while avoiding the hair of slipping phenomenon
It is raw, to realize airplane antiskid braking self-adaptation control method.
In conclusion the present invention provides a kind of Control Method for Airplane Antiskid Braking System and system based on binding force estimation,
It utilizes the air speed interpolation method of Extended Kalman filter, and smooth velocity variations process is conducive to anti-sliding control, and this
Method joined the influence of brake pressure variation, more accurately can carry out interpolation to air speed, predict its variation tendency；And
And using Extended Kalman filter method observation binding force and slip rate change rate, and according to the frictional behavior on wheel and road surface into
Row maximum slip rate determines, improves antiskid brake efficiency, and guarantee safety；In addition, the method using fuzzy control is slided
Shifting rate closed-loop control ensure that system can immediate stability when there is larger interference.
Obviously, the above embodiment is merely an example for clearly illustrating the present invention, and is not to of the invention
The restriction of embodiment.For those of ordinary skill in the art, it can also be made on the basis of the above description
Its various forms of variation or variation.There is no necessity and possibility to exhaust all the enbodiments.And these belong to this hair
The obvious changes or variations that bright spirit is extended out are still in the protection scope of this invention.
Claims (10)
1. a kind of Control Method for Airplane Antiskid Braking System based on binding force estimation, comprising:
Target slip ratio generation step, for generating target slip ratio based on the binding force of the slip rate of calculating and estimation；
Pressing creation step is controlled, for acting on aircraft based on the difference of the target slip ratio and the slip rate of calculating to generate
The brake pressure of wheel；
Speed interpolation filter step, for being surveyed based on the brake pressure, after the brake pressure acts on airplane wheel
The wheel wheel speed and air speed of amount, using Extended Kalman filter method, to the wheel wheel speed and air speed of the measurement
Carry out interpolation and filtering；
Slip rate calculates step, for calculating slip rate based on the wheel wheel speed and air speed Jing Guo interpolation and filtering；And
Binding force estimating step, for based on the brake pressure, by the wheel wheel speed and air speed of interpolation and filtering, make
With Kalman-Bucy filtering method, the binding force between airplane wheel and runway surface is estimated.
2. the Control Method for Airplane Antiskid Braking System as described in claim 1 based on binding force estimation, wherein control pressing creation
Step includes that the difference of the slip rate by the target slip ratio and calculating is input to controller to generate control signal and described
Control signal is converted into brake valve current signal, so that brake valve output action is in the brake pressure of airplane wheel.
3. the Control Method for Airplane Antiskid Braking System as described in claim 1 based on binding force estimation, wherein the air speed
It is obtained by aircraft inertial navigation system measurement.
4. the Control Method for Airplane Antiskid Braking System as claimed in claim 3 based on binding force estimation, wherein the speed interpolation
Filter step includes: refresh rate and required control frequency based on the aircraft inertial navigation system, to the measurement
Wheel wheel speed and air speed carry out multiple interpolation.
5. the Control Method for Airplane Antiskid Braking System as described in claim 1 based on binding force estimation, wherein the target sliding
Rate generation step includes:
When brake is enabled, the initial maximum slip rate upper limit and original allocation ratio are set, wherein described original allocation ratio etc.
In the initial maximum slip rate divided by pilot's brake pedal plate output order maximum value；
In the maximum slip rate of no update and the original allocation ratio, so that the target slip ratio is equal to given pilot
Brake pedal plate output order is multiplied by the original allocation ratio；
If the target slip ratio is more than the initial maximum slip rate upper limit, using the maximum slip rate as the mesh
Mark slip rate output；
If the target slip ratio is less than the initial maximum slip rate upper limit, step is calculated by the slip rate and is obtained
The slip rate of the calculating is obtained, the binding force of the estimation is obtained by the binding force estimating step and calculates the estimation
Binding force relative to the calculating slip rate derivative；
If the derivative is greater than predetermined threshold, the target slip ratio is exported；
If the derivative is less than the predetermined threshold, slip rate at this time is recorded to update the maximum slip rate and described
Original allocation ratio.
6. a kind of antiskid braking control system for airplane based on binding force estimation, comprising:
Target slip ratio generating means, for generating target slip ratio based on the binding force of the slip rate of calculating and estimation；
Pressure generation device is controlled, for acting on aircraft based on the difference of the target slip ratio and the slip rate of calculating to generate
The brake pressure of wheel；
Speed interpolation filter, for being surveyed based on the brake pressure, after the brake pressure acts on airplane wheel
The wheel wheel speed and air speed of amount, using Extended Kalman filter method, to the wheel wheel speed and air speed of the measurement
Carry out interpolation and filtering；
Slip rate computing device, for calculating slip rate based on the wheel wheel speed and air speed Jing Guo interpolation and filtering；And
Binding force estimation device, for based on the brake pressure, by the wheel wheel speed and air speed of interpolation and filtering, make
With Kalman-Bucy filtering method, the binding force between airplane wheel and runway surface is estimated.
7. the antiskid braking control system for airplane as claimed in claim 6 based on binding force estimation, wherein control pressing creation
Device is used to the difference of the target slip ratio and the slip rate of calculating being input to controller to generate control signal and described
Control signal is converted into brake valve current signal, so that brake valve output action is in the brake pressure of airplane wheel.
8. the antiskid braking control system for airplane as claimed in claim 6 based on binding force estimation, wherein the air speed
It is obtained by aircraft inertial navigation system measurement.
9. the antiskid braking control system for airplane as claimed in claim 8 based on binding force estimation, wherein the speed interpolation
Filter includes: refresh rate and required control frequency based on the aircraft inertial navigation system, to the measurement
Wheel wheel speed and air speed carry out multiple interpolation.
10. the antiskid braking control system for airplane as claimed in claim 6 based on binding force estimation, wherein the target is sliding
Shifting rate generating means are used for:
When brake is enabled, the initial maximum slip rate upper limit and original allocation ratio are set, wherein described original allocation ratio etc.
In the initial maximum slip rate divided by pilot's brake pedal plate output order maximum value；
In the maximum slip rate of no update and the original allocation ratio, so that the target slip ratio is equal to given pilot
Brake pedal plate output order is multiplied by the original allocation ratio；
If the target slip ratio is more than the initial maximum slip rate upper limit, using the maximum slip rate as the mesh
Mark slip rate output；
If the target slip ratio is less than the initial maximum slip rate upper limit, obtained by the slip rate computing device
The slip rate of the calculating is obtained, the binding force of the estimation is obtained by the binding force estimation device and calculates the estimation
Binding force relative to the calculating slip rate derivative；
If the derivative is greater than predetermined threshold, the target slip ratio is exported；
If the derivative is less than the predetermined threshold, slip rate at this time is recorded to update the maximum slip rate and described
Original allocation ratio.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611216018.0A CN106828893B (en) | 2016-12-26 | 2016-12-26 | Antiskid brake control method and system based on binding force estimation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611216018.0A CN106828893B (en) | 2016-12-26 | 2016-12-26 | Antiskid brake control method and system based on binding force estimation |
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| Publication Number | Publication Date |
|---|---|
| CN106828893A CN106828893A (en) | 2017-06-13 |
| CN106828893B true CN106828893B (en) | 2019-04-30 |
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| CN112959989B (en) * | 2021-02-23 | 2022-05-13 | 北京航空航天大学 | Real-time runway state detection method and brake pressure control method |
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