CN108408637B - Multi-station synchronous lifting control system for lifting of airplane and operation method - Google Patents
Multi-station synchronous lifting control system for lifting of airplane and operation method Download PDFInfo
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- CN108408637B CN108408637B CN201810322333.4A CN201810322333A CN108408637B CN 108408637 B CN108408637 B CN 108408637B CN 201810322333 A CN201810322333 A CN 201810322333A CN 108408637 B CN108408637 B CN 108408637B
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000006073 displacement reaction Methods 0.000 claims abstract description 42
- 230000009471 action Effects 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims description 6
- 239000007788 liquid Substances 0.000 claims description 3
- 230000009123 feedback regulation Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 19
- 230000008859 change Effects 0.000 abstract description 9
- 239000003921 oil Substances 0.000 description 72
- 230000004224 protection Effects 0.000 description 16
- 230000001276 controlling effect Effects 0.000 description 10
- 238000011217 control strategy Methods 0.000 description 7
- 230000001105 regulatory effect Effects 0.000 description 6
- 238000010438 heat treatment Methods 0.000 description 5
- 239000010729 system oil Substances 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011552 falling film Substances 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
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- 230000035772 mutation Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
- B66F3/46—Combinations of several jacks with means for interrelating lifting or lowering movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/40—Maintaining or repairing aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
- B66F3/24—Devices, e.g. jacks, adapted for uninterrupted lifting of loads fluid-pressure operated
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
- F15B20/007—Overload
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
Abstract
The invention provides a multi-station synchronous lifting control system for lifting an airplane and an operation method, which comprises a plurality of sets of airplane jacks with independent hydraulic stations, wherein each airplane jack is provided with a displacement sensor, all the hydraulic stations are respectively connected with an electric control console through a signal cable and a control cable, and the electric control console is connected with a handheld controller; each set of independent hydraulic station is connected with the corresponding aircraft jack through a jack hydraulic system, and the lifting action of the aircraft jack is synchronously controlled; the jack hydraulic system is connected with the electrical control system and controls the action of the jack hydraulic system. The control system aims to control the attitude, the height difference change and the like of the airplane in the process of lifting the airplane by using the jack, control the contact force value change with the jack in the process of lifting the airplane, and reduce the damage to the structure of the airplane in the process of lifting.
Description
Technical Field
The invention belongs to the field of aircraft overhaul and maintenance devices, and particularly relates to a multi-station synchronous lifting control system for lifting an aircraft and an operation method thereof, which are suitable for lifting control of the aircraft in the process of debugging of aircraft assembly and subsequent maintenance work.
Background
Aiming at the model characteristics of a large-sized airplane, a new requirement is put forward for a tool device used for assembly debugging and subsequent maintenance work, namely a jack, namely factors such as the attitude, the height difference change and the like of the airplane are required to be accurately controlled in the process of lifting and lowering the airplane by using the jack, and the requirements of multi-point synchronous vertical lifting and leveling of the airplane are met.
The traditional control mode is realized by adopting manual monitoring of the state of the airplane. At present, no heavy-duty jack capable of synchronously and accurately controlling lifting and leveling an airplane exists in China, and no technology is introduced abroad.
The domestic hydraulic cylinder synchronous control technology has two types:
Firstly, the valve control technology adopts electromagnetic switches to control the operation or stop of the hydraulic cylinder, and the electromagnetic switches impact a load object structure and damage a machine body structure.
Secondly, a pump control technology is adopted, and the technology changes the flow of a pump through a frequency converter to control the running speed of a hydraulic cylinder so as to control synchronization; the technology can only control the lifting of the single-stage double-acting hydraulic cylinder or control the single-stage single-acting hydraulic cylinder to extend out. The process of compressing the jack by means of the load dead weight is not controlled, and the multistage variable cross section and variable load hydraulic cylinder is not controlled.
Disclosure of Invention
The invention mainly aims to provide a multi-station synchronous lifting control system for lifting an airplane and an operation method, and the control system aims to control the gesture, the height difference change and the like of the airplane in the lifting process of the airplane by using a jack, control the contact force value change with the jack in the lifting process of the airplane and reduce the damage to the structure of the airplane in the lifting process.
In order to achieve the technical characteristics, the aim of the invention is realized in the following way: the multi-station synchronous lifting control system for lifting the airplane comprises a plurality of sets of airplane jacks with independent hydraulic stations, each airplane jack is provided with a displacement sensor, all the hydraulic stations are respectively connected with an electric control console through signal cables and control cables, and the electric control console is connected with a handheld controller; each set of independent hydraulic station is connected with the corresponding aircraft jack through a jack hydraulic system, and the lifting action of the aircraft jack is synchronously controlled;
The jack hydraulic system is connected with the electrical control system and controls the action of the jack hydraulic system.
Each set of jack hydraulic system comprises an oil tank assembly, an oil outlet pipe of the oil tank assembly is connected with a manual pump and an electric pump in parallel, and the electric pump is connected with a motor; the oil outlets of the manual pump and the electric pump are respectively provided with a first one-way valve and a second one-way valve; the oil outlets of the first one-way valve and the second one-way valve are connected in parallel with a first safety overflow valve and an oil filter; a first two-position two-way electromagnetic valve and a manual reversing valve are connected in parallel on the pipeline after the oil filtration; a pipeline behind the first two-position two-way electromagnetic valve is sequentially connected with a pressure compensator and a proportional servo valve, one oil outlet of the proportional servo valve is connected with an oil inlet of the aircraft jack, and the other oil outlet is connected with the other oil inlet of the aircraft jack through the second two-position two-way electromagnetic valve; the pipeline behind the manual reversing valve is connected with an oil inlet pipeline of the aircraft jack through a throttle stop valve;
a third one-way valve is arranged on a pipeline behind the first safety overflow valve, and an oil outlet of the third one-way valve is connected with an oil inlet of an aircraft jack;
The displacement sensor is connected with an electrical control system inside the electrical control console through a signal wire.
A pressure gauge is arranged on a pipeline between the first one-way valve and the first safety overflow valve; and a first pressure sensor is arranged on a pipeline between the second one-way valve and the oil filter and is connected with an electrical control system inside the electrical control console through a signal wire.
And a second pressure sensor is arranged on a pipeline between the second two-position two-way electromagnetic valve and the oil inlet of the aircraft jack, and the second pressure sensor is connected with an electrical control system inside the electrical control console through a signal wire.
The motor adopts a variable frequency motor and is connected with an electric control system inside the electric control console through a frequency converter.
The aircraft jack adopts a double-stage double-acting oil cylinder; the oil tank assembly is provided with a low liquid level detection device and a temperature detection device; the first safety overflow valve is used for setting the pressure value of the whole jack hydraulic system and setting overflow unloading when the system pressure reaches 105% -110% of rated working pressure.
The electrical control system comprises a PLC controller, wherein the signal input end of the PLC controller is respectively connected with the displacement sensor, an operation panel of the electrical control console, the handheld controller, the first pressure sensor and the second pressure sensor through signal wires; the signal output end of the PLC is connected with a frequency converter, a proportional servo valve and a plurality of electromagnetic valves of the jack hydraulic system through signal lines; and feedback regulation is formed between the proportional servo valve and the frequency converter and between the proportional servo valve and the PLC controller respectively.
The displacement sensor selects a pull-wire absolute value displacement encoder and accurately measures the extension displacement of the piston of the jack of the airplane.
The number of the airplane jacks with the independent hydraulic stations is at least three.
The operation method for lifting the aircraft by adopting any one of the multi-station synchronous lifting control systems comprises the following steps:
s1: preparing the aircraft, namely preparing the aircraft before jacking according to a safety operation rule;
s2: the method comprises the steps of performing in-place operation, putting down wheels of an airplane jack, pushing the airplane jack to the vicinity of a jack supporting point, continuously moving the airplane jack to enable a lifting nest of the airplane jack to be aligned to the airplane jack supporting point, collecting the wheels of the airplane jack, grounding a supporting disc, and manually or electrically operating to enable the airplane jack to lift up until the lifting nest of the airplane jack is reliably contacted with the airplane jack supporting point and a certain contact force is generated;
S3: the leveling operation, setting a corresponding lifting distance for each aircraft jack according to the leveling requirement, starting a system, leveling once or a plurality of times, enabling the aircraft to be in a horizontal state, setting a displacement zero point of each aircraft jack, and performing synchronous operation by taking the zero point as a reference;
S4: synchronous jacking operation, setting related parameters of synchronous jacking, starting a system, and after receiving feedback signals such as a proportional servo valve core position, a displacement sensor, a pressure sensor and the like and calculating in real time, a PLC (programmable logic controller) outputs control signals to a frequency converter and the proportional servo valve, controls the rotating speed of a motor and the valve core opening of the proportional servo valve, controls the jacking speed of a jack by controlling the flow passing through the proportional servo valve, and further controls each supporting point of an aircraft jack to synchronously jack;
S5: after the synchronous jacking is finished, if the aircraft needs to be kept at the current height for a long time, the safety nut is locked, the pressure of the hydraulic system is removed, and the weight of the aircraft is borne by the safety nut;
S6: if the safety nuts are in a locking state, synchronous lifting operation is needed first until each safety nut can rotate freely, then the safety nuts enter a synchronous falling operation interface, related parameters are set, a system is started, a PLC (programmable logic controller) receives feedback signals of a servo valve core position, a displacement sensor, a pressure sensor and the like and calculates the feedback signals in real time, then a control signal is output to a proportional servo valve to control the valve core opening of the proportional servo valve, the falling speed of a jack is controlled by controlling the flow passing through the proportional servo valve, and then the synchronous falling of each supporting point of an aircraft jack is controlled;
S7: and after confirming that the airplane jack is out of position and no load exists on the airplane jack and the hydraulic cylinder of the jack actuating cylinder is completely lowered, putting down the jack wheels, retracting the supporting disc to the limit position, arranging the cables, and pushing the airplane jack and the electric control console to the proper positions for storage.
The invention has the following beneficial effects:
1. By developing the synchronous control system of the airplane jack, the unstable and unreliable factors caused by manual monitoring can be solved, the lifting and descending processes of the airplane are safe and reliable, the structural damage of the airplane caused by human errors is reduced, the labor intensity of the lifting and descending operation of the airplane jack can be relieved, the number of operators is reduced, and the working efficiency is improved.
2. The aircraft jack adopts the double-stage double-acting oil cylinder, so that the problem that the jack is not easy to fall down when no load is applied while the lowest and highest heights of the jack are ensured.
3. The control mode of combining pump control and valve control is adopted, so that the efficiency of the electric pump is ensured, meanwhile, the starting, stopping acceleration and lifting speed of the jack are controlled, the control precision is high, and the damage to the machine body structure caused by impact can be effectively avoided.
4. And the double feedback control of position feedback and speed feedback is adopted to perform subsection synchronous operation, automatically catch the inflection point of the variable stage of the double-stage cylinder and improve the inflection point control precision.
5. In order to improve the synchronous control precision of the jack in the initial stage and the end stage of lifting, the load is brought into a control algorithm, and the synchronous error caused by load change is avoided.
6. The load, the position and the gesture can be monitored in real time in the whole lifting operation stage by adopting the independently installed absolute value type displacement sensor.
7. The multi-safety protection function is arranged on the aspects of hardware and software, so that the safety of the airplane and the jack in the lifting and falling processes is ensured.
8. In the traditional valve control system, the oil supply quantity of the aircraft jack is regulated by regulating the opening degree of the proportional servo valve core, and the excessive flow discharged by the quantitative pump can cause pressure to rise, so that the opening pressure of a system safety valve is reached, and overflows back to the oil tank, thereby heating the system. The invention is provided with the pressure compensator in front of the proportional servo valve, and the principle is that the pressure difference between the front pressure and the outlet pressure of the proportional servo valve is ensured to be a set value, and the redundant flow discharged by the electric pump overflows back to the oil tank through the pressure compensator on the basis of ensuring the oil supply pressure and the flow of the proportional servo valve, so that the pressure loss is greatly reduced, and the heating value of the system is also greatly reduced.
9. By adding a frequency converter and selecting a frequency conversion motor, the jack is set to be at the lowest speed in the fine adjustment operation due to the quantitative pump used in the device, the valve core opening of the proportional servo valve is very small, a large amount of redundant flow discharged by the pump is excessive, the problem of excessive oil supply exists, and redundant oil overflows to the oil tank to cause heating of a certain system; meanwhile, too large flow is not beneficial to the flow regulation of the proportional servo valve. Therefore, the frequency converter is added, the frequency conversion motor is selected and used simultaneously, during fine adjustment operation, the output of the frequency converter is changed, the outlet flow of the electric pump is reduced, oil supply according to needs is achieved, the jack is directly driven, and the pressure and flow loss of the system are reduced.
10. The device is characterized in that a second two-position two-way electromagnetic valve is arranged at the oil supply end of the jack, the valve is of a ball valve structure, the pressure maintaining performance is excellent, and the on-load stop of the jack at any position can be realized through controlling the on-off of the valve, so that the pipeline does not leak.
Drawings
The invention is further described below with reference to the drawings and examples.
FIG. 1 is a schematic diagram of the overall structure of the system of the present invention.
Fig. 2 is a schematic diagram of a hydraulic control system of the present invention.
Fig. 3 is a schematic diagram of an electrical control system of the present invention.
Fig. 4 is a flow chart of the operation of the present invention.
In the figure: the hydraulic system comprises a hydraulic station 1, an airplane jack 2, a displacement sensor 3, an electric control console 4, a handheld controller 5, a throttle stop valve 6, a second safety overflow valve 7, a manual reversing valve 8, a third one-way valve 9, a pressure compensator 10, a pressure gauge 11, an oil tank component 12, a manual pump 13, a first one-way valve 14, an electric pump 15, a motor 16, a first pressure sensor 17, a second one-way valve 18, a first safety overflow valve 19, an oil filter 20, a first two-position two-way electromagnetic valve 21, a proportional servo valve 22, a second two-position two-way electromagnetic valve 23, a second pressure sensor 24, a PLC controller 25, a frequency converter 26 and an operation panel 27.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1-3, a multi-station synchronous lifting control system for lifting an airplane comprises a plurality of sets of airplane jacks 2 with independent hydraulic stations 1, wherein each airplane jack 2 is provided with a displacement sensor 3, all the hydraulic stations 1 are respectively connected with an electric control console 4 through signal cables and control cables, and the electric control console 4 is connected with a handheld controller 5; each set of independent hydraulic station 1 is connected with the corresponding aircraft jack 2 through a jack hydraulic system, and the lifting action of the aircraft jack 2 is synchronously controlled; the jack hydraulic system is connected with the electrical control system and controls the action of the jack hydraulic system. By adopting the control system, in the working process, the jack hydraulic system is controlled by the electric control system, and then the synchronous lifting and operation of the aircraft jack 2 are controlled by the jack hydraulic system, so that the leveling of the multi-point synchronous vertical lifter of the aircraft is ensured, and the lifting safety is ensured.
Further, each set of jack hydraulic system comprises an oil tank assembly 12, an oil outlet pipe of the oil tank assembly 12 is connected with a manual pump 13 and an electric pump 15 in parallel, and the electric pump 15 is connected with a motor 16; the oil outlets of the manual pump 13 and the electric pump 15 are respectively provided with a first check valve 14 and a second check valve 18; the oil outlets of the first check valve 14 and the second check valve 18 are connected in parallel with a first safety overflow valve 19 and an oil filter 20; a first two-position two-way electromagnetic valve 21 and a manual reversing valve 8 are connected in parallel on a pipeline behind the oil filter 20; a pipeline behind the first two-position two-way electromagnetic valve 21 is sequentially connected with a pressure compensator 10 and a proportional servo valve 22, one oil outlet of the proportional servo valve 22 is connected with an oil inlet of the aircraft jack 2, and the other oil outlet is connected with the other oil inlet of the aircraft jack 2 through a second two-position two-way electromagnetic valve 23; the pipeline behind the manual reversing valve 8 is connected with an oil inlet pipeline of the aircraft jack 2 through a throttle stop valve 6; a third one-way valve 9 is arranged on a pipeline behind the first safety overflow valve 19, and an oil outlet of the third one-way valve 9 is connected with an oil inlet of the aircraft jack 2; the displacement sensor 3 is connected with an electrical control system inside the electrical console 4 through a signal wire.
Further, a pressure gauge 11 is arranged on a pipeline between the first check valve 14 and the first safety relief valve 19; a first pressure sensor 17 is arranged on the pipeline between the second one-way valve 18 and the oil filter 20, and the first pressure sensor 17 is connected with an electric control system inside the electric control console 4 through a signal line.
Further, a second pressure sensor 24 is arranged on a pipeline between the second two-position two-way electromagnetic valve 23 and an oil inlet of the airplane jack 2, and the second pressure sensor 24 is connected with an electric control system inside the electric control console 4 through a signal line.
As in fig. 4: by adopting the jack hydraulic system, the jack hydraulic system can realize the lifting of the aircraft jack in a manual or automatic control mode in the working process, and the specific working process and principle are as follows:
Manual lifting operation of the airplane jack:
After the on-site commander sends out a jack 2 lifting command, an operator pulls the manual reversing valve 8 to the lifting position, opens the throttle stop valve 6, manually operates the manual pump 13 to supply oil to the jack, so that the jack 2 is lifted, after the jack is lifted in place, the throttle stop valve 6 is closed, the manual reversing valve 8 is plate to the middle position, the system oil way is locked, and at the moment, the jack 2 is in a closed pressure maintaining state.
Manual dropping operation of the aircraft jack under load:
After the on-site commander sends out a jack 2 falling command, an operator pulls the manual reversing valve 8 to a falling position, slowly adjusts the opening degree of the throttle stop valve 6 according to the requirement to adjust the oil return flow, and controls the jack 2 to stably load and fall.
And (3) carrying out no-load manual dropping operation on the jack:
After the on-site commander sends out a jack 2 falling command, an operator pulls the manual reversing valve 8 to a falling position, opens the throttle stop valve 6, manually operates the manual pump 13, closes the throttle stop valve 6 after the jack 2 falls in place, and plates the manual reversing valve 8 to the middle position;
electric control jacking operation of the aircraft jack:
After the on-site commander sends out a jack lifting command, an operator starts the electric pump 15 to supply oil to the system by operating the panel of the electric console 4 or the handheld controller 5, the system starts the first two-position two-way electromagnetic valve 21 and the second two-position two-way electromagnetic valve 23, the system adjusts the valve core position of the proportional servo valve 22 and the rotating speed of the motor 16 according to the set jack lifting speed, the system hydraulic oil starts the second one-way valve 18 through the electric pump 15, and the first two-position two-way electromagnetic valve 21, the proportional servo valve 22, the pressure compensator 10 and the second two-position two-way electromagnetic valve 23 reach the lower cavity of the jack 2 through the oil filter 20 to push the piston rod of the jack 2 to lift. In the process of three-jack synchronous jacking, the PLC controller calculates and compares the position, the speed and the output force of each jack by collecting signals of the first pressure sensor 17, the second pressure sensor 24 and the absolute value stay wire type displacement sensor 3, automatically calculates and controls the flow and the pressure by controlling the valve core position of the proportional servo valve 22 and the rotating speed of the motor 16, and redundant oil of the electric pump 15 flows back to the oil tank through the pressure compensator 10. After the jack is lifted in place, the system closes the second two-position two-way electromagnetic valve 23, cuts off the oil supply path of the jack, and the jack is in a closed pressure maintaining state at the moment.
The aircraft jack is loaded and controlled to fall down:
After the on-site commander sends out a jack falling command, an operator opens the first two-position two-way electromagnetic valve 21 and the second two-position two-way electromagnetic valve 23 through the panel of the operation console 4 or the handheld controller 5, the system adjusts the valve core position of the proportional servo valve 22 according to the set jack speed, hydraulic oil in the jack lower cavity flows back to the oil tank through the second two-position two-way electromagnetic valve 23, the proportional servo valve 22 and the pressure compensator 10, and the jack falls under load. In the falling process, the PLC calculates and compares the position, the speed and the output force of each jack by collecting signals of the first pressure sensor 17, the second pressure sensor 24 and the absolute value stay wire type displacement sensor 3, automatically calculates and adjusts the valve core opening of the proportional servo valve 22 to control the flow, and after the valve falls in place, the system closes the two-position two-way electromagnetic valve 23.
No-load electric control dropping operation of the airplane jack:
After the on-site commander sends out a jack falling command, an operator opens the first two-position two-way electromagnetic valve 21 and the second two-position two-way electromagnetic valve 23 through the panel of the operation console 4 or the handheld controller 5, the system adjusts the valve core position of the proportional servo valve 22 according to the set jack speed, and hydraulic oil passes through the first two-position two-way electromagnetic valve 21, the pressure compensator 10 and the proportional servo valve 22 to the jack upper cavity to push the jack actuating cylinder to fall.
Further, the motor 16 is a variable frequency motor, and is connected to an electrical control system inside the electrical console 4 through a frequency converter 26. Because of the quantitative pump used in the device, in the fine adjustment operation, the jack is set to be at the lowest speed, the opening of the valve core of the proportional servo valve is very small, a large amount of redundant flow discharged by the pump has the problem of excessive oil supply, and redundant oil overflows to the oil tank to cause certain system heating; meanwhile, too large flow is not beneficial to the flow regulation of the proportional servo valve. Therefore, the frequency converter is added, the frequency conversion motor is selected and used simultaneously, during fine adjustment operation, the output of the frequency converter is changed, the outlet flow of the electric pump is reduced, oil supply according to needs is achieved, the jack is directly driven, and the pressure and flow loss of the system are reduced.
Further, the airplane jack 2 adopts a double-stage double-acting oil cylinder; the oil tank assembly 12 is provided with a low liquid level detection device and a temperature detection device; the first safety relief valve 19 sets the pressure value of the whole jack hydraulic system, and sets relief unloading when the system pressure reaches 105% -110% of rated working pressure.
Further, the electrical control system comprises a PLC controller 25, wherein the signal input end of the PLC controller 25 is respectively connected with the displacement sensor 3, the operation panel 27 of the electrical console 4, the handheld controller 5, the first pressure sensor 17 and the second pressure sensor 24 through signal wires; the signal output end of the PLC 25 is connected with a frequency converter 26, a proportional servo valve 22 and a plurality of electromagnetic valves of the jack hydraulic system through signal lines; the proportional servo valve 22 and the frequency converter 26 form feedback adjustment with the PLC controller 25.
Furthermore, the displacement sensor 3 is a stay wire type absolute value displacement encoder, and accurately measures the extension displacement of the piston of the airplane jack 2. The load, position and attitude can be monitored in real time throughout the lifting operation phase.
Further, the number of the airplane jacks 2 with the independent hydraulic stations 1 is at least three.
In the traditional valve control system, the oil supply quantity of the jack is regulated by regulating the opening degree of the proportional servo valve core, so that the excessive flow discharged by the constant delivery pump can cause pressure to rise, the opening pressure of the system safety valve is reached, and the overflow flows back to the oil tank, thereby causing the system to generate heat. The pressure compensator 10 is arranged in front of the proportional servo valve 22, and the principle of the scheme is that the pressure difference between the front pressure and the outlet pressure of the proportional servo valve is a set value, and the redundant flow discharged by the electric pump 15 overflows back to the oil tank through the pressure compensator on the basis of guaranteeing the oil supply pressure and flow of the proportional servo valve 22, so that the pressure loss is greatly reduced, and the heating value of the system is also greatly reduced.
In the device, the second two-position two-way electromagnetic valve 23 is arranged at the oil supply end of the jack, the valve is of a ball valve structure, the pressure maintaining performance is excellent, and the on-load stop of the jack at any position can be realized by controlling the on-off of the valve, so that the pipeline does not leak.
Example 2:
The control strategy of the multi-station synchronous lifting control system comprises the following steps:
1) Integral control strategy
The system adopts a proportional servo valve to adjust the oil supply quantity of the hydraulic system to the jack, thereby controlling the running speed of the jack. The adjusting speed of each jack is calculated and analyzed by comparing the positions of the jacks, the opening of the valve core is adjusted by adjusting the proportional servo valve, and the running speed of each jack is adjusted, so that the synchronous effect is achieved.
In the lifting stage of the jack, an oil pump is used for supplying oil, and the flow is regulated in a proportion servo mode. And in the falling stage, the jack is compressed by the load, oil is returned by the jack, and the flow of the reverse oil way is regulated by the proportional servo valve.
The control system monitors the position, pressure and force of each jack in real time, controls the opening and closing of the reversing valve to control the direction of an oil path, adjusts the output current of a proportional amplifier of the proportional servo valve, and adjusts the opening of a valve core of the proportional servo valve to adjust the flow.
The displacement sensor selects a pull-wire absolute value displacement encoder, has high precision, is not affected by the falling film, and can accurately measure the extension displacement of the jack piston.
2) Synchronous control strategy
In actual control, if the virtual shaft is completely calculated by theory, the speed loop tracking can not meet the system requirement, but because the two-stage cylinder of the device has the problem of speed and pressure mutation at the critical point, if the two-stage cylinder is completely dependent on the actual shaft, tracking failure can possibly occur, because the first-stage critical point and the second-stage critical point are used for lifting pressure, and the system needs to have a delay time of the pressure establishment process of the hydraulic system, the synchronous following strategy is to adopt a mode of combining the synchronization of the actual shaft with the virtual shaft, the device is to adopt the actual shaft as a main part, and a sectional control strategy is introduced, so that all jacks carry out position following on the actual jack in the whole process.
When the synchronous jacking operation is initially operated, when all jacks are in a primary extending state, one jack with the default displacement closest to the secondary critical point of the system is a main shaft, the other two jacks are driven shafts, when a certain cylinder is in a variable critical point, the jack is used as the main shaft, the other jacks are used as driven shafts to track the main shaft, and when the second jack is in the variable critical point, the second jack is used as a new main shaft until all jacks enter the secondary piston rod to operate through the variable critical point.
The synchronous falling operation control principle is similar, when all jacks are in a secondary extending state, one jack with the default displacement closest to the critical point of the system is a main shaft, the other two jacks are driven shafts, the positions of the other two jacks are compared and tracked with the main shaft, when a certain cylinder is at a change critical point, the jack is used as the main shaft, the other jacks are used as the driven shafts to track the main shaft, when the second jack is at the change critical point, the second jack is used as a new main shaft, and all jacks enter the first-stage piston rod to operate through the change critical point.
3) Inlet operation control strategy
Before manual pushing jack carries out the operation of putting into place, electrical system detects through absolute value displacement sensor, pressure sensor, confirms that all jack strokes are less than 2mm, and pressure is less than 2bar, and the suggestion can carry out the manual operation of taking place. After the centering adjustment mechanical stroke is initially in place manually, an electric control system or a manual pump is manually operated to load the jack at a low speed, only a single jack is allowed to independently act, the system detects pressure and displacement in real time, when the jack builds 1 ton (self-defined range) pressure, the system sends out an alarm prompt signal, a pump station of the hydraulic system stops, a reversing valve returns to a closed position, a system oil way is locked, and the jack is identified to be successful in position.
And the next jack performs the same positioning operation, when the positioning operation of all jacks is finished, the system judges according to the final stress state of each jack, and requires each jack to be stressed, so that whether the positioning of the system is successful or not is confirmed, and if the positioning of the system is unsuccessful, the synchronous operation mode cannot be entered.
The system prompts the jacks which are unsuccessful in positioning, the positioning operation is needed to be carried out again until the positioning success of the system is confirmed, the system displays that all jacks are successful in positioning, the confirmation of operators is waited, after the selection and the confirmation of the operators are carried out, the system records the current positions of all jacks and is used as a synchronous operation reference horizontal zero position, a synchronous operation mode is provided, and the positioning module is locked and does not allow the positioning operation to be carried out again.
4) System single-action mode operation control strategy
When the system enters a single-action mode, the single-action mode is divided into manual pump mechanical action and electric control, the system only allows an operator to control a single jack, and the locking can be continued after the operator confirms again. When the manual pump performs mechanical single action, after the jack finishes 20mm (preset) displacement in an accumulated way, the system sends out audible and visual alarm prompt information to prompt that the operation upper limit is reached, and an operator can continue to act after confirming again. In the whole operation process, the system monitors the stress state of other jacks, when abnormality occurs, the system alarms and stops the hydraulic pump station of the jack, the reversing valve returns to the closed position, the system oil way is locked, and the hydraulic cylinder is prevented from suddenly dropping, so that accidents occur.
5) Inching operation mode control strategy
When the system enters the inching mode, the system only allows an operator to operate the jack by using the handheld controller (the hand-operated wheel), and simultaneously only controls a single jack, the primary displacement of the locking jack cannot exceed 1mm, and after the displacement of 2mm (preset) is accumulated, the operator can continue to act after confirming again. Meanwhile, the system monitors the stress state of other jacks, and when abnormality occurs, the system alarms and stops the hydraulic pump station of the jack, the reversing valve returns to the closed position, and the system oil way is locked.
6) System security protection policy
The system design has the double protection functions of hardware and software.
And (3) hardware protection:
The hydraulic system hardware protection is provided with a safety valve for pressure protection, and when the pressure of the hydraulic system reaches 105% of rated working pressure, the valve is opened, and the valve reaches 110% of rated pressure to be fully opened. And the jack and the hydraulic system are protected. The control oil way is provided with an electromagnetic stop type reversing valve, the valve is of a ball valve structure, the pressure maintaining performance is excellent, and the lifting jack can be stopped in any position in a loaded manner by controlling the switch of the valve, so that the pipeline is free from leakage. Meanwhile, the jack is provided with a mechanical safety lock nut, so that the hydraulic cylinder can be prevented from suddenly and accidentally leaking, and accidents are prevented from happening.
The centralized control system main power supply is provided with a short-circuiting device, has the functions of current overload, overcurrent and overvoltage protection, and the motor is driven by the Siemens frequency converter, so that the motor can be effectively prevented from being overheated and overloaded.
And (3) software protection:
the device designs a large number of soft protections, and the device monitors the state of the hydraulic jack in real time and is provided with pressure protections, force protections, resultant force protections, in-place protections, height difference protections, soft stroke protections, fine adjustment protections, misoperation prevention and emergency stop buttons. The system alarm adopts an audible and visual alarm mode.
Example 3:
the operation method for lifting the aircraft by adopting any one of the multi-station synchronous lifting control systems comprises the following steps:
s1: preparing the aircraft, namely preparing the aircraft before jacking according to a safety operation rule;
s2: the method comprises the steps of performing in-place operation, putting down wheels of an airplane jack, pushing the airplane jack to the vicinity of a jack supporting point, continuously moving the airplane jack to enable a lifting nest of the airplane jack to be aligned to the airplane jack supporting point, collecting the wheels of the airplane jack, grounding a supporting disc, and manually or electrically operating to enable the airplane jack to lift up until the lifting nest of the airplane jack is reliably contacted with the airplane jack supporting point and a certain contact force is generated;
S3: the leveling operation, setting a corresponding lifting distance for each aircraft jack according to the leveling requirement, starting a system, leveling once or a plurality of times, enabling the aircraft to be in a horizontal state, setting a displacement zero point of each aircraft jack, and performing synchronous operation by taking the zero point as a reference;
S4: synchronous jacking operation, setting related parameters of synchronous jacking, starting a system, and after receiving feedback signals such as a proportional servo valve core position, a displacement sensor, a pressure sensor and the like and calculating in real time, a PLC (programmable logic controller) outputs control signals to a frequency converter and the proportional servo valve, controls the rotating speed of a motor and the valve core opening of the proportional servo valve, controls the jacking speed of a jack by controlling the flow passing through the proportional servo valve, and further controls each supporting point of an aircraft jack to synchronously jack;
S5: after the synchronous jacking is finished, if the aircraft needs to be kept at the current height for a long time, the safety nut is locked, the pressure of the hydraulic system is removed, and the weight of the aircraft is borne by the safety nut;
S6: if the safety nuts are in a locking state, synchronous lifting operation is needed first until each safety nut can rotate freely, then the safety nuts enter a synchronous falling operation interface, related parameters are set, a system is started, a PLC (programmable logic controller) receives feedback signals of a servo valve core position, a displacement sensor, a pressure sensor and the like and calculates the feedback signals in real time, then a control signal is output to a proportional servo valve to control the valve core opening of the proportional servo valve, the falling speed of a jack is controlled by controlling the flow passing through the proportional servo valve, and then the synchronous falling of each supporting point of an aircraft jack is controlled;
S7: and after confirming that the airplane jack is out of position and no load exists on the airplane jack and the hydraulic cylinder of the jack actuating cylinder is completely lowered, putting down the jack wheels, retracting the supporting disc to the limit position, arranging the cables, and pushing the airplane jack and the electric control console to the proper positions for storage.
The above embodiments are only preferred embodiments of the present invention, and should not be construed as limiting the present invention, and the scope of the present invention should be defined by the claims, including the equivalents of the technical features in the claims. I.e., equivalent replacement modifications within the scope of this invention are also within the scope of the invention.
Claims (5)
1. A multistation synchronous lift control system for aircraft goes up and down, its characterized in that: the hydraulic control system comprises a plurality of sets of aircraft jacks (2) with independent hydraulic stations (1), wherein each aircraft jack (2) is provided with a displacement sensor (3), all the hydraulic stations (1) are respectively connected with an electric control console (4) through signal cables and control cables, and the electric control consoles (4) are connected with a handheld controller (5); each set of independent hydraulic station (1) is connected with the corresponding aircraft jack (2) through a jack hydraulic system, and the lifting action of the aircraft jack (2) is synchronously controlled;
The jack hydraulic system is connected with the electrical control system and controls the action of the jack hydraulic system;
each set of jack hydraulic system comprises an oil tank assembly (12), an oil outlet pipe of the oil tank assembly (12) is connected with a manual pump (13) and an electric pump (15) in parallel, and the electric pump (15) is connected with a motor (16); the oil outlets of the manual pump (13) and the electric pump (15) are respectively provided with a first one-way valve (14) and a second one-way valve (18); the oil outlets of the first check valve (14) and the second check valve (18) are connected in parallel with a first safety overflow valve (19) and an oil filter (20); a first two-position two-way electromagnetic valve (21) and a manual reversing valve (8) are connected in parallel on a pipeline behind the oil filter (20); a pipeline behind the first two-position two-way electromagnetic valve (21) is sequentially connected with a pressure compensator (10) and a proportional servo valve (22), one oil outlet of the proportional servo valve (22) is connected with an oil inlet of the aircraft jack (2), and the other oil outlet is connected with the other oil inlet of the aircraft jack (2) through a second two-position two-way electromagnetic valve (23); the pipeline behind the manual reversing valve (8) is connected with an oil inlet pipeline of the aircraft jack (2) through a throttle stop valve (6);
A third one-way valve (9) is arranged on a pipeline behind the first safety overflow valve (19), and an oil outlet of the third one-way valve (9) is connected with an oil inlet of the aircraft jack (2);
the displacement sensor (3) is connected with an electrical control system in the electrical console (4) through a signal wire;
A pressure gauge (11) is arranged on a pipeline between the first one-way valve (14) and the first safety overflow valve (19); a first pressure sensor (17) is arranged on a pipeline between the second one-way valve (18) and the oil filter (20), and the first pressure sensor (17) is connected with an electrical control system inside the electrical control console (4) through a signal line;
A second pressure sensor (24) is arranged on a pipeline between the second two-position two-way electromagnetic valve (23) and an oil inlet of the aircraft jack (2), and the second pressure sensor (24) is connected with an electrical control system in the electrical control console (4) through a signal line;
The motor (16) adopts a variable frequency motor and is connected with an electric control system inside the electric control console (4) through a frequency converter (26);
the aircraft jack (2) adopts a double-stage double-acting oil cylinder; the oil tank assembly (12) is provided with a low liquid level detection device and a temperature detection device; the first safety relief valve (19) is used for setting the pressure value of the whole jack hydraulic system and setting relief unloading when the system pressure reaches 105% -110% of rated working pressure.
2. The multi-station synchronous lifting control system for lifting an aircraft according to claim 1, wherein: the electrical control system comprises a PLC (programmable logic controller) controller (25), wherein the signal input end of the PLC controller (25) is respectively connected with the displacement sensor (3), an operation panel (27) of the electrical control console (4), the handheld controller (5), the first pressure sensor (17) and the second pressure sensor (24) through signal wires; the signal output end of the PLC (25) is connected with a frequency converter (26), a proportional servo valve (22) and a plurality of electromagnetic valves of the jack hydraulic system through signal lines; the proportional servo valve (22) and the frequency converter (26) form feedback regulation with the PLC controller (25) respectively.
3. The multi-station synchronous lifting control system for lifting an aircraft according to claim 1, wherein: the displacement sensor (3) is a pull-wire type absolute value displacement encoder, and is used for accurately measuring the extension displacement of the piston of the airplane jack (2).
4. The multi-station synchronous lifting control system for lifting an aircraft according to claim 1, wherein: the number of the airplane jacks (2) with the independent hydraulic stations (1) is at least three.
5. A method of operating an aircraft jack-up using the multiple station synchronous lift control system of any one of claims 1-4, comprising the steps of:
s1: preparing the aircraft, namely preparing the aircraft before jacking according to a safety operation rule;
s2: the method comprises the steps of performing in-place operation, putting down wheels of an airplane jack, pushing the airplane jack to the vicinity of a jack supporting point, continuously moving the airplane jack to enable a lifting nest of the airplane jack to be aligned to the airplane jack supporting point, collecting the wheels of the airplane jack, grounding a supporting disc, and manually or electrically operating to enable the airplane jack to lift up until the lifting nest of the airplane jack is reliably contacted with the airplane jack supporting point and a certain contact force is generated;
S3: the leveling operation, setting a corresponding lifting distance for each aircraft jack according to the leveling requirement, starting a system, leveling once or a plurality of times, enabling the aircraft to be in a horizontal state, setting a displacement zero point of each aircraft jack, and performing synchronous operation by taking the zero point as a reference;
S4: synchronous jacking operation, setting related parameters of synchronous jacking, starting a system, and after receiving feedback signals such as a proportional servo valve core position, a displacement sensor, a pressure sensor and the like and calculating in real time, a PLC (programmable logic controller) outputs control signals to a frequency converter and the proportional servo valve, controls the rotating speed of a motor and the valve core opening of the proportional servo valve, controls the jacking speed of a jack by controlling the flow passing through the proportional servo valve, and further controls each supporting point of an aircraft jack to synchronously jack;
S5: after the synchronous jacking is finished, if the aircraft needs to be kept at the current height for a long time, the safety nut is locked, the pressure of the hydraulic system is removed, and the weight of the aircraft is borne by the safety nut;
S6: if the safety nuts are in a locking state, synchronous lifting operation is needed first until each safety nut can rotate freely, then the safety nuts enter a synchronous falling operation interface, related parameters are set, a system is started, a PLC (programmable logic controller) receives feedback signals of a servo valve core position, a displacement sensor, a pressure sensor and the like and calculates the feedback signals in real time, then a control signal is output to a proportional servo valve to control the valve core opening of the proportional servo valve, the falling speed of a jack is controlled by controlling the flow passing through the proportional servo valve, and then the synchronous falling of each supporting point of an aircraft jack is controlled;
S7: and after confirming that the airplane jack is out of position and no load exists on the airplane jack and the hydraulic cylinder of the jack actuating cylinder is completely lowered, putting down the jack wheels, retracting the supporting disc to the limit position, arranging the cables, and pushing the airplane jack and the electric control console to the proper positions for storage.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109132938B (en) * | 2018-09-04 | 2023-06-16 | 湖南湘一环境科技有限公司 | Lifting device of vertical garbage compressor |
| CN109987541A (en) * | 2019-03-21 | 2019-07-09 | 沈阳飞研航空设备有限公司 | Aircraft intelligent electric machinery jacking apparatus |
| CN112612293B (en) * | 2020-12-11 | 2023-02-10 | 西安电子工程研究所 | Leveling method adopting constant value control |
| CN113148892A (en) * | 2021-05-13 | 2021-07-23 | 上海航空机械有限公司 | Electric hydraulic jack and synchronous lifting control system |
| CN113371632B (en) * | 2021-06-11 | 2023-01-03 | 中广核核电运营有限公司 | Automatic cylinder opening device and method for steam turbine cylinder |
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