CN109334959B - Aircraft brake control system and method - Google Patents
Aircraft brake control system and method Download PDFInfo
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- CN109334959B CN109334959B CN201811141635.8A CN201811141635A CN109334959B CN 109334959 B CN109334959 B CN 109334959B CN 201811141635 A CN201811141635 A CN 201811141635A CN 109334959 B CN109334959 B CN 109334959B
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000008569 process Effects 0.000 claims abstract description 17
- 238000012544 monitoring process Methods 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 3
- 238000005265 energy consumption Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims 1
- 229910000831 Steel Inorganic materials 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 239000013589 supplement Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003578 releasing effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/42—Arrangement or adaptation of brakes
- B64C25/44—Actuating mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/42—Arrangement or adaptation of brakes
Abstract
The invention provides an aircraft brake control system, which is provided with two or more GPS antennas for accurately acquiring heading signals and real-time aircraft speed, a wheel speed sensor and a pressure sensor for acquiring the aircraft wheel rotation speed and braking pressure in the running process in real time, wherein a controller judges the running state of the aircraft in real time according to feedback information, outputs a control instruction to a high-precision electric actuator, and indirectly controls a brake hydraulic system to adjust the braking pressure, so that the aircraft running in the braking process is continuously corrected to prevent the problems of locking, sideslip, deviation and the like of the aircraft wheel.
Description
Technical Field
The invention relates to the technical field of aircraft braking, in particular to an unmanned aircraft braking control system.
Background
The aircraft braking system is an important component of the aircraft and plays an important role in taking off and landing safely of the aircraft. The aircraft brake system is a subsystem of the aircraft hydraulic control system, and comprehensively utilizes the hydraulic/pneumatic transmission technology, the electronic technology, the servo control technology and the material science technology. When the aircraft runs in the air, the brake control system does not execute work; four states may occur for the aircraft to run on the ground after landing: the wheels are free to roll on the ground without any braking (2) the wheels are locked and slide on the ground (3) the aircraft is completely stopped in a normal braking state (4). The (1) state appears in the stage that the aircraft lands to the brake or completely loosens the brake, and the wheel linear speed is the same with the aircraft speed, and (2) state once appear will lead to tire rapid wear to arouse tire burst accident or the accident of overturning easily, the brake pressure of the brake disc of aircraft is controlled to (3) state control system, and the aircraft braking force of (4) state remains fixed, and aircraft speed and wheel speed are zero. The aircraft braking system is a complex nonlinear time-varying system, and the braking process is influenced by a plurality of factors such as runway conditions, wheel loads, tire pressures, brake disc temperatures and the like, so that the control difficulty is high.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art and provides an aircraft brake control system.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an aircraft brake control system comprises a brake monitoring unit, a controller and an aircraft wheel brake device, wherein the controller is electrically connected with the brake monitoring unit and the aircraft wheel brake device respectively.
The brake monitoring unit comprises a wheel speed sensor, a pressure sensor and two or more differential GPS antennas, wherein the wheel speed sensor is arranged on a wheel shaft, the differential GPS antennas are respectively arranged on a machine body or a wing shell, and the pressure sensor is arranged in a wheel brake device; the controller receives feedback signals from the brake monitoring unit, judges the state of the aircraft, processes and outputs a brake control instruction to control the wheel brake device to execute braking; the wheel braking device applies pressure to the braking disc according to the braking instruction to execute the braking process.
Further, the two or more high-precision differential GPS can acquire the running course of the ground running of the airplane, the running speed and the course of the airplane are acquired and sent to the controller, the wheel speed sensor is used for acquiring the linear speed of the movement of the airplane wheel and sending the linear speed to the controller, and the pressure sensor is used for acquiring the pressure of the brake oil circuit and sending the pressure to the controller.
Further, the wheel braking device comprises an electric actuator, an oil storage tank, a braking oil cylinder, an electromagnetic valve and a braking disc; the electric actuator is respectively connected with the controller and the brake oil cylinder, and receives a brake control instruction and outputs corresponding actuating force to push the brake oil cylinder piston to move; the oil storage tank is connected with the brake oil cylinder, the brake oil cylinder is connected with the electromagnetic valve through the brake oil way, and then is connected to the brake disc on the machine wheel through the internal oil way of the electromagnetic valve, and the electromagnetic valve is used for cutting off or communicating the oil way so as to change the brake pressure.
Further, a rod cavity of the brake oil cylinder is connected with the oil storage tank through an oil way, a rodless cavity is connected to the electromagnetic valve through an oil way, and a one-way stop valve is arranged between the rod cavity and the rodless cavity oil way; the pressurizing process is executed when the piston is pushed to the direction of the rodless cavity, the one-way valve is closed, the depressurizing process is executed when the piston is pushed to the direction of the rod cavity, and the one-way valve is opened.
Further, the electromagnetic valve in the wheel brake device is a two-position two-pass band pressure normally closed electromagnetic valve, the electromagnetic valve is in bypass function when being electrified, and an oil way is conducted to flow to a brake disc; the electromagnetic valve acts as a one-way check valve when the electromagnetic valve is powered off, so that the pressure of the brake disc can be kept unchanged after the brake oil cylinder is released, and when the brake oil cylinder continuously executes pressurization, an oil way can only circulate to the brake disc, and the pressure of the brake disc is increased along with the oil way.
Furthermore, the controller respectively controls the braking pressure of the left wheel or the right wheel to realize the differential steering of the airplane through single-side braking.
Furthermore, the electric actuator is an electric servo cylinder or a steering engine, and the control precision can reach at least 0.05mm.
An aircraft brake control method, applying an aircraft brake control system according to any one of claims 1-5, wherein the controller receives the aircraft speed acquired by a GPS antenna and the wheel speed fed back by a wheel speed sensor; when the speed of the airplane is greater than a preset maximum value, the rotating speed of the airplane wheel is zero, and the airplane is judged to be in air operation, and the electric circuit in the airplane wheel braking device is broken so as to save energy consumption; when the aircraft speed is equal to the aircraft wheel rotating speed, judging that the aircraft lands, starting an aircraft wheel braking device, and processing and outputting braking control signals of the left and right aircraft wheels to the aircraft wheel braking device to execute braking action based on the relative slip rate of the left and right aircraft wheels obtained based on the aircraft speed and the linear speed of the movement of the left and right aircraft wheels by a controller so as to prevent the aircraft from deviating; meanwhile, the controller judges in real time that the speed of the airplane is not zero and the rotating speed of the airplane wheel is close to zero, and controls the braking device of the airplane wheel to release partial pressure so as to prevent the airplane wheel from locking.
Further, when the wheel braking device performs work, the pressure sensors monitor the pressures of the brake disc oil ways of the left wheel and the right wheel of the airplane in real time and feed back the pressures to the controller, the controller compares the fed back pressure data with a pre-stored maximum pressure value, and if the pressure data is larger than the pre-stored maximum pressure value, the wheel braking device is controlled to reduce the braking pressure so as to prevent the system pressure from exceeding the maximum pressure allowable value.
The invention has the beneficial effects that the aircraft brake control system is provided with two or more differential GPS (Global positioning System) which can accurately acquire the course signal, the GPS can also acquire the aircraft speed in real time, the wheel speed sensor and the pressure sensor acquire the aircraft wheel rotation speed and the brake pressure in the running process in real time, the controller judges the running state of the aircraft in real time according to the feedback information, and the controller outputs a control instruction to control the brake hydraulic system to adjust the brake pressure, so that the running of the aircraft in the braking process is continuously corrected, and the problems of locking, sideslip, deviation and the like of the aircraft wheel are prevented.
Drawings
FIG. 1 is a schematic diagram of an aircraft brake control system according to the present embodiment.
Fig. 2 is a schematic diagram of the mounting position of the wheel speed sensor of the left wheel in the present embodiment.
Detailed Description
The invention is further described below in connection with the following detailed description.
An aircraft brake control system comprises a brake monitoring unit, a controller 1 and an aircraft wheel brake device, wherein the controller 1 is electrically connected with the brake monitoring unit and the aircraft wheel brake device respectively.
The wheel brake device comprises electric actuators 21 and 22, an oil storage tank 3, brake cylinders 41 and 42, electromagnetic valves 51 and 52 and brake discs 81 and 82. Wherein, a one-way check valve is arranged between the rod cavity and the rodless cavity of the brake cylinders 41 and 42, the electromagnetic valves 51 and 52 are two-position two-pass-band pressure normally closed electromagnetic valves, and the connection mode is as follows: the controller is respectively connected with the electric actuators 21 and 22, the electric actuators 21 and 22 are respectively connected with the brake cylinders 41 and 42, rod cavities of the brake cylinders 41 and 42 are connected with the oil storage tank 3 through oil paths, and rodless cavities of the brake cylinders 41 and 42 are respectively connected to oil paths of the electromagnetic valves 51 and 52 and then are communicated with the brake discs 81 and 82. The controller can respectively control the braking pressure of the left wheel or the right wheel through the two-way wheel braking device.
When the electromagnetic valve 51 is electrified, the bypass function is realized, the inlet and outlet oil paths are communicated, and the flowing direction is controlled by the inlet and outlet pressure; when the electromagnetic valve 51 is powered off, the electromagnetic valve acts as a one-way check valve, the electric actuator 21 retreats, the brake oil cylinder 41 can still maintain the pressure of the oil way of the brake disc after being released, and when the brake oil cylinder is continuously pressurized, the oil way can still circulate to the brake disc, and the pressure of the brake disc is increased; similarly, the electric actuator 22 is respectively connected with the controller and the brake oil cylinder 42, the brake oil cylinder 42 is connected with the electromagnetic valve 52 through a brake oil path, the electromagnetic valve 52 has a bypass function when being electrified, the inlet and outlet oil paths are communicated, and the flowing direction is controlled by the inlet and outlet pressure; when the electromagnetic valve is powered off, the electromagnetic valve plays a role of a one-way check valve, the electric actuator 22 withdraws, the brake oil cylinder 42 can maintain the pressure of the oil way of the brake disc after being released, and when the brake oil cylinder continues to be pressurized, the oil way can still circulate to the brake disc, and the pressure of the brake disc increases along with the oil way.
When the braking process is executed, the electric actuator pushes the piston to move towards the direction of the rodless cavity, the one-way valve is closed, the oil way between the two cavities is not communicated, and the oil storage tank 3 supplements oil for the rod-shaped cavity; when the brake release is executed, the piston moves towards the direction of the rod cavity, the one-way valve is conducted, the oil way between the two cavities is communicated, and the rodless cavity supplements oil to the rod cavity.
The electromagnetic valve is used for cutting off or communicating an oil circuit: the electric actuator receives a brake control instruction to output thrust to push a piston in the brake cylinder to move, the electromagnetic valves 51 and 52 are electrified to perform bypass action, the inlet and outlet oil paths are communicated, and the circulation direction is controlled by the brake cylinder, the electromagnetic valve and the brake disc, so that the brake pressure of the machine wheel is controlled; the solenoid valves 51 and 52 are powered off and the oil paths are cut off, the one-way check valve brake oil of the solenoid valve is kept between the solenoid valve and the oil paths of the brake disc, the brake disc is ensured to keep pressure for a long time, and parking is performed.
Illustratively, the electric actuator is an electric servo cylinder, and the control accuracy can reach 0.05mm.
The brake monitoring unit comprises wheel speed sensors 71 and 72 which are respectively arranged on a left wheel shaft and a right wheel shaft, and specifically as shown in fig. 2, taking the wheel speed sensor 71 on a left wheel 702 as an example, a brake steel ring 703 is fixedly connected with the wheel 702, a signal plate 701 is arranged in the brake steel ring, and the wheel speed sensor obtains the rotation speed of the left wheel and the right wheel by sensing the change of the signal plate 701; the pressure sensors 61 and 62 are respectively arranged on the left and right brake disc oil paths and used for acquiring the brake pressure of the left wheel and the right wheel; the differential GPS antennas 91 and 92 are respectively installed on the shells of the fuselage or the wings for monitoring the ground running course of the aircraft, and meanwhile, the differential GPS91 and 92 can also acquire the movement speed of the aircraft in real time.
The controller 1 receives the course, wheel speed and pressure signals fed back from the brake monitoring unit, judges the state of the aircraft, and processes and outputs a brake control instruction to the wheel brake device to control the aircraft to execute braking.
Exemplary, the aircraft brake control system controls the aircraft to perform a braking process specifically including:
1. the controller 1 receives the aircraft speeds acquired by the differential GPS91 and 92 and the wheel speeds fed back by the wheel speed sensors 701 and 801.
2. When the speed of the airplane is greater than a preset maximum value, the linear speed of the airplane wheel is zero, and the airplane is judged to run in the air, and the electric circuit in the airplane wheel braking device is broken to save energy consumption; when the aircraft speed is equal to the wheel rotation linear speed of the aircraft, judging that the aircraft lands, starting the wheel braking device, and processing the relative slip rate of the left wheel and the right wheel based on the aircraft speed and the wheel movement linear speed, and respectively outputting braking control signals of the left wheel and the right wheel to the wheel braking device to execute braking action by the controller so as to prevent the aircraft from deviating. The controller judges whether the airplane wheel is locked or not based on the airplane speed and the airplane wheel rotating speed, and if the airplane wheel is close to the locked state, a control signal is output to reduce the brake pressure.
Illustratively, when the left wheel braking action is executed, the controller controls the electromagnetic valve 51 to be opened, the oil way is conducted, meanwhile, the push rod of the electric actuator 21 is controlled to extend, the push rod pushes the piston rod of the brake oil cylinder 41 to move towards the direction of the rodless cavity, the one-way valve in the brake oil cylinder is closed, and the oil storage tank 3 supplements oil in the rod cavity; the oil in the rod cavity is extruded to flow to the brake disc through the electromagnetic valve, so that the brake disc compresses the brake steel ring, and the left wheel is braked.
When the wheel brake device performs work, the pressure sensors 61 and 62 monitor the pressures of the left wheel brake disc and the right wheel brake disc of the airplane in real time and feed back the pressures to the controller 1, the controller 1 compares the fed back pressure data with a pre-stored maximum pressure value, and if the pressure data is larger than the pre-stored maximum pressure value, the wheel brake device is controlled to reduce the brake pressure so as to prevent the pressure of the wheel system from exceeding a maximum pressure allowable value.
Meanwhile, the differential GPS91 and the differential GPS 92 feed back the running course of the airplane to the controller, and the controller judges according to the preset course to prevent the airplane from deviating.
The controller calculates the relative slip rate by acquiring the rotational linear speeds of the left and right wheels, and the slip rate processing specifically includes: and comparing the slip rate with a set value, and calculating and outputting a brake pressure output value according to the slip rate error.
For example, when the aircraft needs to slide in a left turn, the brake control signals of the left wheel and the right wheel are output to enable the brake pressure of the left wheel to be larger than that of the right wheel and enable the rotating speed of the left wheel to be smaller than that of the right wheel.
When the decompression releasing action of the left wheel is executed, the controller controls the electromagnetic valve 51 to be opened, the oil way is conducted, meanwhile, the push rod of the electric actuator 21 is controlled to retract, the push rod pulls the piston rod of the brake oil cylinder 41 to move towards the direction of the rod cavity, the one-way valve in the brake oil cylinder is conducted, oil in the two cavities is freely conducted, meanwhile, the return spring in the rodless cavity also pushes the piston to move towards the direction of the rod cavity, the pressure of the oil way of the brake disc is released, and therefore the brake disc is separated from the brake steel ring, and the left wheel is restored to a free state.
For example, when the parking action is performed, after the wheel braking device completes the braking process, the controller controls the electromagnetic valve 51 to be powered off and closed, the electromagnetic valve oil path is cut off, the pressure of the brake disc oil path is kept unchanged, and the wheel is kept in a braking state all the time.
It is apparent that the above examples are only examples for clearly illustrating the technical solution of the present invention, and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (7)
1. The aircraft brake control system comprises a brake monitoring unit, a controller and a wheel brake device, wherein the controller is electrically connected with the brake monitoring unit and the wheel brake device respectively;
the wheel speed sensor is arranged on the wheel shaft and is used for acquiring the linear speed of the movement of the wheel and sending the linear speed to the controller; the pressure sensor is arranged in the wheel brake device and is used for collecting the pressure of a brake oil circuit and sending the pressure to the controller; the differential GPS antenna is respectively arranged on the fuselage or the wing shell, acquires the running course of the ground running of the aircraft, and is used for acquiring the running speed and the course of the aircraft and sending the running speed and the course to the controller; the controller receives feedback signals from the brake monitoring unit, judges the state of the aircraft, processes and outputs a brake control instruction, and controls the wheel brake device to execute braking; the wheel braking device applies pressure to the braking disc according to the braking instruction to execute a braking process;
the aircraft brake control system controlling the aircraft to perform the braking steps includes:
the controller receives the airplane speed acquired by the GPS antenna and the airplane wheel rotating speed fed back by the wheel speed sensor;
when the speed of the airplane is greater than a preset maximum value, the rotating speed of the airplane wheel is zero, and the airplane is judged to be in air operation, and the electric circuit in the airplane wheel braking device is broken so as to save energy consumption; when the aircraft speed is equal to the aircraft wheel rotating speed, judging that the aircraft lands, starting an aircraft wheel braking device, and processing and outputting braking control signals of the left and right aircraft wheels to the aircraft wheel braking device to execute braking action based on the relative slip rate of the left and right aircraft wheels obtained based on the aircraft speed and the linear speed of the movement of the left and right aircraft wheels by a controller so as to prevent the aircraft from deviating; meanwhile, the controller judges in real time that the speed of the airplane is not zero and the rotating speed of the airplane wheel is close to zero, and controls the braking device of the airplane wheel to release partial pressure to prevent the airplane wheel from locking.
2. The aircraft brake control system of claim 1, wherein the wheel brake assembly comprises an electric actuator, an oil storage tank, a brake cylinder, an electromagnetic valve, and a brake disc; the electric actuator is respectively connected with the controller and the brake oil cylinder, and receives a brake control instruction and outputs corresponding actuating force to push the brake oil cylinder piston to move; the oil storage tank is connected with the brake oil cylinder, the brake oil cylinder is connected with the electromagnetic valve through the brake oil way, and then is connected to the brake disc on the machine wheel through the internal oil way of the electromagnetic valve, and the electromagnetic valve is used for cutting off or communicating the oil way so as to change the brake pressure.
3. The aircraft brake control system of claim 2, wherein the brake cylinder has a rod chamber connected to the oil storage tank via an oil path, the rodless chamber is connected to the solenoid valve via an oil path, and a one-way stop valve is provided between the rod chamber and the rodless chamber; the pressurizing process is executed when the piston is pushed to the direction of the rodless cavity, the one-way valve is closed, the depressurizing process is executed when the piston is pushed to the direction of the rod cavity, and the one-way valve is opened.
4. The aircraft brake control system according to claim 3, wherein the electromagnetic valve in the wheel brake device is a two-position two-pass band pressure normally closed electromagnetic valve, the electromagnetic valve is in bypass function when being electrified, and the oil way is conducted to flow to the brake disc; the electromagnetic valve acts as a one-way check valve when the electromagnetic valve is powered off, so that the pressure of the brake disc can be kept unchanged after the brake oil cylinder is released, and when the brake oil cylinder continuously executes pressurization, an oil way can only circulate to the brake disc, and the pressure of the brake disc is increased along with the oil way.
5. An aircraft brake control system according to any one of claims 1 to 4, wherein the controller controls the left wheel or right wheel brake pressure to effect differential steering of the aircraft by single side braking, respectively.
6. An aircraft brake control system according to claim 2, wherein the electric actuator is an electric servo cylinder or steering engine with a control accuracy of at least 0.05mm.
7. An aircraft brake control system according to claim 1, wherein the pressure sensor monitors the pressure in the brake disc passages of the left and right aircraft wheels in real time and feeds back to the controller when the wheel brake device is operating, and the controller compares the pressure data fed back with a pre-stored maximum pressure value, and if the former is greater than the latter, the controller controls the wheel brake device to reduce the brake pressure in case the system pressure exceeds a maximum pressure allowable value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811141635.8A CN109334959B (en) | 2018-09-28 | 2018-09-28 | Aircraft brake control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811141635.8A CN109334959B (en) | 2018-09-28 | 2018-09-28 | Aircraft brake control system and method |
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| CN109334959A CN109334959A (en) | 2019-02-15 |
| CN109334959B true CN109334959B (en) | 2024-03-26 |
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| CN201811141635.8A Active CN109334959B (en) | 2018-09-28 | 2018-09-28 | Aircraft brake control system and method |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111976967A (en) * | 2020-07-08 | 2020-11-24 | 西安航空制动科技有限公司 | Control method for airplane brake |
| CN112987601B (en) * | 2021-04-28 | 2021-09-07 | 西安富沃德光电科技有限公司 | Unmanned aerial vehicle electromagnetic brake control system and method |
| CN114348246A (en) * | 2021-12-17 | 2022-04-15 | 江西洪都航空工业集团有限责任公司 | Automatic brake device for folding undercarriage |
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