CN107215474A - The control method and control system of landing are balanced for aircraft - Google Patents
The control method and control system of landing are balanced for aircraft Download PDFInfo
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- CN107215474A CN107215474A CN201710347537.9A CN201710347537A CN107215474A CN 107215474 A CN107215474 A CN 107215474A CN 201710347537 A CN201710347537 A CN 201710347537A CN 107215474 A CN107215474 A CN 107215474A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000008602 contraction Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 2
- 239000007788 liquid Substances 0.000 claims description 2
- 238000012545 processing Methods 0.000 claims description 2
- 230000008054 signal transmission Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 6
- 230000008439 repair process Effects 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 230000000644 propagated effect Effects 0.000 description 4
- 210000001367 artery Anatomy 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000000686 essence Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000002366 time-of-flight method Methods 0.000 description 2
- 210000003462 vein Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/08—Landing aids; Safety measures to prevent collision with earth's surface optical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/22—Operating mechanisms fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/24—Operating mechanisms electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/26—Control or locking systems therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention belongs to flying vehicles control technical field there is provided a kind of control method and control system that landing is balanced for aircraft, the control method comprises the following steps：A. when aircraft drop to preset height from the ground, transmitting multiple laser pulse microwave to ground；B. the time difference received according to multiple laser pulse microwave after ground return, the flatness on ground is obtained；C. according to the flatness on ground, adjust it is corresponding can folding and unfolding hydraulically extensible bar length so that aircraft horizontal landing.Aircraft is thus achieved to repair in complicated out-of-flatness landform safe falling, so that aircraft horizontal landing, aircraft is avoided to fall down or damage, risk and loss are reduced to minimum, therefore solve existing aircraft landing technology and there is the out-of-flatness of landform so that aircraft can not balance land when dropping to ground, the problem of causing aircraft to fall down or damage.
Description
Technical field
The invention belongs to flying vehicles control technical field, more particularly to a kind of controlling party that landing is balanced for aircraft
Method and control system.
Background technology
The application of existing aircraft, especially unmanned plane is more and more extensive, and aircraft gathers number when can run in the air
According to, including the condition of a disaster monitoring, traffic patrolling, security monitoring etc., provide the user important information.However, traditional aircraft drop
When falling, because the out-of-flatness of landform causes aircraft can not balance land when dropping to ground, aircraft is caused to fall down or damage
Bad the problem of.
Therefore, existing aircraft landing technology has the out-of-flatness of landform so that aircraft can not when dropping to ground
Balance land, the problem of causing aircraft to fall down or damage.
The content of the invention
It is an object of the invention to provide a kind of control method and control system that landing is balanced for aircraft, it is intended to solves
Certainly existing aircraft landing technology has the out-of-flatness of landform so that aircraft can not balance land when dropping to ground, leads
Cause the problem of aircraft is fallen down or damaged.
The invention provides a kind of control method that landing is balanced for aircraft, the control method includes following step
Suddenly：
A. when the aircraft drop to preset height from the ground, transmitting multiple laser pulse microwave to the ground；
B. the time difference that the laser pulse microwave according to multi beam is received after the ground return, the ground is obtained
Flatness；
C. according to the flatness on the ground, adjust it is corresponding can folding and unfolding hydraulically extensible bar length so that described fly
Row device horizontal landing.
Present invention also offers a kind of control system that landing is balanced for aircraft, the control system includes：
Laser emitting module, for when the aircraft drop to preset height from the ground, launching multiple laser pulse
Microwave is to the ground；
Flatness acquisition module, for the laser pulse microwave according to multi beam received after the ground return when
Between it is poor, obtain the flatness on the ground；
Adjustment module, for the flatness according to the ground, adjust it is corresponding can folding and unfolding hydraulically extensible bar length,
So that the aircraft horizontal landing.
In summary, the invention provides a kind of control method and control system that landing is balanced for aircraft, the control
Method processed comprises the following steps：A. when aircraft drop to preset height from the ground, transmitting multiple laser pulse microwave to ground
Face；B. the time difference received according to multiple laser pulse microwave after ground return, the flatness on ground is obtained；C. base area
The flatness in face, adjust it is corresponding can folding and unfolding hydraulically extensible bar length so that aircraft horizontal landing.Thus achieve winged
Row device is repaired in complicated out-of-flatness landform safe falling, so that aircraft horizontal landing, it is to avoid aircraft is fallen down or damaged,
Risk and loss are reduced to minimum, therefore solve the out-of-flatness that existing aircraft landing technology has landform and is caused
Aircraft can not balance land when dropping to ground, the problem of causing aircraft to fall down or damage.
Brief description of the drawings
Fig. 1 is a kind of step flow chart for the control method that landing is balanced for aircraft provided in an embodiment of the present invention.
Fig. 2 is a kind of tool that step S103 in the control method landed is balanced for aircraft provided in an embodiment of the present invention
Body flow chart of steps.
A kind of modular structure for control system that landing is balanced for aircraft that Fig. 3 provides for another embodiment of the present invention
Schematic diagram.
Embodiment
In order that technical problems, technical solutions and advantageous effects to be solved by the present invention are more clearly understood, below in conjunction with
Drawings and Examples, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used
To explain the present invention, it is not intended to limit the present invention.
A kind of control method and control system that landing is balanced for aircraft provided in an embodiment of the present invention, can be achieved to fly
Row device is repaired in complicated out-of-flatness landform safe falling, so that aircraft can whenever and wherever possible land under emergency situation, so as to solve
To the rigors of landform flatness when certainly conventional aircraft lands, the lower risk that can be caused of emergency situation and loss are reduced
To minimum.
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
Fig. 1 show it is provided in an embodiment of the present invention it is a kind of for aircraft balance landing control method the step of flow
Journey, for convenience of description, illustrate only the part related to the embodiment of the present invention, details are as follows：
A kind of above-mentioned control method that landing is balanced for aircraft, comprises the following steps：
S101. when aircraft drop to preset height from the ground, transmitting multiple laser pulse microwave to ground；
The value range of the preset height is 1cm-15cm, is, when aircraft drop to 1cm-15cm from the ground, to lead to
Electronic range measurement sensor emission multiple laser pulse microwave is crossed to ground.Wherein, electronic range measurement sensor is sent out including infrared pulse
Emitter, comprehensive sensor, two red-black positive and negative power supply lines and white/yellow output line, electronic range measurement sensor is
It is that " a kind of sensor that flying time " principle is monitored distance object passes through hair to utilize " time-of-flight method "
Penetrate especially short pulse, and measure this pulse from being transmitted into time for being reflected by the object, passage time interval come calculate with
Distance between object.
S102. the time difference received according to multiple laser pulse microwave after ground return, the flatness on ground is obtained；
The flatness on the ground is specifically included：The ground and the angle of inclination of horizontal plane either laser described in multi beam
The difference in height of the multiple points in the corresponding ground of pulse microwave.Because aircraft can set multiple expansion links to land, for example：Unmanned plane will
It is to set four expansion links to land, otherwise it is that parallel two pack supports (being also to be made up of multiple expansion links after all) are set
Landed；By calculating the time difference that multiple laser pulse microwave is received after ground return, multiple laser arteries and veins can be drawn
Rush the difference in height of the multiple points in the corresponding ground of microwave or draw ground and the angle of inclination of horizontal plane, in order to aircraft
Setting is adjusted in multiple expansion links.
Wherein, the algorithm for calculating the difference in height of multiple points is as follows：
If light is propagated the time required to A, B point-to-point transmission round trip as t in atmosphere with speed c, A, B distance between two points
It can be represented from D with following：
D=ct/2
In formula：D is survey station point A, B distance between two points；C is speed；T is the time needed for light comes and goes A, B once.By above formula
Understand, the time t propagated by measuring light can just measure the distance of A, B point-to-point transmission.By being counted to multiple corresponding points
Calculate, you can draw difference in height or be scaled angle of inclination.
S103. according to the flatness on ground, adjust it is corresponding can folding and unfolding hydraulically extensible bar length so that aircraft water
It is flat to land.
Above-mentioned regulation it is corresponding it is described can the length of folding and unfolding hydraulically extensible bar specifically include：
When the pressure suffered by hydraulic cylinder inner plunger is more than the external applied load pressure of plunger, the direction that plunger is exported toward hydraulic cylinder
Motion, so that can the stretching of folding and unfolding hydraulically extensible bar；
When the pressure suffered by hydraulic cylinder inner plunger be less than plunger external applied load pressure when, plunger toward hydraulic cylinder export it is opposite
Direction is moved, so that can the contraction of folding and unfolding hydraulically extensible bar.
Thus, to it is multiple can be after folding and unfolding hydraulically extensible bar have carried out corresponding adjustment so that aircraft is in out-of-flatness
Ground also can horizontal landing, be not to fall down or damage, it is to avoid unnecessary loss.
Fig. 2 shows step S103 in a kind of control method that landing is balanced for aircraft provided in an embodiment of the present invention
Specific steps flow, for convenience of description, illustrate only the part related to the embodiment of the present invention, details are as follows：
Above-mentioned steps S103 is specifically further comprising the steps of：
S1031. according to the flatness on ground, generate range data signal and be transferred to hydraulic servo control system；
The hydraulic servo control system is realized the digital control algorithm of complexity by digital signal processor as core
Digitlization, intellectuality are realized, power supply output line is made up of positive and negative polar curve, ground wire.Digital signal processor is by the signal received
By being transferred to drive circuit after algorithm process so that drive circuit according to the signal received come control electric current output size and
The size of voltage.
S1032. according to range data signal, the size of control drive circuit regulation electric current and the size of voltage and by telecommunications
Number it is transferred to servomotor；
Above-mentioned drive circuit power module refers to SPM (IPM) for core, and servomotor is automatically controlling
As executive component in system, with high sensitivity, electromechanical time constant is small, the linearity is high the features such as, by the current signal of reception
Be converted to the angular displacement or angular speed output on motor shaft.
S1033. servomotor performs rotation direction according to electric signal, and adjust it is corresponding can folding and unfolding hydraulically extensible bar
Length, so that aircraft horizontal landing.
Can folding and unfolding hydraulically extensible bar may be configured as automatic telescopic regulation, be controlled by servomotor.Wherein, servomotor
Operation principle be：Control signal obtains DC offset voltage by the passage entering signal modulation chip of receiver.Have inside it
One reference circuit, the generation cycle is 20ms, and width is 1.5ms reference signal, by the DC offset voltage and current potential of acquisition
The voltage ratio of device is compared with acquisition voltage difference output.Finally, the positive and negative motor drive ic that is output to of voltage difference determines the positive and negative of motor
Turn.When the timing of motor speed one, potentiometer is driven to rotate by cascading reduction gearing so that voltage difference is 0, motor stops turning
It is dynamic.
Fig. 3 shows a kind of module for control system that landing is balanced for aircraft that another embodiment of the present invention is provided
Structure, for convenience of description, illustrate only the part related to the embodiment of the present invention, details are as follows：
A kind of above-mentioned control system that landing is balanced for aircraft, including：
Laser emitting module 10, for when aircraft drop to preset height from the ground, transmitting multiple laser pulse to be micro-
Ripple is to ground；
The value range of the preset height is 1cm-15cm, is, when aircraft drop to 1cm-15cm from the ground, to lead to
Electronic range measurement sensor emission multiple laser pulse microwave is crossed to ground.Wherein, electronic range measurement sensor is sent out including infrared pulse
Emitter, comprehensive sensor, two red-black positive and negative power supply lines and white/yellow output line, electronic range measurement sensor is
It is that " a kind of sensor that flying time " principle is monitored distance object passes through hair to utilize " time-of-flight method "
Penetrate especially short pulse, and measure this pulse from being transmitted into time for being reflected by the object, passage time interval come calculate with
Distance between object.
Flatness acquisition module 20, for the time difference received according to multiple laser pulse microwave after ground return,
Obtain the flatness on ground；
The flatness on the ground is specifically included：The ground and the angle of inclination of horizontal plane either laser described in multi beam
The difference in height of the multiple points in the corresponding ground of pulse microwave.Because aircraft can set multiple expansion links to land, for example：Unmanned plane will
It is to set four expansion links to land, otherwise it is that parallel two pack supports (being also to be made up of multiple expansion links after all) are set
Landed；By calculating the time difference that multiple laser pulse microwave is received after ground return, multiple laser arteries and veins can be drawn
Rush the difference in height of the multiple points in the corresponding ground of microwave or draw ground and the angle of inclination of horizontal plane, in order to aircraft
Setting is adjusted in multiple expansion links.
Wherein, the algorithm for calculating the difference in height of multiple points is as follows：
If light is propagated the time required to A, B point-to-point transmission round trip as t in atmosphere with speed c, A, B distance between two points
It can be represented from D with following：
D=ct/2
In formula：D is survey station point A, B distance between two points；C is speed；T is the time needed for light comes and goes A, B once.By above formula
Understand, the time t propagated by measuring light can just measure the distance of A, B point-to-point transmission.By being counted to multiple corresponding points
Calculate, you can draw difference in height or be scaled angle of inclination.
Adjustment module 30, for the flatness according to ground, adjust it is corresponding can folding and unfolding hydraulically extensible bar length, with
Make aircraft horizontal landing.
Above-mentioned regulation it is corresponding it is described can the length of folding and unfolding hydraulically extensible bar specifically include：
When the pressure suffered by hydraulic cylinder inner plunger is more than the external applied load pressure of plunger, the direction that plunger is exported toward hydraulic cylinder
Motion, so that can the stretching of folding and unfolding hydraulically extensible bar；
When the pressure suffered by hydraulic cylinder inner plunger be less than plunger external applied load pressure when, plunger toward hydraulic cylinder export it is opposite
Direction is moved, so that can the contraction of folding and unfolding hydraulically extensible bar.
Thus, to it is multiple can be after folding and unfolding hydraulically extensible bar have carried out corresponding adjustment so that aircraft is in out-of-flatness
Ground also can horizontal landing, be not to fall down or damage, it is to avoid unnecessary loss.
As another embodiment of the present invention, above-mentioned adjustment module specifically also includes：
Range data signal generation unit, for the flatness according to ground, generates range data signal and is transferred to liquid
Press servo-control system；
The hydraulic servo control system is realized the digital control algorithm of complexity by digital signal processor as core
Digitlization, intellectuality are realized, power supply output line is made up of positive and negative polar curve, ground wire.Digital signal processor is by the signal received
By being transferred to drive circuit after algorithm process so that drive circuit according to the signal received come control electric current output size and
The size of voltage.
Electric signal processing unit, for according to range data signal, the size and voltage of control drive circuit regulation electric current
Size and by electric signal transmission to servomotor；
Above-mentioned drive circuit power module refers to SPM (IPM) for core, and servomotor is automatically controlling
As executive component in system, with high sensitivity, electromechanical time constant is small, the linearity is high the features such as, by the current signal of reception
Be converted to the angular displacement or angular speed output on motor shaft.
Execution unit, rotation direction is performed for servomotor according to electric signal, and adjust it is corresponding can folding and unfolding hydraulic pressure
The length of expansion link, so that aircraft horizontal landing.
Can folding and unfolding hydraulically extensible bar may be configured as automatic telescopic regulation, be controlled by servomotor.Wherein, servomotor
Operation principle be：Control signal obtains DC offset voltage by the passage entering signal modulation chip of receiver.Have inside it
One reference circuit, the generation cycle is 20ms, and width is 1.5ms reference signal, by the DC offset voltage and current potential of acquisition
The voltage ratio of device is compared with acquisition voltage difference output.Finally, the positive and negative motor drive ic that is output to of voltage difference determines the positive and negative of motor
Turn.When the timing of motor speed one, potentiometer is driven to rotate by cascading reduction gearing so that voltage difference is 0, motor stops turning
It is dynamic.
In summary, it is with control the embodiments of the invention provide a kind of control method for aircraft balance landing
System, the control method comprises the following steps：A. when aircraft drop to preset height from the ground, transmitting multiple laser pulse is micro-
Ripple is to ground；B. the time difference received according to multiple laser pulse microwave after ground return, the flatness on ground is obtained；C.
According to the flatness on ground, adjust it is corresponding can folding and unfolding hydraulically extensible bar length so that aircraft horizontal landing.Thus it is real
Showed aircraft to repair in complicated out-of-flatness landform safe falling, so that aircraft horizontal landing, it is to avoid aircraft fall down or
Person damages, and risk and loss are reduced into minimum, therefore solve existing aircraft landing technology there is landform not
It is smooth so that aircraft can not balance land when dropping to ground, the problem of causing aircraft to fall down or damage.
One of ordinary skill in the art will appreciate that：The step of realizing above method embodiment or part steps can pass through
Programmed instruction related hardware is completed, and foregoing program can be stored in computer read/write memory medium, and the program exists
During execution, the step of execution includes above method embodiment, and foregoing storage medium includes：ROM, RAM, magnetic disc or CD
Etc. it is various can be with the medium of store program codes.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although with reference to foregoing reality
Example is applied the present invention is described in detail, it will be understood by those within the art that：It still can be to foregoing each
Technical scheme described in embodiment is modified, or carries out equivalent substitution to which part technical characteristic；And these are changed
Or replace, the essence of appropriate technical solution is departed from the spirit and model of each embodiment technical scheme of the embodiment of the present invention
Enclose.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (8)
1. a kind of control method that landing is balanced for aircraft, it is characterised in that the control method comprises the following steps：
A. when the aircraft drop to preset height from the ground, transmitting multiple laser pulse microwave to the ground；
B. the time difference that the laser pulse microwave according to multi beam is received after the ground return, the flat of the ground is obtained
Whole degree；
C. according to the flatness on the ground, adjust it is corresponding can folding and unfolding hydraulically extensible bar length so that the aircraft
Horizontal landing.
2. control method as claimed in claim 1, it is characterised in that the flatness on ground is specifically wrapped described in the step B
Include：
The height of the ground multiple points in ground corresponding with the angle of inclination either laser pulse microwave described in multi beam of horizontal plane
Degree is poor.
3. control method as claimed in claim 1, it is characterised in that the step C is specifically further comprising the steps of：
C1. according to the flatness on the ground, generate range data signal and be transferred to hydraulic servo control system；
C2. according to the range data signal, the size of control drive circuit regulation electric current and the size of voltage and by electric signal
It is transferred to servomotor；
C3. the servomotor performs rotation direction according to the electric signal, and adjust it is corresponding it is described can folding and unfolding hydraulic pressure stretch
The length of contracting bar, so that the aircraft horizontal landing.
4. control method as claimed in claim 3, it is characterised in that adjusted in the step C3 it is corresponding it is described can folding and unfolding
The length of hydraulically extensible bar is specifically included：
When the pressure suffered by hydraulic cylinder inner plunger is more than the external applied load pressure of plunger, the plunger is exported toward the hydraulic cylinder
Direction is moved, so that described can the stretching of folding and unfolding hydraulically extensible bar；
When the pressure suffered by hydraulic cylinder inner plunger is less than the external applied load pressure of plunger, the plunger is exported toward the hydraulic cylinder
Opposite direction is moved, so that described can the contraction of folding and unfolding hydraulically extensible bar.
5. a kind of control system that landing is balanced for aircraft, it is characterised in that the control system includes：
Laser emitting module, for when the aircraft drop to preset height from the ground, launching multiple laser pulse microwave
To the ground；
Flatness acquisition module, the time received for the laser pulse microwave according to multi beam after the ground return
Difference, obtains the flatness on the ground；
Adjustment module, for the flatness according to the ground, adjust it is corresponding can folding and unfolding hydraulically extensible bar length so that
The aircraft horizontal landing.
6. control system as claimed in claim 5, it is characterised in that ground is smooth described in the flatness computing module
Degree is specifically included：
The height of the ground multiple points in ground corresponding with the angle of inclination either laser pulse microwave described in multi beam of horizontal plane
Degree is poor.
7. control system as claimed in claim 5, it is characterised in that the adjustment module specifically also includes：
Range data signal generation unit, for the flatness according to the ground, generates range data signal and is transferred to liquid
Press servo-control system；
Electric signal processing unit, for according to the range data signal, the size and voltage of control drive circuit regulation electric current
Size and by electric signal transmission to servomotor；
Execution unit, rotation direction is performed for the servomotor according to the electric signal, and adjust it is corresponding it is described can
The length of folding and unfolding hydraulically extensible bar, so that the aircraft horizontal landing.
8. control system as claimed in claim 7, it is characterised in that adjust corresponding described receive in the execution unit
The process for putting the length of hydraulically extensible bar is specifically included：
When the pressure suffered by hydraulic cylinder inner plunger is more than the external applied load pressure of plunger, the plunger is exported toward the hydraulic cylinder
Direction is moved, so that described can the stretching of folding and unfolding hydraulically extensible bar；
When the pressure suffered by hydraulic cylinder inner plunger is less than the external applied load pressure of plunger, the plunger is exported toward the hydraulic cylinder
Opposite direction is moved, so that described can the contraction of folding and unfolding hydraulically extensible bar.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108363034A (en) * | 2018-03-20 | 2018-08-03 | 陈昌志 | Pyromagnetic beacon Penetrating Fog navigation landing system |
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| CN105775150A (en) * | 2016-03-17 | 2016-07-20 | 英华达（上海）科技有限公司 | Unmanned aerial vehicle and landing method thereof |
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| JPH03295795A (en) * | 1990-04-16 | 1991-12-26 | Mitsubishi Heavy Ind Ltd | Airplane |
| CN201272481Y (en) * | 2008-09-18 | 2009-07-15 | 上海市静安区青少年活动中心 | Landing gear of helicopter |
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| CN104443366A (en) * | 2014-12-02 | 2015-03-25 | 成都好飞机器人科技有限公司 | Length-adjustable landing gear applied to unmanned helicopter |
| CN104787309A (en) * | 2015-05-12 | 2015-07-22 | 厦门大学 | Landing gear of rotor unmanned aerial vehicle (UAV) |
| CN105775150A (en) * | 2016-03-17 | 2016-07-20 | 英华达（上海）科技有限公司 | Unmanned aerial vehicle and landing method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108363034A (en) * | 2018-03-20 | 2018-08-03 | 陈昌志 | Pyromagnetic beacon Penetrating Fog navigation landing system |
| CN108363034B (en) * | 2018-03-20 | 2023-09-22 | 陈昌志 | Thermo-magnetic beacon fog-penetrating navigation landing system |
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