CN112061410B - Intelligent slide lamp system and method based on direct-current servo drive of single-chip microcomputer - Google Patents
Intelligent slide lamp system and method based on direct-current servo drive of single-chip microcomputer Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
- B64D47/04—Arrangements or adaptations of signal or lighting devices the lighting devices being primarily intended to illuminate the way ahead
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V14/00—Controlling the distribution of the light emitted by adjustment of elements
- F21V14/02—Controlling the distribution of the light emitted by adjustment of elements by movement of light sources
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V23/00—Arrangement of electric circuit elements in or on lighting devices
- F21V23/003—Arrangement of electric circuit elements in or on lighting devices the elements being electronics drivers or controllers for operating the light source, e.g. for a LED array
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V3/00—Globes; Bowls; Cover glasses
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
- G05B13/0275—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using fuzzy logic only
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21W—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO USES OR APPLICATIONS OF LIGHTING DEVICES OR SYSTEMS
- F21W2107/00—Use or application of lighting devices on or in particular types of vehicles
- F21W2107/30—Use or application of lighting devices on or in particular types of vehicles for aircraft
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Abstract
The invention belongs to the technical field of aircraft running lights, and particularly discloses an intelligent running light system and method based on single-chip microcomputer direct-current servo drive. The aim is to realize the function of the sliding lamp on one side for follow-up steering when the aircraft turns and slides by combining a logic gate switch through the servo control of the singlechip, and effectively avoid the adverse conditions of potential safety hazards, anxiety of drivers and the like caused by the occurrence of dead zones on the inner side of a night curve.
Description
Technical Field
The invention relates to the technical field of aircraft running lights, in particular to an intelligent running light system and method based on single-chip microcomputer direct-current servo driving.
Background
With the continuous progress of the outside illumination technology of the aircraft, under the condition of meeting the basic functions of various lamps, higher requirements on the driving safety and the comfort of the lamps are gradually put forward. The large-scale passenger plane slide lamp is generally fixedly arranged on the shock absorber column of the front landing gear, when the night is on the parking apron or the taxiway and turns and slides, even if the lateral light supplementing of the turn lamp exists, due to the limited irradiation distance, the blind area can not appear in a certain vision distance range on the inner side of a curve, so that the driver can be influenced to judge the road surface condition and the surrounding environment more comprehensively and accurately, meanwhile, discomfort is caused, and mental stress is easily caused, so that tiredness is caused.
Adaptive lighting technology has been discussed and developed as a research project in part of universities and research institutions and is beginning to be applied to a part of vehicles and locomotives. However, since the installation conditions of the running light are relatively harsh, it is difficult to connect with the operation equipment in the cockpit, and thus, the function is ensured, and the miniaturization and the weight reduction should be realized as much as possible so as to reduce the influence on the balance of the whole machine. Generally, a stepping motor is adopted in the system, but the low-frequency characteristic of the stepping motor is poor (low-frequency oscillation is easy to occur), so that the requirement of self-adaptive adjustment of the running lamp cannot be met.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent slide lamp system and method based on single-chip microcomputer direct current servo drive, which solves the problem of insufficient utilization rate of lamplight during turning and sliding, and enables the lamp to rotate correspondingly along with the steering of an airplane.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the intelligent slide lamp system based on the single-chip microcomputer direct-current servo drive comprises a left lamp shade and a right lamp shade which are arranged on an airplane landing frame, wherein the left lamp shade and the right lamp shade are respectively attracted with an electromagnetic clutch device through a transmission mechanism, the electromagnetic clutch device is connected with a single-chip microcomputer controller through a direct-current servo motor, and the single-chip microcomputer controller is connected with a sensing device;
the two transmission mechanisms are respectively in one-to-one correspondence with the left lampshade (1) and the right lampshade, each transmission mechanism comprises a first bevel gear connected with the corresponding lampshade, the first bevel gear is meshed with a second bevel gear, the end face of one side of the second bevel gear corresponds to a pressure plate, and the pressure plate is connected with an electromagnetic clutch device through a spring; the electromagnetic clutch device comprises a single-shaft clutch and a double-shaft clutch, one shaft of the double-shaft clutch is fixedly connected with an output shaft of the direct current servo motor, the other shaft of the double-shaft clutch is fixedly connected with the single-shaft clutch, and the single-shaft clutch and the double-shaft clutch are configured to: when the direct current servo motor works, the single-shaft clutch is separated, one side, close to the direct current servo motor, of the double-shaft clutch is closed, a bevel gear, close to the direct current servo motor, works, otherwise, the single-shaft clutch is closed, the double shafts of the double-shaft clutch are closed, and the direct current servo motor can directly transmit torque to the bevel gear, far away from the direct current servo motor, so that the steering of a left lamp shade or a right lamp shade is completed;
the electromagnetic clutch device and the singlechip controller are configured to: when the left turn slides, the singlechip controller transmits a left turn related instruction to the electromagnetic clutch controller, the electromagnetic clutch controls the armature current direction in the electromagnetic clutch device, the right pressure plate is adsorbed by electromagnetic force, the left pressure plate is released, the left pressure plate is combined with the left second bevel gear under the action of the spring pretightening force, and the transmission torque enables the left lampshade to rotate.
Preferably, a gear reducer is arranged between the direct current servo motor and the electromagnetic clutch device, and the sensing device comprises a front wheel steering angle sensor arranged on a landing gear shock absorption column of the aircraft, a sliding speed sensor arranged at the end part of the axle sleeve of the wheel axle and a photoelectric encoder arranged on an output shaft of the gear reducer.
Preferably, the front wheel steering angle sensor and the sliding speed sensor are photoelectric sensors.
A method for driving an intelligent slide lamp based on a singlechip direct-current servo comprises the following steps:
(1) Burning a corner model module on the singlechip, and determining a theoretical corner theta of the sliding lamp according to a preset front wheel corner delta and a preset speed v;
(2) Measuring the actual angular displacement of the aircraft through a photoelectric encoder;
(3) Obtaining a corner error e and an error change rate ec according to a theoretical corner theta of the sliding lamp and the actual angular displacement of the aircraft, and taking the corner error e and the error change rate ec as inputs of a fuzzy PID control module;
(4) The digital signal output by the singlechip is connected with the direct-current servo motor through D/A conversion and a PWM power amplifier, and the output digital signal is converted into voltage signals with different time duty ratios to regulate the speed of the direct-current servo motor.
Preferably, the corner model in the corner model module is:wherein H is the distance between the front wheel and the main wheel of the airplane, and R is the turning radius.
Preferably, the theoretical rotation angle of the sliding lampS＝S1+S2+S3，S3 is the lowest sight line distance;
wherein S is the stopping sight distance, v 0 The slip speed before braking is μ the slip road surface friction coefficient, and g is the gravitational acceleration.
Preferably, the minimum line-of-sight distance is 15m.
Preferably, the fuzzy arguments of the inputs e and ec of the fuzzy PID control module are [ -3,3].
Preferably, the preset front wheel steering angle delta is 10-70 degrees, and the speed v is 2.8-5.6m/s.
The invention has the advantages that: 1. because the sliding turning speed is smaller, the invention adopts a direct current motor with relatively larger overload and locked-rotor torque for driving, and the arrangement of the sensors is relatively centralized, thereby forming an independent working module, and the system is centrally arranged on the nose landing gear and comprises a sensing device, a singlechip controller and an actuator assembly; 2. the direct current servo control and the self-adaptive independent steering of the left and right double lamp covers are utilized, and the intelligent steering is completed through an electromagnetic clutch under the drive of an independent motor, so that the specification of the turning lamp can be properly reduced, or the turning lamp can be completely replaced under the conditions of increasing the illumination diffusion angle and improving the illumination index, and the intelligent and simplified sign of the off-board illumination is further achieved; 3. according to the invention, the rotation angle of the lampshade is adaptively adjusted, a driver is not required to remotely operate, the autonomous capability is strong, the irradiation range is wider when the aircraft slides and turns, and the safety of the aircraft sliding is enhanced.
Drawings
FIG. 1 is a schematic diagram of a system architecture of the present invention;
FIG. 2 is a block diagram of a servo control system according to the present invention;
fig. 3 is a schematic structural diagram of an implementation device in the present invention.
In the figure: 1-a left lampshade; 2-right lamp shade; 3-pressing plate; 4-a first bevel gear; 5-a second bevel gear; 6-an electromagnetic clutch device; 7-a transmission rod; 8-a spring; 9-gear reducer.
Detailed Description
The invention belongs to the technical field of aircraft running lights, and particularly relates to an intelligent running light system and method based on single-chip microcomputer direct-current servo driving.
The utility model provides an intelligent slide lamp system based on singlechip direct current servo drive, includes left lamp shade 1 and right lamp shade 2 of installation on the aircraft landing gear, left lamp shade 1 and right lamp shade 2 are respectively through drive mechanism and electromagnetic clutch device 6 actuation, electromagnetic clutch device 6 passes through direct current servo motor and is connected with the singlechip controller, the singlechip controller is connected with sensing device. It can be understood that the sensing device transmits the rotation angle to the singlechip controller by detecting the rotation angle of the airplane, and the singlechip controller transmits the rotation angle to the direct current servo motor after data analysis and processing, so that the direct current servo motor rotates by a certain angle (the angle is calculated by the singlechip controller), the rotation of the left lampshade 1 or the right lampshade 2 is ensured, and the purposes of independent steering and self-adaptive adjustment of the left lampshade and the right lampshade are achieved. The singlechip controller of the invention is preferably a plc singlechip: the PLC16F1938 is used for supporting c-language programming, compiling in a MATLAB IED environment, and then burning the MATLAB IED environment onto a CPU of the singlechip through an ICD, wherein an adopted algorithm determines the control effect of the system and the dynamic response of an actuator.
The transmission mechanism comprises a first bevel gear 4 connected with the lampshade, the first bevel gear 4 is meshed with a second bevel gear 5, the end face of one side of the second bevel gear 5 corresponds to the pressure plate 3, and the pressure plate 3 is connected with the electromagnetic clutch device 6 through a spring 8. The first bevel gear 4 and the second bevel gear 5 are equal in modulus, the two bevel gears are connected with the electromagnetic clutch device 6, when the left turn slides, the singlechip controller transmits related left turn instructions to the electromagnetic clutch controller, the electromagnetic clutch controller controls the armature current direction in the electromagnetic clutch device 6, the right pressure plate 3 is adsorbed by electromagnetic force, the left pressure plate 3 is released, the left pressure plate 3 is combined with the left second bevel gear 5 under the action of the pretightening force of the spring 8, and the driving torque enables the left lampshade 1 to rotate, and vice versa.
When the lampshade rotates to reach a limit corner position (-15 degrees), the motor is overloaded and is easy to damage due to clamping, the electromagnetic clutch device 6 in the invention is a double-control electromagnetic clutch, the double-control electromagnetic clutch comprises a single-shaft clutch far away from the direct-current servo motor and a double-shaft clutch near the direct-current servo motor, the single-shaft clutch is preferably a astronomical drive (TJ-POC-C-0.2 or TJ-POC-C-0.5), and the double-shaft clutch is preferably a double-shaft magnetic powder clutch FL6-A-1 series. When in connection, one output shaft of the double-shaft magnetic powder clutch is connected with the output shaft of the direct-current servo motor through a coupler, and the other output shaft is fixedly connected with the single-shaft clutch in a fixed connection mode by using the existing connection auxiliary piece in an existing mode; when the direct current servo motor works, if the single-shaft clutch is separated, and one side of the double-shaft clutch close to the motor is closed, the bevel gear close to the motor works, otherwise, if the single-shaft clutch is closed, and the double shafts of the double-shaft clutch are closed, the motor can directly transmit torque to the bevel gear far away from the motor, so that the steering of the left lampshade or the right lampshade is completed. According to the product characteristics, the combination has overload protection capability, and when the clamping position is reached, if the automatic reverse rotation can not be timely carried out, the clutch can reach the maximum torque (5 Nm) to slip, so that the motor is protected from being damaged due to overload.
A gear reducer is arranged between the direct current servo motor and the electromagnetic clutch device 6, and the sensing device comprises a front wheel steering angle sensor arranged on a front landing gear shock absorption column of the aircraft, a sliding speed sensor arranged at the end part of a wheel shaft sleeve of a front wheel of the aircraft landing gear, and a photoelectric encoder arranged on an output shaft of the gear reducer 9. The front wheel steering angle sensor and the sliding speed sensor are photoelectric sensors. Through sensing device, confirm the rotation angle of aircraft, and then confirm the rotation angle of lamp shade.
The rotation angle range of the lampshade is as follows: left 0- (-14) and right 0-14; the angular velocity range is: 0.01-5 (°/s); the angle control precision is as follows: 0.2 DEG/s. Besides the self-contained speed reducer of the direct-current servo motor (speed reduction ratio: 64:1), a gear speed reducer 9 (speed reduction ratio: 144:1) is arranged between the transmission rod 7 and the direct-current servo motor.
The power supply used in the invention is direct current 28v, when the slide lamp is started, the system is started at the same time, no participation and operation of a driver are caused in the working process, and the rotation angle of the lampshade is adjusted in a self-adaptive mode through the singlechip controller.
A method for driving an intelligent slide lamp based on a singlechip direct-current servo comprises the following steps:
(1) The invention discloses a method for burning a corner model module and a fuzzy PID control module on a singlechip, which is characterized in that in order to improve the calculation rate, incremental PID control is optimized:where k is the number of steps, ec (k) =e (k) -e (k-1), the differential is replaced by a difference, kp, ki, kd are the proportional, integral, differential coefficients, respectively, corresponding to the fuzzy rule shown in table 1. Determining a theoretical rotation angle theta of the running lamp according to a preset front wheel rotation angle delta and a preset speed v; the corner model in the corner model module is as follows: />Wherein H is the distance between the front wheel and the main wheel of the airplane, and R is the turning radius; the corner model is a mathematical model of two-input (delta, v) single output (sliding lamp theoretical corner theta) obtained by combining the aircraft sliding characteristics according to a safety braking theory and an Ackerman corner theory;
table 1 attached fuzzy rule adjustment table
A, B, C in A/B/C (A/B/C is a format example, example: PB/NB/PS) in Table 1 represents K respectively p 、K i 、K d Distribution levels of three parameters, where e and ec are divided into Negative Big (NB), negative Medium (NM), negative Small (NS), zero-domain (ZO), positive Small (PS), median (PM), positive Big (PB), and K in their argument p 、K i 、K d The domains are divided into negative large (NB), negative Small (NS), zero domain (ZO), positive Small (PS) and positive large (PB) in the domain range, and the division mode of the domains is average division.
Theory corner of sliding lampS＝S1+S2+S3，/>S2＝v 0 t0 ； S3 is the minimum sight distance, and the minimum sight distance selected in the invention is 15m, wherein S is the stopping sight distance, v 0 The sliding speed before braking is μ the coefficient of friction of the sliding pavement surface, and g is the gravitational acceleration; the preset front wheel steering angle delta is 10 degrees to 70 degrees, and the speed v is 2.8 m/s to 5.6m/s.
(2) Measuring the actual angular displacement theta 'of the aircraft through a photoelectric encoder, wherein the actual angular displacement theta' is the actual rotation angle when the aircraft slides and rotates;
(3) Obtaining a corner error e and an error change rate ec according to a theoretical corner theta of the sliding lamp and an actual angular displacement theta' of the airplane, wherein: e=θ - θ'Taking the angle error e and the error change rate ec as inputs of a fuzzy PID control module; PID control is a classical closed-loop control algorithm, is a linear combination of proportion, integral and differential of the error, has very strong regulating capability, the control quality of the PID control depends on the setting of three coefficients of Kp, ki and Kd, and in order to adapt to the characteristics of the system, three parameters of the PID controller are set by adopting a fuzzy theoryOn-line self-tuning is carried out, and the fuzzy argument of the input values e and ec of the fuzzy PID control module is [ -3,3]The fuzzy arguments of the outputs Kp, ki, kd are set to [ -1,1]. PID fuzzy algorithm based on expert experience and theoretical analysis can improve the disturbance rejection capability of the system and improve the control effect.
According to practical production and working experience, the self-tuning of PID control parameters under various working conditions generally accords with the following rule, and when |e| is larger, no matter the deviation change rate is large, in order to improve the quick response performance of the system, a larger K should be taken p And a smaller K d At the same time, in order to minimize the overshoot of the system, the integral action should be limited to obtain a smaller K I A value; when the magnitude of |e| is medium, in order to ensure the response speed of the system while having small overshoot in response of the system, a small K should be taken p And K is I And K d The size is moderate. Wherein K is d The value of (2) has larger influence on the system response; when |e| is small, K is calculated to ensure that the system has better steady state performance p And K I Should be larger, and in order to improve the anti-interference capability of the system, K is smaller when ec is smaller d Taking larger ones; when ec is large, K d Should be taken smaller.
(4) The output digital signal of the singlechip is connected with the direct current servo motor through D/A conversion and a PWM power amplifier, and the output digital signal is converted into voltage signals (0-12 v) with different time duty ratios, so that the speed of the direct current servo motor is regulated, and the rotation angle of the lampshade is ensured. In the invention, the direct current servo motor is preferably a Faulhaber2342L012 gear motor, the rotating speed after the speed reduction is 120rpm, the rated torque is 1.72Nm, the motor has smaller appearance and light weight, can provide enough torque, and meets the installation requirement. Open loop mathematical model of the dc motor:wherein S' is Laplacian, omega output angular velocity, u is control voltage, and other parameters are shown in the attached table 3.
Table 3 motor-friction model parameters
The above-described embodiments are preferred embodiments, and it should be noted that the above-described preferred embodiments should not be construed as limiting the invention, and the scope of the invention should be defined by the claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (9)
1. The utility model provides an intelligent slide lamp system based on singlechip direct current servo drive, includes left lamp shade (1) and right lamp shade (2) of aircraft landing gear on installation, its characterized in that: the left lampshade (1) and the right lampshade (2) are respectively attracted with the electromagnetic clutch device (6) through a transmission mechanism, the electromagnetic clutch device (6) is connected with the singlechip controller through the direct-current servo motor, and the singlechip controller is connected with the sensing device;
the two transmission mechanisms are respectively in one-to-one correspondence with the left lampshade (1) and the right lampshade (2), the transmission mechanism comprises a first bevel gear (4) connected with the corresponding lampshade, the first bevel gear (4) is meshed with a second bevel gear (5), the end face of one side of the second bevel gear (5) is corresponding to a pressure plate (3), and the pressure plate (3) is connected with an electromagnetic clutch device (6) through a spring (8); the electromagnetic clutch device (6) comprises a single-shaft clutch and a double-shaft clutch, one shaft of the double-shaft clutch is fixedly connected with an output shaft of the direct current servo motor, the other shaft of the double-shaft clutch is fixedly connected with the single-shaft clutch, and the single-shaft clutch and the double-shaft clutch are configured to: when the direct current servo motor works, the single-shaft clutch is separated, one side, close to the direct current servo motor, of the double-shaft clutch is closed, a bevel gear, close to the direct current servo motor, works, otherwise, the single-shaft clutch is closed, the double shafts of the double-shaft clutch are closed, and the direct current servo motor can directly transmit torque to the bevel gear, far away from the direct current servo motor, so that the steering of a left lamp shade or a right lamp shade is completed;
the electromagnetic clutch device (6) and the singlechip controller are configured to: when the left turn slides, the singlechip controller transmits a left turn related instruction to the electromagnetic clutch controller, the electromagnetic clutch controls the armature current direction in the electromagnetic clutch device (6), the right side pressure plate (3) is adsorbed by electromagnetic force, the left side pressure plate (3) is released, the left side pressure plate (3) is combined with the left side second bevel gear (5) under the action of the pretightening force of the spring (8), and the driving torque enables the left lampshade (1) to rotate.
2. The intelligent slide lamp system based on the single-chip microcomputer direct-current servo drive according to claim 1, wherein: the gear reducer (9) is arranged between the direct-current servo motor and the electromagnetic clutch device (6), and the sensing device comprises a front wheel steering angle sensor arranged on a landing gear shock absorption column of the aircraft, a sliding speed sensor arranged at the end part of the axle sleeve of the wheel axle and a photoelectric encoder arranged on an output shaft of the gear reducer (9).
3. The intelligent slide lamp system based on the single-chip microcomputer direct-current servo drive according to claim 2, wherein: the front wheel steering angle sensor and the sliding speed sensor are photoelectric sensors.
4. A method for driving an intelligent slide lamp based on a single-chip microcomputer direct-current servo, which is applied to the intelligent slide lamp system as claimed in any one of claims 1-3, and is characterized in that: the method comprises the following steps:
(1) Burning a corner model module on the singlechip, and determining a theoretical corner theta of the sliding lamp according to a preset front wheel corner delta and a preset speed v;
(2) Measuring the actual angular displacement of the aircraft through a photoelectric encoder;
(3) Obtaining a corner error e and an error change rate ec according to a theoretical corner theta of the sliding lamp and the actual angular displacement of the aircraft, and taking the corner error e and the error change rate ec as inputs of a fuzzy PID control module;
(4) The digital signal output by the singlechip is connected with the direct-current servo motor through D/A conversion and a PWM power amplifier, and the output digital signal is converted into voltage signals with different time duty ratios to regulate the speed of the direct-current servo motor.
5. The method for driving the intelligent slide lamp based on the single-chip microcomputer direct-current servo according to claim 4, wherein the method comprises the following steps of: the corner model in the corner model module is as follows:wherein H is the distance between the front wheel and the main wheel of the airplane, and R is the turning radius.
6. The method for driving the intelligent slide lamp based on the single-chip microcomputer direct-current servo according to claim 4, wherein the method comprises the following steps of: theory corner of sliding lampS＝S1+S2+S3，/>S2＝v 0 t 0 The method comprises the steps of carrying out a first treatment on the surface of the S3 is the lowest sight line distance;
wherein S is the stopping sight distance, v 0 The slip speed before braking is μ the slip road surface friction coefficient, and g is the gravitational acceleration.
7. The method for driving the intelligent slide lamp based on the single-chip microcomputer direct-current servo according to claim 6, wherein the method comprises the following steps: the minimum sight distance is 15m.
8. The method for driving the intelligent slide lamp based on the single-chip microcomputer direct-current servo according to claim 4, wherein the method comprises the following steps of: the fuzzy arguments of the inputs e and ec of the fuzzy PID control module are [ -3,3].
9. The method for driving the intelligent slide lamp based on the single-chip microcomputer direct-current servo according to claim 4, wherein the method comprises the following steps of: the preset front wheel steering angle delta is 10 degrees to 70 degrees, and the speed v is 2.8 m/s to 5.6m/s.
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| US20130155672A1 (en) * | 2011-03-11 | 2013-06-20 | General Led, Inc. | Remote control track light fixture |
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| GB541299A (en) * | 1939-03-14 | 1941-11-21 | Giustino Cattaneo | Improved mechanisms for driving a single shaft from two or more separate engines |
| GB533034A (en) * | 1939-08-04 | 1941-02-05 | Rotax Ltd | Improvements relating to landing lamps for aircraft |
| DE19709431A1 (en) * | 1996-03-19 | 1997-10-30 | Volkswagen Ag | Vehicle headlamp adjusting servo |
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