CN111976968A - Control circuit and control method for electric turning mechanism of front wheel of airplane - Google Patents
Control circuit and control method for electric turning mechanism of front wheel of airplane Download PDFInfo
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- CN111976968A CN111976968A CN202010855772.9A CN202010855772A CN111976968A CN 111976968 A CN111976968 A CN 111976968A CN 202010855772 A CN202010855772 A CN 202010855772A CN 111976968 A CN111976968 A CN 111976968A
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- wheel motor
- turning
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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
- B64C25/50—Steerable undercarriages; Shimmy-damping
- B64C25/505—Shimmy damping
Abstract
The invention discloses a control circuit and a control method for an electric turning mechanism of a front wheel of an airplane, which are characterized in that on the basis of the original circuit, only a switch switching module and an energy consumption module are added, and under a swing reduction control mode, a front wheel motor generates damping torque through a driving module and the energy consumption module, thereby consuming the swing and vibration energy of the front wheel, realizing electric swing reduction, needing no additional hydraulic device, greatly simplifying the system structure, reducing the weight of an undercarriage and improving the safety and reliability; the control circuit and the control method feed back a fault signal to the flight control machine, automatically switch to a pendulum reduction control mode when a fault exists, and allow turning control to be realized only when no fault exists, so that the safety and reliability are further improved.
Description
Technical Field
The invention belongs to the technical field of airplane front wheel control, and particularly relates to a control circuit and a control method for an electric turning mechanism of an airplane front wheel.
Background
Turning and shimmy damping of the nose wheels are important functions of an aircraft, and turning shimmy damping of the nose landing gear of the aircraft is generally achieved by a turning mechanism (e.g., a turning actuator). The hydraulic oil cavity in the hydraulically operated turning mechanism is used for reducing the swing of the landing gear during turning, but the method has the defects of hydraulic oil leakage, large weight and the like. With the trend of full-electrochemical development of small airplanes, the functions of turning and swinging reduction of front wheels of the airplanes need to be gradually transited to be realized by using a full-electric mechanism. At present, an electric turning mechanism is used on a plurality of occasions, the realization mode of the electric turning mechanism mainly adopts the combination of a motor and a speed reducer, the front wheel turning is realized through an electric actuating mechanism, but the swing reducing function of the front wheel is still realized by adopting a hydraulic swing reducer, and an additional hydraulic device or additional weight needs to be added. Meanwhile, as the demand on the weight of the landing gear of the aircraft is higher, the landing gear system is required to further reduce the weight while achieving the function. Therefore, how to provide an electric control machine which has the functions of turning and reducing swing and simultaneously satisfies the safety and weight indexes is a technical problem to be solved urgently.
Disclosure of Invention
The invention aims to provide a control circuit and a control method for an electric turning mechanism of a front wheel of an airplane, which can reduce the weight of an undercarriage and improve the safety and reliability while realizing the electric control of turning and swing reducing functions.
One or more of the above objects are solved by the solution of the independent claims of the present invention.
The invention solves the technical problems through the following technical scheme: a control circuit for an electric turning mechanism of a front wheel of an airplane comprises a comprehensive control unit, a power supply module, a driving module, a front wheel motor, a rotating speed detection module for collecting the rotating speed of the front wheel motor and an angular position sensor arranged on the front wheel, wherein the comprehensive control unit is respectively connected with the driving module, the rotating speed detection module and the angular position sensor; the energy-saving switch is characterized by also comprising an energy consumption module and a switch switching module; the energy consumption module is connected with the driving module through the switch switching module and is connected with two ends of the power supply module in parallel; the switch switching module is controlled by the comprehensive control unit;
when the vehicle is in a turning control mode, the switch switching module is controlled to act, so that the power module provides energy for the front wheel motor through the driving module, and the comprehensive control unit controls the front wheel motor to operate according to a turning angle target value, a front wheel angle position real-time value and a front wheel motor rotating speed real-time value, so that a turning function is realized;
when the swing reducing control mode is adopted, the switch switching module is controlled to act, the power supply module is disconnected with the driving module, the front wheel swings to drive the front wheel motor to rotate, the front wheel motor generates damping torque through the driving module and the energy consumption module, the swing and vibration energy of the front wheel is consumed, and the swing reducing function is achieved.
The control circuit controls the switch switching module to switch through a control signal output by the comprehensive control unit, when the control circuit is in a turning control mode, the switch switching module enables the power supply module to be communicated with the driving module, the driving module provides energy for the front wheel motor, the rotating speed detection module feeds back a rotating speed real-time value of the front wheel motor, the angular position sensor feeds back a front wheel angular position real-time value, and the comprehensive control unit controls the front wheel motor to run according to a turning angle target value, the front wheel angular position real-time value and the front wheel motor rotating speed real-time value to realize a turning function; when the swing reducing control mode is in, the switch switching module enables the power supply module and the driving module to be disconnected, and blocks PWM (pulse-width modulation) signal output of the comprehensive control unit, the front wheel swings to drive the front wheel motor to rotate, the front wheel motor is in a working state of a generator at the moment, the front wheel motor generates damping torque through the driving module and the energy consumption module, the swing vibration energy of the front wheel is consumed, and the swing reducing function is realized; the control circuit can realize the electric control of turning and the electric control of reducing swing only by adding the switch switching module and the energy consumption module on the basis of the original circuit without additionally adding a hydraulic device, greatly simplifies the system structure, reduces the weight of the undercarriage and improves the safety and reliability.
Further, the switch switching module is a double-contact relay.
Furthermore, the energy consumption module comprises a first MOS tube, a first diode, a first resistor and a second resistor; the grid electrode of the first MOS tube is connected with the comprehensive control unit, the drain electrode of the first MOS tube is connected with the cathode of the first diode, and the source electrode of the first MOS tube is connected with the second end of the first resistor and the first end of the second resistor; the anode of the first diode is connected with the anode of the power supply module and the normally open contact of the double-contact relay; the first end of the first resistor is connected with a normally closed contact of the double-contact relay, and a common contact of the double-contact relay is connected with the driving module; the second end of the second resistor is connected with the negative electrode of the power supply module; and the coil of the double-contact relay is controlled by the comprehensive control unit.
In a turning control mode, the normally open contact is closed, and the power supply module is connected with the driving module to realize turning control; when the swing reducing control mode is adopted, the normally closed contact is closed, the power supply module is disconnected with the driving module, and damping torque is generated through the driving module, the first resistor and the second resistor, so that swing reducing control is realized. Compared with a complicated hydraulic device, the energy consumption module and the switch switching module are simple in structure, the weight and the occupied space of the undercarriage are greatly reduced, and meanwhile, the reliability of a product is improved.
Furthermore, the rotating speed detection module selects a motor Hall sensor.
Furthermore, the driving module is a three-phase full-bridge module, the three-phase full-bridge module comprises three bridge arms, and each bridge arm comprises two power devices connected in series and diodes connected in parallel at two ends of each power device.
Further, the control circuit further comprises a voltage detection sensor and a current detection sensor; the voltage detection sensor is used for detecting the voltage at the output end of the power supply module, and the current detection sensor is used for detecting the feedback current of the driving module;
and the voltage detection sensor and the current detection sensor are respectively connected with the comprehensive control unit.
The comprehensive control unit carries out fault detection according to the voltage signal, the feedback current signal and the motor rotating speed signal, when a fault is detected, the fault signal is fed back to the flight control machine, the comprehensive control unit disconnects the power supply module and the driving module through the control switch switching module, the swing reducing function is realized, the safety is ensured, the turning control is allowed to be realized only when no fault exists, and the safety and reliability are improved; meanwhile, the comprehensive control unit is connected with a grid electrode of a first MOS tube of the energy consumption module, when the voltage of the output end of the power supply module exceeds a set value in a turning control mode, the first MOS tube is conducted, and redundant voltage is consumed through the first diode and the second resistor, so that the power supply module is prevented from being damaged due to overvoltage.
Further, the control circuit further comprises an enable switch connected with the integrated control unit.
When the enabling switch is closed, the comprehensive control unit is electrified, and the comprehensive control unit can send a control signal to close the normally open contact of the switch switching module, so that the turning control can be performed; when the enabling switch is disconnected, the comprehensive control unit is powered off, the comprehensive control unit cannot send out a control signal, the normally closed contact of the switch switching module is kept closed, only the swing reduction control can be carried out, and the safety and the reliability of the turning and swing reduction control are further improved. The control circuit can only perform pendulum reduction control under the conditions of power failure and fault, and improves the safety and reliability.
The invention also provides a method for controlling turning and swing reduction by using the control circuit, which comprises the following steps:
receiving a turning or oscillation reducing control instruction, and determining a corresponding control mode and a control target value according to the control instruction;
in a turning control mode, the switch switching module is controlled to act, so that the power supply module provides energy for the front wheel motor through the driving module, and the comprehensive control unit controls the front wheel motor to operate according to a turning angle target value, a front wheel angle position real-time value and a front wheel motor rotating speed real-time value, so that a turning function is realized;
under the swing reducing control mode, the switch switching module is controlled to act, the power supply module is disconnected with the driving module, the front wheel swings to drive the front wheel motor to rotate, the front wheel motor generates damping torque through the driving module and the energy consumption module, the swing vibration energy of the front wheel is consumed, and the swing reducing function is achieved.
Further, the method further comprises the steps of obtaining an output voltage signal of the power supply module and a feedback current signal of the driving module;
respectively judging whether the power module, the driving module and the front wheel motor have faults or not according to the output voltage signal, the feedback current signal and the real-time value of the rotating speed of the front wheel motor;
if the fault exists, the switch switching module is controlled to act, so that the power supply module is disconnected from the driving module, the front wheel swings to drive the front wheel motor to rotate, the front wheel motor generates damping torque through the driving module and the energy consumption module, the shimmy energy of the front wheel is consumed, and the shimmy reduction function is realized.
Advantageous effects
Compared with the prior art, the control circuit and the control method for the electric turning mechanism of the front wheel of the airplane are characterized in that only the switch switching module and the energy consumption module are added on the basis of the original circuit, and in a swing reduction control mode, a front wheel motor generates damping torque through the driving module and the energy consumption module to consume swing and vibration energy of the front wheel, so that electric swing reduction is realized, a hydraulic device is not required to be additionally added, the system structure is greatly simplified, the weight of an undercarriage is reduced, and the safety and reliability are improved; the control circuit and the control method feed back a fault signal to the flight control machine, automatically switch to a pendulum reduction control mode when a fault exists, and allow turning control to be realized only when no fault exists, thereby further improving the safety and reliability.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only one embodiment of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a block diagram of a control circuit for an electric turning mechanism of a front wheel of an aircraft according to an embodiment of the present invention;
the system comprises an energy consumption module 1 and a three-phase full-bridge module 2.
Detailed Description
The technical solutions in the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the control circuit for an electric turning mechanism of a front wheel of an aircraft provided by the invention comprises a comprehensive control unit, a power module, a driving module, a front wheel motor, a rotating speed detection module for collecting the rotating speed of the front wheel motor, an angular position sensor arranged on the front wheel, an energy consumption module 1 and a switch switching module; the comprehensive control unit is in communication connection with the flight control machine and receives a control instruction sent by the flight control machine, such as a turning control instruction or a swing reduction control instruction; the comprehensive control unit is further connected with the driving module, the switch switching module, the rotating speed detection module, the angular position sensor and the energy consumption module 1 respectively, the energy consumption module 1 is connected with the output end of the power supply module in parallel, the energy consumption module 1 is further connected with the driving module through the switch switching module, and the driving module is connected with the front wheel motor.
As shown in fig. 1, the switching module is a dual-contact relay K, and the energy consumption module 1 includes a first MOS transistor MOS1, a first diode D1, a first resistor R1, and a second resistor R2; the grid electrode of the first MOS transistor MOS1 is connected with the comprehensive control unit, the drain electrode is connected with the cathode of the first diode D1, and the source electrode is connected with the second end of the first resistor R1 and the first end of the second resistor R2; the anode of the first diode D1 is connected with the anode of the power module and the normally open contact of the double-contact relay K; the first end of the first resistor R1 is connected with a normally closed contact of the double-contact relay K, and a common contact of the double-contact relay K is connected with the driving module; the second end of the second resistor R2 is connected with the negative pole of the power supply module; the coil of the double-contact relay K is controlled by the comprehensive control unit.
The specific working process of the control circuit is as follows: and the comprehensive control unit receives a control instruction of the flight control machine, and determines a turning control mode or a swing reducing control mode according to the control instruction. If the turning control mode is adopted, the normally open contact of the double-contact relay K is closed, so that the power module provides energy for the front wheel motor through the driving module, the comprehensive control unit adjusts PWM signals through position and rotating speed closed loop PID control according to a turning angle target value of a control instruction, a front wheel angle position real-time value fed back by the angle position sensor and a front wheel motor rotating speed real-time value fed back by the rotating speed detection module, and the driving module controls the four-quadrant operation of the front wheel motor according to the PWM signals to realize the turning function. If the swing reducing control mode is adopted, the normally closed contact of the double-contact relay K is closed, so that the power module is disconnected with the driving module, the PWM signal output of the comprehensive control unit is blocked, the front wheel swings to drive the front wheel motor to rotate, the front wheel motor is in a generator state, the front wheel motor generates damping torque through the driving module and the energy consumption module 1 (through D2-D7, R1 and R2), the swing vibration energy of the front wheel is consumed, and the swing reducing function is achieved.
In this embodiment, the front wheel motor is a permanent magnet brushless dc motor, and the operation mode is three-phase six-state and 120-degree conduction. The motor body is connected with the front wheel mechanism of the airplane through the speed reducer. The rotating speed detection module selects a motor Hall sensor, and the Hall sensor detects the change of a rotating magnetic field, so that the speed of the rotor is calculated.
The driving module adopts a three-phase full-bridge module 2, the three-phase full-bridge module 2 comprises three bridge arms, and each bridge arm comprises two power devices connected in series and diodes connected in parallel at two ends of each power device. In the energy consumption module 1, the resistance values of R1 and R2 are inversely proportional to the damping coefficient, the larger the resistance value is, the smaller the damping coefficient is, the smaller the resistance value is, the larger the damping coefficient is, and the resistance values of R1 and R2 are determined by the maximum value and the minimum value of the damping coefficient.
As shown in fig. 1, the control circuit further includes a voltage detection sensor and a current detection sensor; the voltage detection sensor is used for detecting the voltage at the output end of the power supply module, and the current detection sensor is used for detecting the feedback current of the three-phase full-bridge module 2; the voltage detection sensor and the current detection sensor are respectively connected with the comprehensive control unit.
The comprehensive control unit carries out fault detection according to voltage signals, feedback current signals and motor speed signals, when faults are detected, the fault signals are fed back to the flight control machine, the comprehensive control unit enables the power supply module to be disconnected with the three-phase full-bridge module 2 through the control switch switching module, the pendulum reducing function is achieved, safety is guaranteed, turning control is allowed to be achieved only when no faults exist, and safety and reliability are improved. When in a turning control mode, the integrated control unit drives the MOS1 to be conducted due to overvoltage caused by braking of the front wheel motor, and the redundant energy is consumed through the first diode D1 and the resistor R2, so that the power module is prevented from being damaged due to overvoltage feedback to the power module.
The control circuit further comprises an enable switch connected to the integrated control unit. When the enabling switch is closed, the comprehensive control unit is electrified, and the comprehensive control unit can send a control signal to close the normally open contact of the switch switching module, so that the turning control can be performed; when the enabling switch is disconnected, the comprehensive control unit is powered off, the comprehensive control unit cannot send out a control signal, the normally closed contact of the switch switching module is kept closed, only the swing reduction control can be carried out, and the safety and the reliability of the turning and swing reduction control are further improved. Therefore, the control circuit can only perform swing reduction control under the conditions of power failure and fault, and the safety and reliability are improved.
The invention also provides a method for controlling turning and swing reduction by using the control circuit, which comprises the following steps:
1. and receiving a turning or oscillation reducing control instruction, and determining a corresponding control mode and a control target value according to the control instruction.
The comprehensive control unit receives a control instruction sent by the flight control machine, determines whether the control mode is a turning control mode or a swing reducing control mode according to the control instruction, and can also obtain a turning angle target value and the like according to the control instruction.
2. In a turning control mode, the comprehensive control unit controls the normally open contact of the double-contact relay K to be closed, so that the power module provides energy for the front wheel motor through the three-phase full-bridge module 2, and the comprehensive control unit controls the front wheel motor to operate according to a turning angle target value, a front wheel angle position real-time value and a front wheel motor rotating speed real-time value, so that a turning function is realized;
under the pendulum reducing control mode, the comprehensive control unit controls the normally closed contact of the double-contact relay K to be closed, so that the power module is disconnected with the driving module, the front wheel swings to drive the front wheel motor to rotate, the front wheel motor generates damping torque through the three-phase full-bridge module 2 and the energy consumption module 1, the pendulum vibration energy of the front wheel is consumed, and the pendulum reducing function is realized.
The method further comprises the steps of obtaining a direct-current voltage signal of the power supply module and a feedback current signal of the three-phase full-bridge module 2;
judging whether the power module, the three-phase full-bridge module 2 and the front wheel motor have faults or not according to the output voltage signal, the feedback current signal and the real-time value of the rotating speed of the front wheel motor;
if the fault exists, the comprehensive control unit controls the normally closed contact of the double-contact relay K to be closed, so that the power module is disconnected with the driving module, the front wheel swings to drive the front wheel motor to rotate, the front wheel motor generates damping torque through the three-phase full-bridge module 2 and the energy consumption module 1, the shimmy energy of the front wheel is consumed, and the shimmy reduction function is realized.
The above disclosure is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or modifications within the technical scope of the present invention, and shall be covered by the scope of the present invention.
Claims (9)
1. A control circuit for an electric turning mechanism of a front wheel of an airplane comprises a comprehensive control unit, a power supply module, a driving module, a front wheel motor, a rotating speed detection module for collecting the rotating speed of the front wheel motor and an angular position sensor arranged on the front wheel, wherein the comprehensive control unit is respectively connected with the driving module, the rotating speed detection module and the angular position sensor; the method is characterized in that: the energy consumption module and the switch switching module are also included; the energy consumption module is connected with the driving module through the switch switching module and is connected with two ends of the power supply module in parallel; the switch switching module is controlled by the comprehensive control unit;
when the vehicle is in a turning control mode, the switch switching module is controlled to act, so that the power module provides energy for the front wheel motor through the driving module, and the comprehensive control unit controls the front wheel motor to operate according to a turning angle target value, a front wheel angle position real-time value and a front wheel motor rotating speed real-time value, so that a turning function is realized;
when the swing reducing control mode is adopted, the switch switching module is controlled to act, the power supply module is disconnected with the driving module, the front wheel swings to drive the front wheel motor to rotate, the front wheel motor generates damping torque through the driving module and the energy consumption module, the swing and vibration energy of the front wheel is consumed, and the swing reducing function is achieved.
2. The control circuit of claim 1, wherein: the switch switching module is a double-contact relay.
3. The control circuit of claim 2, wherein: the energy consumption module comprises a first MOS tube, a first diode, a first resistor and a second resistor; the grid electrode of the first MOS tube is connected with the comprehensive control unit, the drain electrode of the first MOS tube is connected with the cathode of the first diode, and the source electrode of the first MOS tube is connected with the second end of the first resistor and the first end of the second resistor; the anode of the first diode is connected with the anode of the power supply module and the normally open contact of the double-contact relay; the first end of the first resistor is connected with a normally closed contact of the double-contact relay, and a common contact of the double-contact relay is connected with the driving module; the second end of the second resistor is connected with the negative electrode of the power supply module; and the coil of the double-contact relay is controlled by the comprehensive control unit.
4. The control circuit of claim 1, wherein: the rotating speed detection module selects a motor Hall sensor.
5. The control circuit of claim 1, wherein: the driving module is a three-phase full-bridge module, the three-phase full-bridge module comprises three bridge arms, and each bridge arm comprises two power devices connected in series and diodes connected to two ends of each power device in parallel.
6. The control circuit of claim 1, wherein: the device also comprises a voltage detection sensor and a current detection sensor; the voltage detection sensor is used for detecting the voltage at the output end of the power supply module, and the current detection sensor is used for detecting the feedback current of the driving module; and the voltage detection sensor and the current detection sensor are respectively connected with the comprehensive control unit.
7. The control circuit of any one of claims 1-6, wherein: and the system also comprises an enabling switch connected with the comprehensive control unit.
8. A method for performing turning and roll reduction control using the control circuit according to any one of claims 1-7, comprising:
receiving a turning or oscillation reducing control instruction, and determining a corresponding control mode and a control target value according to the control instruction;
in a turning control mode, the switch switching module is controlled to act, so that the power supply module provides energy for the front wheel motor through the driving module, and the comprehensive control unit controls the front wheel motor to operate according to a turning angle target value, a front wheel angle position real-time value and a front wheel motor rotating speed real-time value, so that a turning function is realized;
under the swing reducing control mode, the switch switching module is controlled to act, the power supply module is disconnected with the driving module, the front wheel swings to drive the front wheel motor to rotate, the front wheel motor generates damping torque through the driving module and the energy consumption module, the swing vibration energy of the front wheel is consumed, and the swing reducing function is achieved.
9. The method of performing turn and sway mitigation control of claim 8, wherein: the method also comprises the steps of obtaining an output voltage signal of the power supply module and a feedback current signal of the driving module;
respectively judging whether the power module, the driving module and the front wheel motor have faults or not according to the output voltage signal, the feedback current signal and the real-time value of the rotating speed of the front wheel motor;
if the fault exists, the switch switching module is controlled to act, so that the power supply module is disconnected from the driving module, the front wheel swings to drive the front wheel motor to rotate, the front wheel motor generates damping torque through the driving module and the energy consumption module, the shimmy energy of the front wheel is consumed, and the shimmy reduction function is realized.
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| CN202010855772.9A CN111976968B (en) | 2020-08-24 | 2020-08-24 | Control circuit and control method for electric turning mechanism of front wheel of airplane |
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| CN202010855772.9A CN111976968B (en) | 2020-08-24 | 2020-08-24 | Control circuit and control method for electric turning mechanism of front wheel of airplane |
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| CN112583208A (en) * | 2020-12-11 | 2021-03-30 | 兰州飞行控制有限责任公司 | Passive pedal-operated damping mechanism with speed limiting function |
| CN113386951A (en) * | 2021-08-17 | 2021-09-14 | 中国商用飞机有限责任公司 | Turning control system, method and computer-readable storage medium for aircraft |
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