CN107097934B - A kind of switching method of the main Passive Mode of aircraft side lever system - Google Patents
A kind of switching method of the main Passive Mode of aircraft side lever system Download PDFInfo
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- CN107097934B CN107097934B CN201710200143.0A CN201710200143A CN107097934B CN 107097934 B CN107097934 B CN 107097934B CN 201710200143 A CN201710200143 A CN 201710200143A CN 107097934 B CN107097934 B CN 107097934B
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- 230000007935 neutral effect Effects 0.000 claims description 41
- 238000012913 prioritisation Methods 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Control Devices (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of switching methods of main Passive Mode of aircraft side lever system, in the positive lower end at side lever rotatable handle center, linear motor and position feedback device are set, and spring is set between linear motor and side lever handle, so that spring one end is connected with the lower end of the side lever handle, the other end is connected with the output end of the linear motor；Wherein, position feedback device is used for the extension elongation of the current linear motor output end of Real-time Feedback, and spring can only generate elastic potential energy by elongation, i.e. elongation is strong, and compression is powerless.When aircraft side lever system has the initiative mode, so that spring is in the state not stretched, the sense quality when work of active side lever is not influenced；When aircraft switches to Passive Mode by aggressive mode, control linear motor pulls spring, during side lever handle quickly returns, so that control stick work is in passive working condition.The present invention improves the safety coefficient of aircraft control stick.
Description
Technical field
The present invention relates to flight control method more particularly to a kind of switching methods of the main Passive Mode of aircraft side lever system.
Background technique
For aircraft, reliability is vital.
In order to improve the functional reliability of aircraft side lever system, it is ensured that in torque motor or control system failure, nothing
In the case that method provides accurate reaction force, pilot is able to achieve the normal operational to aircraft, increased in side lever system by
Dynamic formula working method is as backup.
Passive Mode exports angular displacement and the angular velocity information of side lever handle, after guaranteeing motor failure, pilot's energy
Enough drive an airplane the basic function maked a return voyage safely.
In systems, how to realize that the switching between aggressive mode and Passive Mode is a difficult point, in the active mode, quilt
Dynamic side lever cannot interfere active side lever.
Main Passive Mode handoff technique in domestic relevant aeroplane master end lever system not yet, if therefore the technical program
For the functional reliability of aircraft side lever system being improved, to China in the master end lever system of seating plane and military aircraft
Aviation development it is meaningful.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of aircraft side for defect involved in background technique
The switching method of the main Passive Mode of lever system makes aircraft safety make a return voyage so that system enters Passive Mode when motor failure.
The present invention uses following technical scheme to solve above-mentioned technical problem:
A kind of switching method of the main Passive Mode of aircraft side lever system includes following procedure:
Linear motor and position feedback device are set in the positive lower end at side lever rotatable handle center, and in linear motor and side lever
Spring is set between handle, so that spring one end is connected with the lower end of the side lever handle, the other end and the linear motor
Output end is connected；The position feedback device is used for the extension elongation of the current linear motor output end of Real-time Feedback, and the spring is only
Elastic potential energy can be generated by elongation, i.e. elongation is strong, and compression is powerless；
When aircraft side lever system has the initiative mode:
Step 1.1), pilot sets the neutral position of side lever handle, if pilot does not set the neutral position of side lever handle,
It is neutral position when default side lever handle is in a vertical state；
Step 1.2), according to side lever handle neutral position relative to deflection angle of side lever handle when in a vertical state, side
Bar handle relative to the hard-over of neutral position, the former length of spring, rotation center to the bar between side lever handle bottom end it is long and
The distance when extension elongation of linear motor output end is zero at the top of rotation center to linear motor output end, calculates at spring
The extension elongation d of linear motor output end when not tensional state0；
Step 1.3), control linear motor work, so that the extension elongation of its output end is equal to d0；
When aircraft switches to Passive Mode by aggressive mode:
Position of side lever handle when in a vertical state is set default neutral position by step 2.1)；
Step 2.2), according to when antero-lateral rod handle relative to the corner of default neutral position, in conjunction with needed for side lever handle tip
The table of comparisons of Hui Zhongli obtains the Hui Zhongli required for its top when antero-lateral rod handle returns middle；
Step 2.3), according to when antero-lateral rod handle relative to default neutral position corner, when antero-lateral rod handle return in when its
Elasticity system of the Hui Zhongli, rotation center required for top to the distance between side lever handle tip, the former length of spring, spring
Several and rotation center is long to the bar between side lever handle bottom end, calculates after antero-lateral rod handle Hui Zhonghou spring elongation
Length；
Step 2.4), rotation center is to linear motor output end top when the extension elongation according to linear motor output end is zero
The distance in portion, length after antero-lateral rod handle Hui Zhonghou spring elongation, rotation center are long to the bar between side lever handle bottom end,
Calculate the extension elongation d of the linear motor output end when antero-lateral rod handle returns middle1；
Step 2.5), control linear motor work, so that the extension elongation of its output end is equal to d1。
As a kind of further prioritization scheme of switching method of the main Passive Mode of aircraft side lever system of the present invention, the step
It is rapid 1.2) in calculate according to the following formula spring be in not tensional state when linear motor output end extension elongation d0:
Wherein, L is the extension elongation of linear motor output end when being zero at the top of rotation center to linear motor output end
Distance, L0Long for the original of spring, α is hard-over of the side lever handle relative to neutral position, and Δ θ is that side lever handle neutral position is opposite
Deflection angle when side lever handle is in a vertical state, L1It is long to the bar between side lever handle bottom end for rotation center.
As a kind of further prioritization scheme of switching method of the main Passive Mode of aircraft side lever system of the present invention, the step
It is rapid 2.3) in calculate length L after antero-lateral rod handle Hui Zhonghou spring elongation according to the following formula0+ Δ L:
Wherein, F0Hui Zhongli, k needed for returning to neutral position handle tip in current location for side lever handle0For the elasticity of spring
Coefficient, Δ L are the length that spring is elongated, L2For the distance between rotation center to side lever handle tip, θ is aircraft actively
Corner of the side lever handle relative to neutral position when mode.
As a kind of further prioritization scheme of switching method of the main Passive Mode of aircraft side lever system of the present invention, the step
It is rapid 2.4) in calculate according to the following formula when antero-lateral rod handle return in when linear motor output end extension elongation d1:
d1=L-L1-L0-ΔL。
The invention adopts the above technical scheme compared with prior art, has following technical effect that
1. can reduce the volume and weight of aircraft master end lever system, more there is practical equipment meaning；
2. the neutral position of master end lever system can facilitate adjusting, and side lever returns middle process according to the habit of pilot
Rapidly, position is accurate in returning；
3. passive side lever will not interfere active side lever within the scope of side lever movement travel；
4. torque motor or control system break down, system is switched to Passive Mode, and pilot can drive an airplane
Safety is maked a return voyage.
Detailed description of the invention
Fig. 1 is the passive switching method of aircraft master end lever system master and schematic illustration；
Fig. 2 is the working state schematic representation of side lever handle in the active mode in the present invention；
Fig. 3 is the working state schematic representation of side lever handle in the passive mode in the present invention.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
To realize that the switching between main Passive Mode, the invention realize this function using special spring and linear motor.Such as
Shown in Fig. 1, linear motor and position feedback device are set in the positive lower end at side lever rotatable handle center, and in linear motor and side lever
Spring is set between handle, so that spring one end is connected with the lower end of the side lever handle, the other end and the linear motor
Output end is connected；The position feedback device is used for the extension elongation of the current linear motor output end of Real-time Feedback, and the spring is only
Elastic potential energy can be generated by elongation, i.e. elongation is strong, and compression is powerless.
To save installation space, pitch axis and wobble shaft share a spring.Main Passive Mode is illustrated by taking pitch axis as an example
Between switching, setting pitch angle be positive forward.
When aircraft side lever system has the initiative mode:
The neutral position that pilot sets side lever handle first is defaulted if pilot does not set the neutral position of side lever handle
It is neutral position when side lever handle is in a vertical state；
Then deflection angle, the side lever handle according to side lever handle neutral position relative to side lever handle when in a vertical state
Relative to the hard-over of neutral position, the former length of spring, rotation center to the bar length and straight-line electric between side lever handle bottom end
The distance when extension elongation of machine output end is zero at the top of rotation center to linear motor output end, calculate spring be in do not draw
The extension elongation d of linear motor output end when stretching state0；
Finally control linear motor work, so that the extension elongation of its output end is equal to d0。
As shown in Fig. 2, enabling side lever handle neutral position relative to deflection angle of side lever handle when in a vertical state is Δ
θ, side lever handle is α relative to the hard-over of neutral position, when side lever handle is located at hard-over between spring and vertical direction
Angle be β.
Enable a length of L of original of spring0, rotation center to a length of L of bar between side lever handle bottom end1, linear motor output end
Distance when extension elongation is zero at the top of rotation center to linear motor output end is L, and current rotation center is defeated to linear motor
Distance at the top of outlet is L '.
According to sine, it is known that
It acquires
According to sine, it is known that
It acquires
Due to the extension elongation d of linear motor output end when spring is in not tensional state0=L-L ', then
Therefore, according to the neutral position of setting, linear motor moves to d0Place, just can guarantee system in the active mode, side
Bar moves in stroke range, and spring is in relaxation or tensional state, passive side lever will not interfere active side lever.
When aircraft switches to Passive Mode by aggressive mode:
Firstly, setting default neutral position for position of side lever handle when in a vertical state；
Then, according to when antero-lateral rod handle relative to the corner of default neutral position, in conjunction with needed for side lever handle tip return in
The table of comparisons of power obtains the Hui Zhongli required for its top when antero-lateral rod handle returns middle；
Secondly, according to when antero-lateral rod handle relative to neutral position corner, when antero-lateral rod handle return in when its top needed for
The distance between the Hui Zhongli that wants, rotation center to side lever handle tip, the former length of spring, the coefficient of elasticity of spring, Yi Jixuan
Turn that center is long to the bar between side lever handle bottom end, calculates length after antero-lateral rod handle Hui Zhonghou spring elongation；
Then, when being zero according to the extension elongation of linear motor output end at the top of rotation center to linear motor output end
Distance, length after antero-lateral rod handle Hui Zhonghou spring is drawn high, rotation center are long to the bar between side lever handle bottom end, calculate
Out when antero-lateral rod handle return in when linear motor output end extension elongation d1；
Finally, control linear motor work, so that the extension elongation of its output end is equal to d1。
As shown in figure 3, when system is switched to Passive Mode, enable aircraft in aggressive mode side lever handle relative to neutrality
The corner of position is θ, since side lever handle neutral position is Δ θ relative to deflection angle of side lever handle when in a vertical state, that
After switching to Passive Mode, neutral position be reset to side lever handle it is in a vertical state when position, at this point, side lever hand
Handle is θ+Δ θ relative to the corner of neutral position.
Enable the extension elongation d for adjusting linear motor output end1When, make spring elongation, providing enough power keeps side lever quick
Hui Zhong.
Enable rotation center to the distance between side lever handle tip be L2, the length of spring is L at vertical position0+ΔL
(Δ L >=0), Δ L are the length that spring is elongated, then
d1=L-L1-L0-ΔL
According to the cosine law, the length of current spring is
Spring occur deformation Δ x be
According to sine, the angle between the location of spring and bar is γ at this time
ByKnown to:
The coefficient of elasticity for enabling spring is k0, then power suffered by spring is F=k0×Δx；Power is decomposed vertical with bar
Direction, the power F that vertical direction is subject to1For F1=Fsin γ.
Enabling side lever handle power in current location returns to needed for the handle tip of default neutral position and returns is F0, according to equalising torque
Theorem, F0×L2=F1×L1, then:
I.e.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (4)
1. a kind of switching method of the main Passive Mode of aircraft side lever system, which is characterized in that include following procedure:
Linear motor and position feedback device are set in the positive lower end at side lever rotatable handle center, and in linear motor and side lever handle
Between spring is set so that spring one end is connected with the lower end of the side lever handle, the output of the other end and the linear motor
End is connected；The position feedback device is used for the extension elongation of the current linear motor output end of Real-time Feedback, and the spring can only lead to
It crosses elongation and generates elastic potential energy, is i.e. elongation is strong, and compression is powerless；
When aircraft side lever system has the initiative mode:
Step 1.1), the neutral position that pilot sets side lever handle are defaulted if pilot does not set the neutral position of side lever handle
It is the neutral position of side lever handle when side lever handle is in a vertical state；
Step 1.2), deflection angle, side lever hand according to side lever handle neutral position relative to side lever handle when in a vertical state
Handle relative to the hard-over of side lever handle neutral position, the former length of spring, side lever rotatable handle center to side lever handle bottom end it
Between side lever rotatable handle center to linear motor output end top when bar is long and the extension elongation of linear motor output end is zero
The distance in portion calculates the extension elongation d of linear motor output end when spring is in not tensional state0；
Step 1.3), control linear motor work, so that the extension elongation of its output end is equal to d0；
When aircraft switches to Passive Mode by aggressive mode:
Position of side lever handle when in a vertical state is set default side lever handle neutral position by step 2.1)；
Step 2.2), according to when antero-lateral rod handle relative to default side lever handle neutral position corner, in conjunction with side lever handle tip
The table of comparisons of required Hui Zhongli obtains side lever handle in current location returns to needed for side lever handle neutral position handle tip and returns
Power；
Step 2.3), according to when antero-lateral rod handle relative to default side lever handle neutral position corner, when antero-lateral rod handle return in
When its top required for the distance between Hui Zhongli, side lever rotatable handle center to side lever handle tip, the former length of spring, bullet
The coefficient of elasticity of spring and side lever rotatable handle center are long to the bar between side lever handle bottom end, calculate when antero-lateral rod handle
Length after Hui Zhonghou spring elongation；
Step 2.4), side lever rotatable handle center to linear motor exports when the extension elongation according to linear motor output end is zero
Hold distance, length after antero-lateral rod handle Hui Zhonghou spring elongation, side lever rotatable handle center to side lever handle bottom at top
Bar between end is long, calculates the extension elongation d of the linear motor output end when antero-lateral rod handle returns middle1；
Step 2.5), control linear motor work, so that the extension elongation of its output end is equal to d1。
2. the switching method of the main Passive Mode of aircraft side lever system according to claim 1, which is characterized in that the step
1.2) the extension elongation d of linear motor output end when spring is in not tensional state is calculated according to the following formula0:
Wherein, L is the extension elongation of linear motor output end side lever rotatable handle center to linear motor output end top when being zero
The distance in portion, L0Long for the original of spring, α is hard-over of the side lever handle relative to side lever handle neutral position, and Δ θ is side lever hand
Deflection angle of the handle neutral position relative to side lever handle when in a vertical state, L1For side lever rotatable handle center to side lever handle
Bar between bottom end is long.
3. the switching method of the main Passive Mode of aircraft side lever system according to claim 2, which is characterized in that the step
2.3) length L after antero-lateral rod handle Hui Zhonghou spring elongation is calculated according to the following formula0+ Δ L:
Wherein, F0Hui Zhongli, k needed for returning to side lever handle neutral position handle tip in current location for side lever handle0For spring
Coefficient of elasticity, Δ L are the length that spring is elongated, L2For the distance between side lever rotatable handle center to side lever handle tip, θ
For aircraft in aggressive mode corner of the side lever handle relative to side lever handle neutral position.
4. the switching method of the main Passive Mode of aircraft side lever system according to claim 3, which is characterized in that the step
2.4) the extension elongation d of the linear motor output end when antero-lateral rod handle returns middle is calculated according to the following formula1:
d1=L-L1-L0-ΔL。
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| CN201710200143.0A CN107097934B (en) | 2017-03-30 | 2017-03-30 | A kind of switching method of the main Passive Mode of aircraft side lever system |
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| CN201710200143.0A CN107097934B (en) | 2017-03-30 | 2017-03-30 | A kind of switching method of the main Passive Mode of aircraft side lever system |
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| CN107097934B true CN107097934B (en) | 2019-04-05 |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7888901B2 (en) * | 2006-11-15 | 2011-02-15 | Honeywell International Inc. | Active human-machine interface system including an electrically controllable damper |
| US9051045B2 (en) * | 2010-07-28 | 2015-06-09 | Woodward Mpc, Inc. | Indirect drive active control column |
| US10118688B2 (en) * | 2015-08-18 | 2018-11-06 | Woodward, Inc. | Inherently balanced control stick |
| CN105700615A (en) * | 2016-02-25 | 2016-06-22 | 南京航空航天大学 | Airplane active side lever system |
| CN205652337U (en) * | 2016-02-25 | 2016-10-19 | 南京航空航天大学 | Aircraft initiative side lever |
| CN105620729B (en) * | 2016-02-25 | 2017-08-01 | 南京航空航天大学 | Method during a kind of side lever of aircraft master end lever system is returned automatically |
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