CN109733594A - A kind of cold air operation of landing gear system and its method of rising and falling - Google Patents
A kind of cold air operation of landing gear system and its method of rising and falling Download PDFInfo
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- CN109733594A CN109733594A CN201910165851.4A CN201910165851A CN109733594A CN 109733594 A CN109733594 A CN 109733594A CN 201910165851 A CN201910165851 A CN 201910165851A CN 109733594 A CN109733594 A CN 109733594A
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Abstract
The invention discloses a kind of cold air operation of landing gear systems, including gas source unit and undercarriage Transmit-Receive Unit, the gas source unit to provide aerodynamic force for undercarriage Transmit-Receive Unit；The present invention using cold air as main source of energy, can be used in undercarriage stowage for the first time, put down and emergency extension；The invention proposes the novel folding and unfolding mode supplemented by cold air folding and unfolding of based on novel cold air folding and unfolding, meeting an urgent need, i.e., normal folding and unfolding or emergency put the mode for being all made of cold air folding and unfolding, are suitable for small drone, have the clear superiorities such as light-weight, easy to maintain.The invention also discloses a kind of methods of rising and falling of cold air operation of landing gear system, in order to which the folding and unfolding speed for controlling this new way of cold air folding and unfolding is more stable, uses reversed inflation, are effectively controlled cold air operation of landing gear speed.It causes landing gear structure to damage with structural collision the invention avoids excessive velocities, causes to fly to control the posture bring serious consequence that can not timely update to aspect is influenced due to excessive velocities when also avoiding receiving.
Description
Technical field
The invention belongs to the technical fields of unmanned plane undercarriage, and in particular to a kind of cold air operation of landing gear system and its rise
Fall method.
Background technique
In the entire mission phase of aircraft, it is crucial that the take-off and landing stage, 50% or more safety accident occurs
In the takeoff and landing stage, and effective reliable folding and unfolding of undercarriage directly influences the integrity of flight safety and equipment.
Undercarriage extension and retraction system mostly uses greatly hydraulic driving mode both at home and abroad at present, is put under case of emergency using cold air
Lower undercarriage.It uses there are also individual small drone and is taken off by machine tool carrying, only put down and risen and fallen using cold air driving when landing
The mode of frame, on the one hand it can not receive upper undercarriage with cold air, and on the other hand its undercarriage control speed cannot be implemented well
Control.Cold air operation of landing gear technology compares hydraulic folding and unfolding, light-weight, easy to maintain.For small drone, folding and unfolding load
It is small, it is had a clear superiority using novel cold air operation of landing gear, wants a set of cold air folding and unfolding system for small-sized unmanned plane urgent need
System, can be realized cold air receive it is upper, put down and the process of emergency extension (as backup).
Summary of the invention
The purpose of the present invention is to provide a kind of cold air operation of landing gear systems, and the present invention is for the first time using cold air as main energy
Source can be used in undercarriage stowage, put down and emergency extension；The invention proposes based on novel cold air folding and unfolding, chilling is answered
Novel folding and unfolding mode supplemented by gas folding and unfolding, i.e., normal folding and unfolding or emergency put the mode for being all made of cold air folding and unfolding, are suitable for small-sized nothing
It is man-machine, there are the clear superiorities such as light-weight, easy to maintain.
It is another object of the present invention to provide a kind of method of rising and falling of cold air operation of landing gear system, the present invention in order to
The folding and unfolding speed for controlling this new way of cold air folding and unfolding is more stable, uses reversed inflation, is effectively controlled cold air folding and unfolding
Undercarriage speed.Landing gear structure is caused to damage with structural collision the invention avoids excessive velocities, when also avoiding receiving
Since excessive velocities cause to fly to control the posture bring serious consequence that can not timely update to aspect is influenced.
The present invention is achieved through the following technical solutions: a kind of cold air operation of landing gear system, including gas source unit and
Undercarriage Transmit-Receive Unit, the gas source unit provide aerodynamic force for undercarriage Transmit-Receive Unit；The gas source unit includes gas source group
Part and sequentially connected charging valve, cylinder package, air pressure reducer；It is provided between the charging valve and cylinder package cold
Gas sensor；The undercarriage Transmit-Receive Unit includes folding and unfolding air pressure electromagnetic valve, emergency deflation pressure electromagnetic valve, undercarriage leg actuation
Cylinder, undercarriage backplate pressurized strut；The undercarriage leg pressurized strut, the pressurized strut of undercarriage backplate pass through folding and unfolding air pressure electromagnetism respectively
Valve connects air pressure reducer；The emergency deflation pressure electromagnetic valve connects gas source component.
In order to preferably realize the present invention, further, the charging valve is using general-purpose interface and is integrated with filter；
Safety valve is integrated in the air pressure reducer.
In order to preferably realize the present invention, further, the row of the folding and unfolding air pressure electromagnetic valve, deflation pressure electromagnetic valve of meeting an urgent need
Port is integrated with throttle valve and respectively configured with silencer.
In order to preferably realize the present invention, further, the emergency deflation pressure electromagnetic valve is folding and unfolding air pressure electromagnetic valve
Remaining.
In order to preferably realize the present invention, further, in the receipts of the operation of landing gear and puts down and be provided with unlock
Pressure；And buckling and locking device is provided with afterwards in place on receiving.
The present invention is achieved through the following technical solutions: a kind of method of rising and falling of cold air operation of landing gear system, including
The step of gear up: first gear up pillar sends the instruction of breaker prop first, fills breaker prop cooling pipelines and pressurized strut
Gas 6s, at this time actuation cylinder pressure 3MPa；The instruction for retransmiting revenue and expenditure column receives undercarriage leg；Then undercarriage is packed up
Backplate sends the instruction for putting backplate first, makes to put backplate cooling pipelines and pressurized strut inflation 6s, actuation cylinder pressure is at this time
5MPa；The instruction for receiving backplate is retransmited, undercarriage backplate is received.
In order to preferably realize the present invention, further, after sending revenue and expenditure column instruction 20s, the instruction for receiving backplate is sent.
In order to preferably realize the present invention, further, further include the steps that blow the gear down: first blow the gear down backplate, then
The instruction for receiving backplate is sent first, makes to receive backplate cooling pipelines and pressurized strut inflation 2s, actuation cylinder pressure is 2MPa at this time；Again
The instruction that backplate is put in transmission puts down undercarriage backplate；Then blow the gear down pillar sends the instruction of revenue and expenditure column first, makes revenue and expenditure
2s is inflated in column cooling pipelines and pressurized strut, and actuation cylinder pressure is 2MPa at this time；Breaker prop instruction is retransmited, undercarriage leg is made
It puts down.
In order to preferably realize the present invention, further, the instruction of transmission revenue and expenditure column after the instruction 13s for putting backplate is sent.
Innovation of the invention:
1. traditional folding and unfolding is to be put (backup) with hydraulic folding and unfolding, cold air for meeting an urgent need, that is, rise and fall in hydraulic can not normally put down
Under the fault condition of frame, emergency is carried out using cold air and is put, thus cold air is served only for putting down and cannot be used in receipts, needs to match on machine
Set hydraulic device and thermantidote two systems；The present invention using cold air as main source of energy, can be used in undercarriage stowage, put for the first time
Lower and emergency extension (as backup), compared with traditional folding and unfolding mode, which only needs to provide cold gas system i.e. on machine
Can, it avoids various energy resources and shares the problems such as bring internal structure is too fat to move, repair and maintenance is inconvenient, and the cold air that the present invention designs
Extension and retraction system has the clear superiorities such as light-weight, easy to maintain for small drone.
2. the present invention solves the problems, such as that cold air folding and unfolding is used as the excessive velocities of the main folding and unfolding energy, which is also can be at
Function application cold air receive it is upper, put down and the key technology put of meet an urgent need, proposed and reversely inflated (alternatively referred to as based on cold air expansion work
Pre- inflation) control strategy, fundamentally slow down folding and unfolding speed, avoid undercarriage caused by excessive velocities and structural collision
Structural damage, also avoiding, which influences aspect due to the upper excessive velocities of receipts, leads to fly to control that attitude tape can not be timely updated seriously
Consequence.
Full machine provides energy without hydraulic power source, gas source of the whole process of undercarriage control on machine.Cold air is used for normal folding and unfolding
It is put with emergency, it is high-efficient using free of contamination clean nitrogen or compressed air, clean and environmental protection.Cold air operation of landing gear system by
Gas source unit and undercarriage control unit composition:
It is undercarriage 1. gas source unit is made of charging valve, cylinder package, air pressure reducer, cold air sensor and pipeline etc.
Folding and unfolding provides aerodynamic force.Charging valve uses general-purpose interface, filter is integrated with, to guarantee the cleannes of thermantidote.Air
Pressure reducer is used for the operating pressure of adjusting landing gear folding and unfolding；Safety valve is integrated in air pressure reducer, to guarantee system safety.It is cold
Gas sensor is supplied to flight control computer for monitoring system pressure of compressed air, by test signal.
2. undercarriage control unit is by folding and unfolding air pressure electromagnetic valve, emergency deflation pressure electromagnetic valve, retractable actuating cylinder and pipeline etc.
Composition, throttle valve is integrated into the exhaust outlet of solenoid valve, and configures silencer.Deflation pressure electromagnetic valve of meeting an urgent need is deflation pressure electromagnetic valve
Remaining.It is sent and is instructed by vehicle management computer, control the sequence folding and unfolding of undercarriage leg and backplate.To avoid preventing flying
Machine is packed up automatically when putting down automatically, receiving shock, in receipts and is put down and is provided with unlocking pressure, avoids unexpected receiving upper or putting down.
There is buckling and locking device afterwards in place on receiving simultaneously, guarantee that undercarriage is not thrown out of in high maneuver, it is ensured that safety.
Undercarriage control is provided by vehicle management computer and controls signal, controls the traditional folding and unfolding plan of the folding and unfolding of undercarriage
Slightly use.Traditional control strategy is: after vehicle management computer sends instruction, main landing gear is put down in electromagnet (3D) movement
Backplate；Backplate puts down rear electromagnet (1D) movement, then 3 pillars of drop.When wanting gear up, aircraft management
Computer sends instruction, and electromagnet (2D) acts, 3 pillars of undercarriage in receipts；Pillar receives upper rear electromagnet (4D) movement, then
Undercarriage backplate in receipts.
According to the principle of cold air expansion work, reversed inflation (" inflation in advance " or " pre- inflation " can also be called) is used
Control strategy, the operating rate of effective control pressure pressurized strut.For the different loads that aerial folding and unfolding/ground folding and unfolding faces, system
Two sets of control strategies of aerial/comprehensive inspection are determined, have serviced aerial mission/ground check respectively, not only guarantee flight safety, but also highlight ground
The demonstrating effect in face.
The cold air operation of landing gear control strategy in stage is as follows in the sky: when gear up pillar, first sending out " breaker prop " and refers to
It enables, breaker prop cooling pipelines and pressurized strut is made to inflate 6s, actuation cylinder pressure is about 3MPa at this time, then sends out " revenue and expenditure column " instruction and make
On undercarriage leg is received；When gear up backplate, " putting backplate " instruction is first sent out, makes to put backplate cooling pipelines and pressurized strut inflation
6s, actuation cylinder pressure is about 5MPa at this time, then sending out " receiving backplate " instruction receives undercarriage backplate；When blow the gear down backplate,
First hair " receiving backplate " instruction makes to receive backplate cooling pipelines and pressurized strut inflation 2s, and actuation cylinder pressure is about 2MPa at this time, then is sent out
" putting backplate " instruction puts down undercarriage backplate；When blow the gear down pillar, " revenue and expenditure column " instruction is first sent out, revenue and expenditure column cooling pipelines are made
And 2s is inflated in pressurized strut, actuation cylinder pressure is about 2MPa at this time, then sending out " breaker prop " instruction puts down undercarriage leg.
The invention discloses a kind of cold air operation of landing gear systems, are used for small drone undercarriage control.Miniature self-service
Machine folding and unfolding load is small, on the one hand because of " small-sized "
On it is available without hydraulic power source.Therefore based on traditional hydraulic folding and unfolding, the mode that cold air or electric folding and unfolding backup is worthless.This hair
Bright to propose based on novel cold air folding and unfolding, supplemented by cold air folding and unfolding of meeting an urgent need novel folding and unfolding mode, i.e., normal folding and unfolding or emergency are put
It is all made of the mode of cold air folding and unfolding, is suitable for small drone.While in order to control the folding and unfolding of this new way of cold air folding and unfolding
Speed is more stable, uses reversed inflation (also referred to as " inflation in advance " or " pre- inflation "), is effectively controlled cold air receipts
Blow the gear down speed.The folding and unfolding strategy avoids excessive velocities and causes landing gear structure to damage with structural collision, also avoids
Cause to fly to control the posture bring serious consequence that can not timely update to aspect is influenced due to excessive velocities when in receipts.
Beneficial effects of the present invention:
(1) the invention proposes the novel folding and unfolding modes supplemented by cold air folding and unfolding of based on novel cold air folding and unfolding, meeting an urgent need, i.e., normal to receive
It puts or meets an urgent need the mode put and be all made of cold air folding and unfolding, be suitable for small drone.
(2) present invention for the first time using cold air as main source of energy, can be used in undercarriage stowage, put down and emergency extension (work
For backup), compared with traditional folding and unfolding mode, which only needs to provide cold gas system on machine, avoids various energy resources
The problems such as bring internal structure is too fat to move, repair and maintenance is inconvenient is shared, and the cold air extension and retraction system that the present invention designs is for small-sized
Unmanned plane has the clear superiorities such as light-weight, easy to maintain.
(3) in order to which the folding and unfolding speed for controlling this new way of cold air folding and unfolding is more stable, reversed inflation is used, effectively
Control cold air operation of landing gear speed.Landing gear structure is caused to damage with structural collision the invention avoids excessive velocities,
When also avoiding receiving due to excessive velocities to influence aspect cause fly control can not timely update posture bring it is serious after
Fruit.
Detailed description of the invention
Fig. 1 is the principle of the present invention block diagram；
Fig. 2 is control flow chart of the invention.
Wherein: 1- charging valve, 2- cylinder package, 3- air pressure reducer, 4- folding and unfolding air pressure electromagnetic valve, 5- folding and unfolding air pressure electricity
Magnet valve, 6- emergency deflation pressure electromagnetic valve, 7- cold air sensor, 8- gas source component.
Specific embodiment
Embodiment 1:
A kind of cold air operation of landing gear system, as shown in Figure 1, including gas source unit and undercarriage Transmit-Receive Unit, the gas source list
Member provides aerodynamic force for undercarriage Transmit-Receive Unit；The gas source unit include gas source component 8 and sequentially connected charging valve 1,
Cylinder package 2, air pressure reducer 3；Cold air sensor 7 is provided between the charging valve 1 and cylinder package 2；It is described to rise and fall
Frame Transmit-Receive Unit includes folding and unfolding air pressure electromagnetic valve 4,5, emergency deflation pressure electromagnetic valve 6, undercarriage leg pressurized strut, undercarriage backplate
Pressurized strut；The undercarriage leg pressurized strut, the pressurized strut of undercarriage backplate pass through folding and unfolding air pressure electromagnetic valve 4,5 respectively and connect air
Pressure reducer 3；The emergency deflation pressure electromagnetic valve 6 connects gas source component 8.
The present invention using cold air as main source of energy, can be used in undercarriage stowage for the first time, put down and emergency extension；The present invention
It proposes based on novel cold air folding and unfolding, the novel folding and unfolding mode supplemented by cold air folding and unfolding of meeting an urgent need, i.e., normal folding and unfolding or emergency are put
By the way of cold air folding and unfolding, it is suitable for small drone, there are the clear superiorities such as light-weight, easy to maintain.
Embodiment 2:
The present embodiment be optimize on the basis of embodiment 1, as shown in Figure 1, the charging valve 1 using general-purpose interface and
It is integrated with filter；Safety valve is integrated in the air pressure reducer 3.The folding and unfolding air pressure electromagnetic valve 4,5, emergency deflation piezoelectricity
The exhaust outlet of magnet valve 6 is integrated with throttle valve and respectively configured with silencer.The emergency deflation pressure electromagnetic valve 6 is folding and unfolding air pressure electricity
The remaining of magnet valve 4,5.In the receipts of the operation of landing gear and puts down and be provided with unlocking pressure；And card is provided with afterwards in place on receiving
Locking device.
Charging valve 1 uses general-purpose interface, filter is integrated with, to guarantee the cleannes of thermantidote.Air pressure reducer 3
Operating pressure for adjusting landing gear folding and unfolding；It is integrated with safety valve in air pressure reducer 3, to guarantee system safety.Cold air passes
Sensor 7 is supplied to flight control computer for monitoring system pressure of compressed air, by test signal.
It is sent and is instructed by vehicle management computer, control the sequence folding and unfolding of undercarriage leg and backplate.To avoid preventing
It is packed up automatically when only aircraft puts down automatically, receives shock, in receipts and puts down and be provided with unlocking pressure, avoid unexpected receiving upper or putting
Under.There is buckling and locking device afterwards in place on receiving simultaneously, guarantee that undercarriage is not thrown out of in high maneuver, it is ensured that safety.
The present invention using cold air as main source of energy, can be used in undercarriage stowage for the first time, put down and emergency extension；The present invention
It proposes based on novel cold air folding and unfolding, the novel folding and unfolding mode supplemented by cold air folding and unfolding of meeting an urgent need, i.e., normal folding and unfolding or emergency are put
By the way of cold air folding and unfolding, it is suitable for small drone, there are the clear superiorities such as light-weight, easy to maintain.
The other parts of the present embodiment are same as Example 1, and so it will not be repeated.
Embodiment 3:
A kind of method of rising and falling of cold air operation of landing gear system is controlled using the cold air operation of landing gear system of embodiment 1 or 2
System, as shown in Fig. 2, including the steps that gear up: first gear up pillar sends the instruction of breaker prop first, makes breaker prop
6s is inflated in cooling pipelines and pressurized strut, at this time actuation cylinder pressure 3MPa；The instruction for retransmiting revenue and expenditure column, receives undercarriage leg
On；After sending revenue and expenditure column instruction 20s, undercarriage backplate is then packed up, the instruction for putting backplate is sent first, makes to put backplate refrigerator pipe
6s is inflated in road and pressurized strut, and actuation cylinder pressure is 5MPa at this time；The instruction for receiving backplate is retransmited, undercarriage backplate is received.
Further include the steps that blow the gear down: first blow the gear down backplate then sends the instruction for receiving backplate first, keeps receipts backplate cold
2s is inflated in air pipe and pressurized strut, and actuation cylinder pressure is 2MPa at this time；It retransmits and puts the instruction of backplate and put undercarriage backplate
Under；After the instruction 13s of backplate is put in transmission, then blow the gear down pillar, sends the instruction of revenue and expenditure column first, makes revenue and expenditure column refrigerator pipe
2s is inflated in road and pressurized strut, and actuation cylinder pressure is 2MPa at this time；Breaker prop instruction is retransmited, undercarriage leg is put down.
The present invention is more stable for the folding and unfolding speed for controlling this new way of cold air folding and unfolding, uses reversed inflation, has
Effect controls cold air operation of landing gear speed.Landing gear structure is caused to damage with structural collision the invention avoids excessive velocities
Wound, when also avoiding receiving due to excessive velocities to influence aspect cause to fly the control posture bring that can not timely update it is serious
Consequence.
Embodiment 4:
A kind of method of rising and falling of cold air operation of landing gear system, as shown in Fig. 2, including the steps that cold air gear up:
1) when gear up pillar, " breaker prop " instruction is first sent out, breaker prop cooling pipelines and pressurized strut is made to inflate 6s；2) hair " is received
Pillar " instruction receives undercarriage leg；3) after 20s, start gear up backplate, also need pre- inflation, i.e., first hair " puts shield
Plate " instruction makes to put backplate cooling pipelines and pressurized strut inflation 6s；4) hair " receiving backplate " instruction receives undercarriage backplate；5) 15s
It is received in place by three backplates of Electromechanical Management module check afterwards.
Similarly, further include the steps that cold air blow the gear down:
1) when blow the gear down backplate, first hair " receiving backplate " instruction makes to receive backplate cooling pipelines and pressurized strut inflation 2s；2) hair " is put
Backplate " instruction puts down undercarriage backplate；3) after 13s, start blow the gear down pillar, also need pre- inflation, i.e., first send out " revenue and expenditure
Column " instruction makes revenue and expenditure column cooling pipelines and pressurized strut inflate 2s；4) hair " breaker prop " instruction puts down undercarriage leg；5) 38s
It is put down in place by three pillars of Electromechanical Management module check afterwards.
The present invention is more stable for the folding and unfolding speed for controlling this new way of cold air folding and unfolding, uses reversed inflation, has
Effect controls cold air operation of landing gear speed.Landing gear structure is caused to damage with structural collision the invention avoids excessive velocities
Wound, when also avoiding receiving due to excessive velocities to influence aspect cause to fly the control posture bring that can not timely update it is serious
Consequence.
The above is only presently preferred embodiments of the present invention, not does limitation in any form to the present invention, it is all according to
According to technical spirit any simple modification to the above embodiments of the invention, equivalent variations, protection of the invention is each fallen within
Within the scope of.
Claims (9)
1. a kind of cold air operation of landing gear system, which is characterized in that including gas source unit and undercarriage Transmit-Receive Unit, the gas source
Unit provides aerodynamic force for undercarriage Transmit-Receive Unit；The gas source unit includes gas source component (8) and sequentially connected charge valve
Door (1), cylinder package (2), air pressure reducer (3)；Cold air biography is provided between the charging valve (1) and cylinder package (2)
Sensor (7)；The undercarriage Transmit-Receive Unit includes folding and unfolding air pressure electromagnetic valve (4,5), emergency deflation pressure electromagnetic valve (6), undercarriage
Pillar pressurized strut, undercarriage backplate pressurized strut；The undercarriage leg pressurized strut, undercarriage backplate pressurized strut pass through folding and unfolding respectively
Air pressure electromagnetic valve (4,5) connects air pressure reducer (3)；The emergency deflation pressure electromagnetic valve (6) connects gas source component (8).
2. a kind of cold air operation of landing gear system according to claim 1, which is characterized in that the charging valve (1) is adopted
With general-purpose interface and it is integrated with filter；Safety valve is integrated in the air pressure reducer (3).
3. a kind of cold air operation of landing gear system according to claim 1, which is characterized in that the folding and unfolding air pressure electromagnetic valve
The exhaust outlet of (4,5), emergency deflation pressure electromagnetic valve (6) is integrated with throttle valve and respectively configured with silencer.
4. a kind of cold air operation of landing gear system according to claim 1 or 3, which is characterized in that the emergency, which is deflated, presses
Solenoid valve (6) is the remaining of folding and unfolding air pressure electromagnetic valve (4,5).
5. a kind of cold air operation of landing gear system according to claim 1, which is characterized in that the receipts of the operation of landing gear
It goes up and puts down and be provided with unlocking pressure；And buckling and locking device is provided with afterwards in place on receiving.
6. a kind of method of rising and falling of cold air operation of landing gear system, which is characterized in that include the steps that gear up: first packing up and fall
Post setting sends the instruction of breaker prop first, so that breaker prop cooling pipelines and pressurized strut is inflated 6s, at this time actuation cylinder pressure
3MPa；The instruction for retransmiting revenue and expenditure column receives undercarriage leg；Then undercarriage backplate is packed up, sends put backplate first
Instruction makes to put backplate cooling pipelines and pressurized strut inflation 6s, and actuation cylinder pressure is 5MPa at this time；Retransmit the finger for receiving backplate
It enables, receives undercarriage backplate.
7. a kind of method of rising and falling of cold air operation of landing gear system according to claim 6, which is characterized in that send revenue and expenditure
After column instructs 20s, the instruction for receiving backplate is sent.
8. a kind of method of rising and falling of cold air operation of landing gear system according to claim 6 or 7, which is characterized in that also wrap
The step of including blow the gear down: first blow the gear down backplate then sends the instruction for receiving backplate first, makes to receive backplate cooling pipelines and actuation
Cylinder inflation 2s, actuation cylinder pressure is 2MPa at this time；It retransmits and puts the instruction of backplate and put down undercarriage backplate；Then it puts and rises and falls
Post setting sends the instruction of revenue and expenditure column first, so that revenue and expenditure column cooling pipelines and pressurized strut is inflated 2s, actuation cylinder pressure is at this time
2MPa；Breaker prop instruction is retransmited, undercarriage leg is put down.
9. a kind of method of rising and falling of cold air operation of landing gear system according to claim 8, which is characterized in that shield is put in transmission
The instruction of revenue and expenditure column is sent after the instruction 13s of plate.
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| CN112173085A (en) * | 2020-09-25 | 2021-01-05 | 中国直升机设计研究所 | Hydraulic control system and method for retraction and release of helicopter undercarriage |
| CN113928543A (en) * | 2021-11-19 | 2022-01-14 | 中国直升机设计研究所 | Helicopter undercarriage control system that receive and releases |
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