CN112173143B - Emergency substitution device for helicopter tail rotor in failure state and control method - Google Patents
Emergency substitution device for helicopter tail rotor in failure state and control method Download PDFInfo
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- CN112173143B CN112173143B CN202011020534.2A CN202011020534A CN112173143B CN 112173143 B CN112173143 B CN 112173143B CN 202011020534 A CN202011020534 A CN 202011020534A CN 112173143 B CN112173143 B CN 112173143B
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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
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C17/00—Aircraft stabilisation not otherwise provided for
Abstract
The invention discloses an emergency substitution device and a control method of a helicopter in a tail rotor failure state.A gas port nozzle is arranged at the tail end of a tail beam of the helicopter with a single rotor and a tail rotor structure, and a compressed gas cylinder is arranged in a transition section of the tail beam or the interior of a helicopter body; the switch for controlling the gas cylinder is arranged in the cockpit, the gas cylinder control device is linked with the electrical signal of the pedal displacement sensor, and the gas output of the gas cylinder can be controlled by the displacement of the pedal; the nozzle of the gas port is controlled by the control unit, and a gas cylinder control switch is not opened under the general condition. For a helicopter with a single rotor and a tail rotor structure, when a tail rotor failure fault occurs, a pilot can turn on a gas cylinder switch, the gas output of the gas cylinder is controlled by pedal displacement, and airflow is sprayed by means of a tail airflow opening to form reaction torque acting force, so that the course stability of the helicopter is maintained, time is strived for emergency landing, the damage probability of the helicopter and the survival probability of passengers in the helicopter are reduced, and the occurrence of crash accidents is avoided.
Description
Technical Field
The invention relates to the field of helicopter flight control, in particular to an emergency substitution device and a control method for a helicopter tail rotor in a failure state.
Background
For a helicopter with a single rotor and a tail rotor structure, the tail rotor of the helicopter mainly plays a role in balancing the reaction torque caused by the rotation of the main rotor of the helicopter and controlling the course of the helicopter. The failure of the tail rotor generally means that a pilot loses control over the tail rotor due to failure of the tail rotor in the flying process of the helicopter, so that the helicopter is influenced by the main rotor, continuously rotates in one direction, and cannot control the course of the helicopter. When the tail rotor fails, the helicopter will rotate rapidly at low speed due to the reaction torque of the main rotor.
Tail rotor failure generally includes: one is transmission system failure, mainly tail rotor transmission shaft damage caused by fatigue wear of internal parts or violent collision of tail part, and is tail rotor tension loss. One is failure of an operating system, mainly damage of a tail rotor operating line system caused by internal friction or external impact, free change or blockage of the pitch of the tail rotor in a certain pitch position cannot be changed, and the pilot loses operation on the pull force of the tail rotor. Another type is a situation where the tail rotor blades themselves are damaged, making handling difficult.
Tail rotor failure treatment generally goes through three stages: the method comprises a transient transition stage, a maneuvering flight stage and a landing stage, wherein the main operations of a pilot comprise height lifting, upward lifting, forward flying changing, safe landing points finding, curve landing on a target field, and forward spin rolling to obtain a counter torque before landing.
When the tail rotor fails, the training level and the emergency capacity of the pilot are depended on the personal special condition for ensuring safe landing, however, under the condition of low altitude, the flying height is insufficient, the changing time is short, and under the emergency condition, the state of the helicopter is out of control due to the fact that the pilot is nervous, wrong judgment and improper operation are easy to occur, so that the serious accident of machine damage and human death is caused.
Disclosure of Invention
The invention provides an emergency substitution device and a control method for a helicopter in a tail rotor failure state, wherein the action and the reactive torque force of a tail beam are changed by controlling the opening and closing of a compressed gas cylinder and adjusting the gas output, so that the course of the helicopter is controlled; by changing the direction of the air flow of the air port nozzle, the control of the pilot on the pitching of the helicopter is increased, so that the serious consequence caused by the fact that the helicopter cannot be effectively controlled under the condition that the attitude of the helicopter is out of control is effectively overcome.
In order to realize the task, the invention adopts the following technical scheme:
the utility model provides an emergent substitution device under helicopter tail-rotor failure state, includes switch display panel, the control unit, pedal displacement sensor, gas cylinder controlling means, gas cylinder, triaxial acceleration sensor and gas port nozzle, wherein:
the switch display panel is arranged on the helicopter console and is provided with a gas cylinder control switch and a tail rotor failure emergency state prompt lamp; the switch display panel is connected with the control unit and the air bottle control device; wherein the gas cylinder control switch is used for opening/closing gas supply of the gas cylinder; the emergency state prompting lamp is controlled by the control unit;
the control unit is arranged below the helicopter console and is connected with the switch display panel, the pedal displacement sensor, the gas cylinder control device, the three-axis acceleration sensor and the gas port nozzle; the control unit is used for acquiring signals of the pedal displacement sensor and acceleration signals of the tail end or vertical tail position of the tail beam, carrying out comprehensive processing and interpretation, providing emergency state reminding for a pilot through the emergency state prompting lamp when a tail rotor is in a failure state, and controlling the gas cylinder control device to adjust the air outlet volume and control the direction of air flow sprayed by the air port nozzle according to the pedal displacement signals and the acceleration signals;
the pedal displacement sensor is arranged below a left foot pedal operating lever of a helicopter cockpit and used for acquiring displacement signals of pedals stepped by a pilot; the gas cylinder control device is arranged at the position of the gas outlet of the gas cylinder and used for receiving a signal of a gas cylinder control switch and opening and closing the gas supply port of the gas cylinder; the gas filling cylinder is arranged in the transition section of the tail beam of the helicopter or the interior of the helicopter body and is used for storing high-pressure inert gas; the three-axis acceleration sensor is arranged at the tail end or vertical tail of the helicopter tail beam and is used for acquiring acceleration signals at the tail end or vertical tail position of the helicopter tail beam; the air port nozzle is arranged at the tail end of the tail beam of the helicopter and is connected with the inflation air bottle through an air supply pipeline; the air flow spraying direction is vertical to the vertical tail direction, and the air flow spraying direction can be adjusted under the control of the control unit.
Further, if the tail rotor is a thrust tail rotor, the air outlet of the air port nozzle is arranged on the same side of the current tail rotor; if the tail rotor is a pulling tail rotor, the air outlet of the air port nozzle is arranged on the other side of the current tail rotor.
Furthermore, the gas port nozzle is of an adjustable structure and comprises an upper guide plate, a guide plate connecting rod, a lower guide plate, a connecting rod fixing shaft, a guide plate fixing shaft, a gas nozzle and a guide direction control motor; wherein:
the upper guide plate and the lower guide plate are arranged at the front end of the air outlet of the air port nozzle through the guide plate fixing shaft, and the upper guide plate and the lower guide plate are movably connected through a guide plate connecting rod; two ends of the guide plate connecting rod are respectively provided with a plate connecting rod for fixation
The two connecting rod fixing shafts are respectively arranged on the upper guide plate and the lower guide plate; when the rotation angle of the upper guide plate changes, the lower guide plate is driven to synchronously follow the movement;
the flow guide direction control motor is arranged on the air nozzle, is connected with the upper flow guide plate and is connected with the control unit through a signal cable; after the diversion direction control motor receives the signal from the control unit, the angle and the orientation of the upper diversion plate and the lower diversion plate are driven to change, and the direction of the air flow sprayed out from the air port nozzle is changed.
Furthermore, the control unit is provided with algorithms for signal interpretation, gas cylinder gas output adjustment and gas port nozzle gas flow guiding adjustment, and the algorithms comprise:
in the flying process of the helicopter, the control unit acquires displacement signals of the pedal displacement sensor in real time and acquires acceleration values sent by a triaxial acceleration sensor arranged at the tail end or the horizontal tail of a tail beam of the helicopter in real time; when a pilot normally operates the airplane, the pilot steps on the pedals, the pedal displacement sensor can acquire pedal displacement signals, and the tail rotor of the helicopter can adjust the pitch value of the tail rotor according to the size of the pedal displacement signals, so that the tail rotor is controlled to realize the change of the course of the helicopter; meanwhile, the acceleration signal in the longitudinal axis direction and the pedal displacement signal change synchronously, and the change rate is consistent; at the moment, the control unit does not send any control instruction;
the control unit judges that the helicopter has a tail rotor failure state if the change of the pedal displacement signal and the change of the acceleration signal in the longitudinal axis direction cannot be matched in time or signal polarity and magnitude, and sends a tail rotor failure state instruction and controls a tail rotor failure emergency state prompt lamp on a switch display panel to be turned on;
when the pilot sees that the tail rotor failure emergency state indicator light on the switch display panel is lightened, the gas cylinder control switch on the switch display panel is turned on; after the gas cylinder control switch is switched on, the gas cylinder control device opens the gas outlet of the gas cylinder, the gas cylinder starts to supply gas outwards at the moment, and a gas cylinder opening signal is sent to the control unit; when the control unit judges that the helicopter is in a tail rotor failure state and receives an opening signal of the inflation gas cylinder, the control unit collects pedal displacement signals sent by the pedal displacement sensor in real time and sends a control instruction to the gas cylinder control device according to the size of the pedal displacement signals, so that the gas output of the gas cylinder is controlled.
Further, the algorithm further comprises:
when the normal acceleration signal value acquired by the normal acceleration sensor exceeds 1 g value, the current acceleration values of the tail end and the vertical tail part of the helicopter are judged to be out of limit, the helicopter has the risks of too big head lowering and head raising and easy stalling, and then
Sending the instruction to the water conservancy diversion direction control motor that is located gas port nozzle portion, the motor motion can drive guide plate and lower guide plate motion, changes gas port nozzle air current spun orientation to adjust the vector direction that the air current spun and form the reaction force, adjust the atress of tail boom end or vertical fin in the vertical direction, thereby adjust the gesture of helicopter in the every single move.
Further, four situations of the failure state of the tail rotor are judged:
the first method comprises the following steps: the pedal displacement signal changes, but the change polarity of the acceleration signal in the longitudinal axis direction is opposite to that of the pedal displacement signal;
and the second method comprises the following steps: the pedal displacement signal is changed, but the acceleration signal in the longitudinal axis direction is not changed;
and the third is that: the pedal displacement signal is unchanged, but the acceleration signal in the longitudinal axis direction is obviously changed;
and fourthly: the pedal displacement signal changes, the acceleration signal also changes, but the pedal displacement signal rate of change is greater than 2 times the rate of change of the acceleration signal or is reduced to 1/2.
A control method of an emergency substitution device in a helicopter tail rotor failure state comprises the following steps:
step 2.1, in the flying process of the helicopter, a control unit acquires the longitudinal acceleration of the tail end position of the tail beam of the helicopter in real time through a three-axis acceleration sensor and pedal displacement signals acquired through a pedal displacement sensor; when the helicopter flies normally, other operations are not carried out; when the control unit judges that the tail rotor has failure fault, the step 2.2 is carried out;
step 2.2, the control unit sends a tail rotor failure state instruction and controls a tail rotor failure emergency state prompt lamp on a switch display panel to light so as to remind a pilot to carry out emergency operation; after the pilot opens the gas cylinder control switch, entering step 2.3;
step 2.3, the control unit sends an instruction to control the gas cylinder control device to open a gas cylinder gas supply valve for emergency gas supply;
acquiring a longitudinal acceleration value acquired by a triaxial acceleration sensor in real time, sending an air supply flow increasing instruction to an air bottle control device according to the longitudinal acceleration value, gradually increasing the air supply flow until the value acquired by the longitudinal acceleration sensor approaches to 0, and stabilizing the air supply flow at the moment; meanwhile, the control unit records the current pedal displacement signal as the reference of the balance state, wherein the displacement value of the left pedal at the balance position is recorded as A, the displacement value is increased when the left pedal is continuously stepped, and the displacement value is reduced when the left pedal rebounds;
the control unit acquires normal acceleration values acquired by the triaxial acceleration sensor in real time and sends a rotating direction instruction of the air port nozzle guide plate according to the normal acceleration values.
Further, the method further comprises:
when the normal acceleration value acquired by the normal acceleration sensor exceeds 1 g value, judging that the normal acceleration value of the tail beam of the helicopter exceeds the limit, sending an instruction to a flow guide direction control motor positioned on the part of the air port nozzle, wherein the motor moves to drive an upper flow guide plate to rotate, and changing the direction of air flow sprayed out of the air port nozzle, so that the vector direction of the reaction force formed by the sprayed air flow is adjusted to adjust the stress of the tail end or the vertical tail of the tail beam in the vertical direction;
when the normal acceleration is positive, the upper and lower guide plates are controlled to face upwards, and the tail beam is controlled to move downwards by means of the normal component of the reaction force of the airflow sprayed out from the air port nozzles, so that the pitching attitude of the helicopter is normal; similarly, when the normal acceleration is negative, the upper and lower guide plates are controlled to face downwards, and the tail beam is controlled to move upwards by the normal component of the reaction force of the airflow sprayed out from the air port nozzles;
when the directions of the upper guide plate and the lower guide plate change, the control unit synchronously controls the gas cylinder control device to increase the gas supply flow until the helicopter keeps balance in the azimuth and the pitch; at this point, step 2.4 is entered.
Step 2.4, after the counter-acting force of the airflow sprayed out through the air port nozzles balances the pitching and heading postures of the helicopter, the control unit still collects pedal displacement signals collected by the pedal displacement sensor in real time so as to sense the operation intention of a pilot; when the displacement of the pedals on the two sides changes in unit time, which indicates that a pilot needs to control the helicopter to rotate left or right, an air supply flow adjusting instruction is sent to the air bottle control device to adjust the air supply flow.
Further, when the displacement of the pedals on the two sides changes in unit time, the fact that the pilot needs to control the helicopter to turn left or turn right is indicated, and the specific judgment method is as follows:
acquiring a pedal displacement value acquired by a pedal displacement sensor in real time, and recording the pedal displacement value as B to sense the operation intention of a pilot; when B is larger than A, the pilot tramples a left pedal and needs to turn left; when B is less than 1, the pilot tramples the right foot pedal and needs to turn right.
Further, the sending of the air supply flow adjustment instruction to the air bottle control device includes:
when the tail rotor of the helicopter belongs to a tension tail rotor and is positioned on the left side of the longitudinal axis of the helicopter body, if the pilot needs to control the helicopter to rotate left at the moment, the control unit sends an instruction of reducing the air supply amount to the air bottle control device; on the contrary, if the automobile is required to turn right, the air supply amount is increased;
when the tail rotor of the helicopter belongs to a pulling tail rotor and is positioned on the right side of the longitudinal axis of the helicopter body, if the pilot needs to control the helicopter to rotate left at the moment, the control unit sends an instruction of increasing the air supply amount to the air bottle control device; on the contrary, if the vehicle is required to turn right, the air supply amount is reduced;
when the tail rotor of the helicopter belongs to a thrust tail rotor and is positioned on the left side of the longitudinal axis of the helicopter body, if the pilot needs to control the helicopter to rotate left at the moment, the control unit sends an instruction of increasing the air supply amount to the air cylinder control device; on the contrary, if the vehicle is required to turn right, the air supply amount is reduced;
when the tail rotor of the helicopter belongs to the thrust tail rotor and is positioned on the right side of the longitudinal axis of the helicopter body, if the pilot needs to control the helicopter to rotate left at the moment, the control unit sends an instruction of reducing the air supply amount to the air bottle control device; on the contrary, if the right turn is required, the amount of supplied air is increased.
Compared with the prior art, the invention has the following technical characteristics:
when the tail rotor fails, a switch of an inflation gas cylinder is turned on, the gas output of the gas cylinder is controlled through displacement of a pedal, airflow is sprayed by a tail air port nozzle to form reactive torque acting force, the heading of the helicopter is maintained to be stable, the orientation of the air port nozzle is changed according to the change of the pitching attitude of the helicopter, the pitching change of the helicopter is adjusted by utilizing the vertical direction component of the airflow reactive force, a pilot is assisted to better control the airplane, time is won for emergency landing, the probability of the crash accident of the helicopter is reduced, and the survival probability of the pilot in the helicopter is improved.
Drawings
FIG. 1 is a schematic view of an emergency override device for a helicopter in the event of a failure of the tail rotor of the helicopter in accordance with an embodiment of the present invention;
FIG. 2 is a schematic view of a port nozzle configuration.
The numbering in the figures illustrates: the device comprises a switch display panel 1, a control unit 2, a pedal displacement sensor 3, a gas cylinder control device 4, a gas cylinder 5, a gas supply pipeline 6, a signal cable 7, a gas port nozzle 8, an upper guide plate 81, a guide plate connecting rod 82, a connecting rod fixing shaft 83, a lower guide plate 84, a guide plate fixing shaft 85, an air nozzle 86 and a flow guiding direction control motor 87.
Detailed Description
The invention provides an emergency substitution device and a control method for a helicopter in a tail rotor failure state. The high-pressure resistant air pipe extends from the air outlet of the air bottle to the tail of the machine and is provided with an airflow opening. The switch for controlling the gas cylinder is arranged in the cockpit, the gas cylinder control device is linked with the electrical signal of the pedal displacement sensor, and the gas output of the gas cylinder can be controlled by the displacement of the pedal. The nozzle of the gas port is controlled by the control unit, and a gas cylinder control switch is not opened under the general condition. For a helicopter with a single rotor and a tail rotor structure, when a tail rotor failure fault occurs, a pilot can turn on a gas cylinder switch, the gas output of the gas cylinder is controlled by pedal displacement, and airflow is sprayed by means of a tail airflow opening to form reaction torque acting force, so that the course stability of the helicopter is maintained, time is strived for emergency landing, the damage probability of the helicopter and the survival probability of passengers in the helicopter are reduced, and the occurrence of crash accidents is avoided.
Referring to fig. 1 and fig. 2, the emergency substitute device for a helicopter in a tail rotor failure state provided by the invention comprises a switch display panel, a control unit, a pedal displacement sensor, a gas cylinder control device, a gas filled cylinder, a gas supply line, a signal cable, a gas port nozzle and a three-axis acceleration sensor, wherein:
the switch display panel is arranged on the helicopter console and is provided with a gas cylinder control switch and a tail rotor failure emergency state prompt lamp; the switch display panel is connected with the control unit and the air bottle control device; wherein the gas cylinder control switch is used for opening/closing gas supply of the gas cylinder; the emergency state prompting lamp is controlled by the control unit.
The control unit is arranged below the helicopter console and is connected with the switch display panel, the pedal displacement sensor, the gas cylinder control device, the three-axis acceleration sensor and the gas port nozzle; the control unit is used as a main control part, is powered by an onboard direct current power supply of the helicopter, has a voltage conversion function, and supplies power to a switch display panel, a pedal displacement sensor, a three-axis acceleration sensor, a gas cylinder control device and a flow guide direction control motor in a gas nozzle. The control unit is internally provided with a control algorithm which collects signals of a pedal displacement sensor and acceleration signals of the tail end or vertical tail position of a tail beam to carry out comprehensive processing and interpretation, when the helicopter is in a tail rotor failure state, the helicopter provides emergency state reminding for a pilot, and controls the gas cylinder control device to adjust the air outlet quantity and the direction of air flow sprayed from a gas port nozzle according to the pedal displacement signals and the acceleration signals.
The system comprises a pedal displacement sensor, a control module and a control module, wherein the pedal displacement sensor is arranged below a left foot pedal operating rod of a cockpit of the helicopter, and is used for acquiring displacement signals of pedals stepped by a pilot and judging the operation of the pilot on the heading of the helicopter; because the left pedal and the right pedal of the helicopter are in reverse linkage mechanically, when the left pedal is pressed down, the right pedal rebounds by the same stroke amount. And vice versa.
The gas cylinder control device is arranged at the position of the gas outlet of the gas cylinder and used for receiving a signal of the gas cylinder control switch, opening and closing the gas supply port of the gas cylinder and adjusting the gas outlet quantity of the gas cylinder by receiving an instruction sent by the control unit so as to control the gas outlet quantity of the gas port nozzle.
The gas filling cylinder is arranged in the transition section or the body of the helicopter tail beam and is used for storing high-pressure gas, and nitrogen or other inert gases are filled in the gas filling cylinder in advance; the volume selection of the inflatable air bottle is determined according to the volume weight of the helicopter.
The gas supply line is a high-pressure-resistant gas pipe, penetrates through the tail beam of the rear machine body, is connected with a gas outlet of the inflation gas cylinder and a gas port nozzle, and is used for guiding gas sprayed out of the inflation gas cylinder to the gas port nozzle.
The signal cable is connected with the triaxial acceleration signal sensor and the control unit and is used for transmitting the acceleration signals acquired by the triaxial acceleration sensor to the control unit and the switch display panel for judgment and processing; and the control unit is connected with the air port nozzles and used for sending a control instruction of steering of each guide plate in the air port nozzles.
And the air port nozzle is arranged and fixed at the tail end of the tail beam of the helicopter and is connected with the inflation air bottle through an air supply pipeline. The air flow ejection direction is designed to be perpendicular to the vertical tail direction so as to reduce the component loss of the reaction force. If the tail rotor is a thrust tail rotor, the air outlet of the air port nozzle is arranged on the same side of the current tail rotor; if the tail rotor is a pulling tail rotor, the air outlet of the air port nozzle is arranged on the other side of the current tail rotor (for example, the tail rotor is arranged on the left side of the vertical tail, and the air port nozzle is arranged on the right side of the vertical tail); the air port nozzles are used for guiding air flow to be sprayed out so as to balance the reaction torque action of a helicopter rotor wing, and therefore the heading of the helicopter is controlled.
The three-axis acceleration sensor is arranged at the tail end or vertical tail of the helicopter tail beam and is used for acquiring a transverse (along the crankshaft direction), a longitudinal (vertical to the crankshaft and pointing to the right) acceleration signal and a normal (vertical to the crankshaft and pointing to the upper) acceleration signal at the tail end or vertical tail position of the helicopter tail beam; in the triaxial acceleration sensor, the transverse acceleration senses and acquires the acceleration of the helicopter in the forward direction. The longitudinal acceleration sensor senses and acquires the longitudinal acceleration of the helicopter, namely the acceleration of the tail end or vertical tail swing of the tail beam. And the normal acceleration sensor senses and acquires the acceleration value of the tail end or the vertical tail of the helicopter tail beam in the vertical direction. The device mainly uses a longitudinal acceleration sensor and a normal acceleration sensor.
In one embodiment of the present invention, as shown in fig. 2, the gas port nozzle is an adjustable structure, and includes an upper baffle plate, a baffle plate connecting rod, a lower baffle plate, a connecting rod fixing shaft, a baffle plate fixing shaft, an air nozzle, and a flow guiding direction control motor; the diversion direction control motor controls the orientation of the upper diversion plate and the lower diversion plate according to a signal instruction of the control unit so as to change the direction of the sprayed air flow. The upper guide plate and the lower guide plate in the air port nozzle are initially fixed at the horizontal middle position and do not rotate at all. Wherein:
the upper guide plate and the lower guide plate are arranged at the front end of the air outlet nozzle air outlet through the guide plate fixing shaft, and the upper guide plate and the lower guide plate are movably connected through a guide plate connecting rod.
Two ends of the guide plate connecting rod are respectively provided with a plate connecting rod fixing shaft, and the two connecting rod fixing shafts are respectively arranged on the upper guide plate and the lower guide plate; when the rotation angle of the upper guide plate changes, the lower guide plate is driven to synchronously follow the movement.
The flow guide direction control motor is arranged on the air nozzle, is connected with the upper flow guide plate and is connected with the control unit through a signal cable; after receiving the signal from the control unit, the diversion direction control motor drives the angle and direction of the upper and lower diversion plates to change, and changes the direction of the air flow sprayed from the air port nozzle.
The control unit is provided with algorithms for signal interpretation, gas cylinder gas output size adjustment and gas port nozzle airflow guiding adjustment, and is used for controlling the helicopter tail rotor change when the helicopter is in an emergency state of tail rotor failure. The algorithm is specifically as follows:
(1) in the flying process of the helicopter, the control unit acquires displacement signals of the pedal displacement sensor in real time and acquires acceleration values sent by a triaxial acceleration sensor arranged at the tail end or horizontal tail of a tail beam of the helicopter in real time; when a pilot normally operates the airplane, the pilot steps on the pedals, the pedal displacement sensor can acquire pedal displacement signals, and the tail rotor of the helicopter can adjust the pitch value of the tail rotor according to the size of the pedal displacement signals, so that the tail rotor is controlled to realize the change of the course of the helicopter; meanwhile, the acceleration signal in the longitudinal axis direction and the pedal displacement signal synchronously change, and the change rate is consistent; the control unit does not issue any control instruction at this time.
(2) And the control unit judges that the helicopter has a tail rotor failure state if the change of the pedal displacement signal and the change of the acceleration signal in the longitudinal axis direction cannot be matched in time or signal polarity and magnitude. Judging in four situations:
the first method comprises the following steps: the pedal displacement signal changes, but the polarity of the change of the acceleration signal in the longitudinal axis direction is opposite to that of the pedal displacement signal; for example, when a left foot pedal is pressed, a left turn is intentionally made, but the acquired acceleration signal in the longitudinal axis direction is opposite to the acceleration signal.
And the second method comprises the following steps: the pedal displacement signal changes, but the longitudinal axis direction acceleration signal does not change.
And the third is that: the pedal displacement signal is unchanged, but the acceleration signal in the longitudinal axis direction is obviously changed; for example, the variation is greater than a set threshold.
And fourthly: the pedal displacement signal changes, the acceleration signal also changes, but the pedal displacement signal rate of change is greater than 2 times the rate of change of the acceleration signal or is reduced to 1/2.
Under the four conditions, the control unit sends a tail rotor failure state instruction and controls a tail rotor failure emergency state prompt lamp on a switch display panel to light.
When the pilot sees that the tail rotor failure emergency state prompt lamp on the switch display panel is lighted, the gas cylinder control switch on the switch display panel can be turned on; after the gas cylinder control switch is switched on, the gas cylinder control device can open the gas outlet of the gas cylinder, the gas cylinder starts to supply gas outwards at the moment, and a gas cylinder opening signal is sent to the control unit; when the control unit judges that the helicopter is in a tail rotor failure state and receives an opening signal of the inflation gas cylinder, the control unit collects pedal displacement signals sent by the pedal displacement sensor in real time and sends a control instruction to the gas cylinder control device according to the size of the pedal displacement signals, so that the gas output of the gas cylinder is controlled.
When the normal acceleration signal value that normal acceleration sensor gathered surpassed 1 g value, then judge that the current acceleration value of helicopter tail boom end and vertical fin part is transfinite, there is the low head and the rising too big in the helicopter gesture, the risk of easy stall, then send the instruction for the water conservancy diversion direction control motor that is located gas port nozzle portion, the motor motion can drive guide plate and lower guide plate motion, change gas port nozzle air current spun orientation, thereby adjust the vector direction that the air current spun forms the reaction force, adjust the terminal atress of tail boom or vertical fin on the vertical direction, thereby adjust the gesture of helicopter on the every single move.
The controller of the gas cylinder control device is provided with a gas cylinder deflation control algorithm for receiving signals given by the control unit and the gas cylinder control switch to control the opening and closing and flow control of the gas cylinder after the helicopter tail rotor fails, and the algorithm specifically comprises the following steps:
(1) when the gas cylinder control switch is switched on, the gas cylinder control device controls the gas cylinder vent valve to open.
(2) After receiving the deflation size signal of the control unit, synchronously controlling the size of the deflation flow of the gas cylinder.
Second, detailed control methods section
The principle of this scheme is that under the dangerous condition that the helicopter is in the tail-rotor and became invalid, acquire the terminal gesture change of tail boom through the collection, the air feed switch and the air feed flow of control compressed gas cylinder adjust the orientation of gas port nozzle, come the reaction torque effort of balanced helicopter rotor and the gesture of adjusting the helicopter every single move direction through air current spun reaction force to reach the purpose of smooth control helicopter gesture. The method comprises the following specific steps:
step 2.1, acquiring the longitudinal acceleration (the acceleration in the horizontal left-right swinging direction) of the tail end position of the tail beam of the helicopter in real time by a three-axis acceleration sensor during the flying process of the helicopter, and acquiring pedal displacement signals by a pedal displacement sensor; when the helicopter is flying normally, no other operations are performed. When the longitudinal acceleration value and the pedal displacement value have the following four conditions, the situation shows that the tail beam of the helicopter swings and the pedal is not normally controlled, and the fault that the tail rotor fails exists. Step 2.2 is performed.
Step 2.2, the control unit sends out a tail rotor failure state and controls a tail rotor failure emergency state prompt lamp on a switch display panel to light so as to remind a pilot of performing emergency operation; and (4) when the pilot opens the gas cylinder control switch, entering the step 2.3.
Step 2.3, in the step, the specific algorithm of the control unit is as follows:
the control unit sends an instruction to control the gas cylinder control device to open a gas cylinder gas supply valve for emergency gas supply.
The method comprises the steps of acquiring a longitudinal acceleration value acquired by a triaxial acceleration sensor in real time, sending an air supply flow increasing instruction to an air bottle control device according to the longitudinal acceleration value, gradually increasing the air supply flow until the value acquired by the longitudinal acceleration sensor approaches to 0, indicating that the course of the helicopter is stable, balancing a reaction torque value brought by a main rotor by the reaction force of air port nozzle jet air flow, and stabilizing the air supply flow at the moment.
Meanwhile, the control unit records the current pedal displacement signal as the reference of the balance state, the displacement value of the left pedal at the balance position is appointed to be A, the displacement value is increased when the left pedal is continuously pressed down, and the displacement value is reduced when the left pedal rebounds.
The control unit acquires normal acceleration values acquired by the triaxial acceleration sensor in real time and sends a rotating direction instruction of the air port nozzle guide plate according to the normal acceleration values.
When the normal acceleration value that normal acceleration sensor gathered surpassed 1 g value, then judge that helicopter tail boom normal acceleration value is transfinite, explain that uncontrolled pendulum-up and pendulum-down have appeared in the tail boom, there is the low head and the big change of rising gesture in the helicopter gesture, the risk of stall appears easily, then send the instruction and give the water conservancy diversion direction control motor that is located gas port nozzle portion, the motor motion can drive the guide plate and rotate, guide plate carries out synchronous rotation around the guide plate fixed axle through guide plate connecting rod fixed axle drive down. The direction of the air flow ejected from the air port nozzle is changed, so that the vector direction of the reaction force formed by the ejected air flow is adjusted, and the stress of the tail end or the vertical tail of the tail beam in the vertical direction is adjusted.
When the normal acceleration is positive (the tail beam moves upwards), the guide plate is sent to face upwards, and the tail beam is controlled to move downwards by the normal component of the reaction force of the airflow sprayed by the air port nozzle, so that the pitching attitude of the helicopter is realized at ordinary times. In a similar way, the normal acceleration is negative (the tail beam moves downwards), the guide plate is sent to move downwards, and the tail beam is controlled to move upwards by the normal component of the reaction force of the airflow sprayed out from the air port nozzle.
When the direction of the guide plate changes, partial component of acting force corresponding to the reaction force of the vertical tail beam is used for controlling the pitching change of the helicopter, and at the moment, the control unit synchronously controls the gas cylinder control device to increase the gas supply flow until the helicopter keeps balance in the azimuth and the pitching. At this point, step 2.4 is entered.
And 2.4, after the counter-acting force of the airflow sprayed out through the air port nozzles balances the pitching and heading postures of the helicopter, the control unit still collects pedal displacement signals collected by the pedal displacement sensor in real time so as to sense the operation intention of the pilot.
In the step, when the displacement of the pedals on the two sides changes in unit time, the pilot needs to control the helicopter to rotate left or right, and an air supply flow adjusting instruction is sent to the air bottle control device to adjust the air supply flow.
At this time, the algorithm of the control unit is: and acquiring a pedal displacement value acquired by a pedal displacement sensor in real time, and recording the pedal displacement value as B so as to sense the operation intention of the pilot. When B is larger than A, it indicates that the pilot steps on the left pedal and needs to turn left. When B is less than 1, the pilot tramples the right foot pedal and needs to turn right.
Because the air port nozzles are arranged on the opposite sides of the tail rotor for the pull tail rotor and on the same side of the tail rotor for the push tail rotor, in order to realize the operation intention of a pilot on changing the course of the helicopter, the control algorithm in the control unit is considered in the following eight cases:
as described above:
(1) when the tail rotor of the helicopter belongs to a pulling tail rotor and is positioned on the left side of the longitudinal axis of the helicopter body, if the pilot needs to control the helicopter to rotate left at the moment, the control unit sends an instruction for reducing the air supply amount to the air bottle control device. At the moment, the airflow and the reaction force at the nozzle of the air port are reduced, and the tail boom rotates anticlockwise (overlooking) around the normal axis of the helicopter body under the action of the reaction torque of the rotor wing, so that the course of the helicopter turns left. On the contrary, if the vehicle is to turn right, the amount of supplied air is increased.
The same can know that:
(2) when the tail rotor of the helicopter belongs to the pulling tail rotor and is positioned on the right side of the longitudinal axis of the helicopter body, if the pilot needs to control the helicopter to turn left at the moment, the control unit sends an instruction of increasing the air supply amount to the air bottle control device. On the contrary, if the right turn is required, the amount of supplied air is reduced.
(3) When the tail rotor of the helicopter belongs to the thrust tail rotor and is positioned on the left side of the longitudinal axis of the helicopter body, if the pilot needs to control the helicopter to rotate left at the moment, the control unit sends an instruction of increasing the air supply amount to the air cylinder control device. On the contrary, if the right turn is to be made, the amount of supplied air is reduced.
(4) When the tail rotor of the helicopter belongs to the thrust tail rotor and is positioned on the right side of the longitudinal axis of the fuselage, if the pilot needs to control the helicopter to turn left at the moment, the control unit sends an instruction for reducing the air supply amount to the air bottle control device. On the contrary, if the right turn is required, the amount of supplied air is increased.
Compared with the prior art, the method has the advantages that the original tail rotor of the helicopter is reserved, and the course is controlled only as an alternative mode in an emergency state by balancing the reaction torque of the main rotor wing through the reaction force sprayed by the airflow; the invention uses the gas-filled cylinder without changing the pneumatic appearance of the original helicopter. The design of the air port nozzle provided by the invention can adjust the direction of the air flow, and increases the control of the pilot on the pitching state of the helicopter.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application, and are intended to be included within the scope of the present application.
Claims (10)
1. The utility model provides an emergent substitution device under helicopter tail-rotor failure state which characterized in that, includes switch display panel, the control unit, pedal displacement sensor, gas cylinder controlling means, gas cylinder, triaxial acceleration sensor and gas port nozzle, wherein:
the switch display panel is arranged on the helicopter console and is provided with a gas cylinder control switch and a tail rotor failure emergency state prompt lamp; the switch display panel is connected with the control unit and the air bottle control device; wherein the gas cylinder control switch is used for opening/closing gas supply of the gas cylinder; the emergency state prompting lamp is controlled by the control unit;
the control unit is arranged below the helicopter console and is connected with the switch display panel, the pedal displacement sensor, the gas cylinder control device, the three-axis acceleration sensor and the gas port nozzle; the control unit is used for acquiring signals of the pedal displacement sensor and acceleration signals of the tail end or vertical tail position of the tail beam, carrying out comprehensive processing and interpretation, providing emergency state reminding for a pilot through the emergency state prompting lamp when a tail rotor is in a failure state, and controlling the gas cylinder control device to adjust the air outlet volume and control the direction of air flow sprayed by the air port nozzle according to the pedal displacement signals and the acceleration signals;
the pedal displacement sensor is arranged below a left foot pedal operating rod of a helicopter cockpit and is used for acquiring displacement signals of pedals stepped by a pilot; the gas cylinder control device is arranged at the position of the gas outlet of the gas cylinder and used for receiving a signal of a gas cylinder control switch and opening and closing the gas supply port of the gas cylinder; the gas filling cylinder is arranged in the transition section or the fuselage of the tail beam of the helicopter and is used for storing high-pressure inert gas; the three-axis acceleration sensor is arranged at the tail end or vertical tail of the helicopter tail beam and is used for acquiring acceleration signals at the tail end or vertical tail position of the helicopter tail beam; the air port nozzle is arranged at the tail end of the tail beam of the helicopter and is connected with the inflation air bottle through an air supply pipeline; the air flow spraying direction is vertical to the vertical tail direction, and the air flow spraying direction can be adjusted under the control of the control unit.
2. The emergency substitution device for a helicopter tail rotor in a failure state of claim 1, characterized in that if the tail rotor is a thrust tail rotor, the air outlets of the air port nozzles are arranged on the same side of the current tail rotor; if the tail rotor is a pulling tail rotor, the air outlet of the air port nozzle is arranged on the other side of the current tail rotor.
3. The helicopter tail rotor emergency substitution device in the failure state of claim 1, characterized in that the gas port nozzle is an adjustable structure comprising an upper guide plate, a guide plate connecting rod, a lower guide plate, a connecting rod fixing shaft, a guide plate fixing shaft, a gas nozzle and a guide direction control motor; wherein:
the upper guide plate and the lower guide plate are arranged at the front end of the air outlet of the air port nozzle through the guide plate fixing shaft, and the upper guide plate and the lower guide plate are movably connected through a guide plate connecting rod; two ends of the guide plate connecting rod are respectively provided with a connecting rod fixing shaft, and the two connecting rod fixing shafts are respectively arranged on the upper guide plate and the lower guide plate; when the rotation angle of the upper guide plate changes, the lower guide plate is driven to synchronously follow the movement;
the flow guide direction control motor is arranged on the air nozzle, is connected with the upper flow guide plate and is connected with the control unit through a signal cable; after the diversion direction control motor receives the signal from the control unit, the angle and the orientation of the upper diversion plate and the lower diversion plate are driven to change, and the direction of the air flow sprayed out from the air port nozzle is changed.
4. An emergency substitution device for a helicopter tail rotor in a failure state according to claim 1 wherein said control unit is provided with algorithms for signal interpretation, cylinder air output size adjustment and port nozzle airflow direction adjustment comprising:
in the flying process of the helicopter, the control unit acquires displacement signals of the pedal displacement sensor in real time and acquires acceleration values sent by a triaxial acceleration sensor arranged at the tail end or horizontal tail of a tail beam of the helicopter in real time; when a pilot normally operates the airplane, the pilot steps on the pedals, the pedal displacement sensor can acquire pedal displacement signals, and the tail rotor of the helicopter can adjust the pitch value of the tail rotor according to the size of the pedal displacement signals, so that the tail rotor is controlled to realize the change of the course of the helicopter; meanwhile, the acceleration signal in the longitudinal axis direction and the pedal displacement signal change synchronously, and the change rate is consistent; at the moment, the control unit does not send any control instruction;
the control unit judges that the helicopter has a tail rotor failure state if the change of the pedal displacement signal and the change of the acceleration signal in the longitudinal axis direction cannot be matched in time or signal polarity and magnitude, and sends a tail rotor failure state instruction and controls a tail rotor failure emergency state prompt lamp on a switch display panel to be turned on;
when the pilot sees that the tail rotor failure emergency state indicator light on the switch display panel is lightened, the gas cylinder control switch on the switch display panel is turned on; after the gas cylinder control switch is switched on, the gas cylinder control device opens the gas outlet of the gas cylinder, the gas cylinder starts to supply gas outwards at the moment, and a gas cylinder opening signal is sent to the control unit; when the control unit judges that the helicopter is in a tail rotor failure state and receives an opening signal of the inflation gas cylinder, the control unit collects pedal displacement signals sent by the pedal displacement sensor in real time and sends a control instruction to the gas cylinder control device according to the size of the pedal displacement signals, so that the gas output of the gas cylinder is controlled.
5. The helicopter tail rotor failure condition emergency override device of claim 4, wherein the algorithm further comprises:
when the normal acceleration signal value that normal acceleration sensor gathered surpassed 1 g value, then judge that the current acceleration value of helicopter tail boom end and vertical fin part is transfinite, there is the low head and the rising too big in the helicopter gesture, the risk of easy stall, then send the instruction for the water conservancy diversion direction control motor that is located gas port nozzle portion, the motor motion can drive guide plate and lower guide plate motion, change gas port nozzle air current spun orientation, thereby adjust the vector direction that the air current spun forms the reaction force, adjust the terminal atress of tail boom or vertical fin on the vertical direction, thereby adjust the gesture of helicopter on the every single move.
6. An emergency substitution device for a helicopter tail rotor in failure state according to claim 4, characterized in that said tail rotor in failure state is judged in four situations:
the first method comprises the following steps: the pedal displacement signal changes, but the polarity of the change of the acceleration signal in the longitudinal axis direction is opposite to that of the pedal displacement signal;
and the second method comprises the following steps: the pedal displacement signal is changed, but the acceleration signal in the longitudinal axis direction is not changed;
and the third is that: the pedal displacement signal is unchanged, but the acceleration signal in the longitudinal axis direction is obviously changed;
and a fourth step of: the pedal displacement signal changes and the acceleration signal also changes, but the ratio of the pedal displacement signal change rate to the acceleration signal change rate exceeds 2 times or is reduced to 1/2.
7. A control method of an emergency substitution device in a helicopter tail rotor failure state is characterized by comprising the following steps:
step 2.1, in the flying process of the helicopter, a control unit acquires the longitudinal acceleration of the tail end position of the tail beam of the helicopter in real time through a three-axis acceleration sensor and pedal displacement signals acquired through a pedal displacement sensor; when the helicopter flies normally, other operations are not carried out; when the control unit judges that the tail rotor has failure fault, the step 2.2 is carried out;
step 2.2, the control unit sends a tail rotor failure state instruction and controls a tail rotor failure emergency state prompt lamp on a switch display panel to light so as to remind a pilot to carry out emergency operation; after the pilot opens the gas cylinder control switch, entering step 2.3;
step 2.3, the control unit sends an instruction to control the gas cylinder control device to open a gas cylinder gas supply valve for emergency gas supply;
acquiring a longitudinal acceleration value acquired by a triaxial acceleration sensor in real time, sending an air supply flow increasing instruction to an air bottle control device according to the longitudinal acceleration value, gradually increasing the air supply flow until the value acquired by the longitudinal acceleration sensor approaches to 0, and stabilizing the air supply flow at the moment; meanwhile, the control unit records the current pedal displacement signal as the reference of the balance state, wherein the displacement value of the left pedal at the balance position is recorded as A, the displacement value is increased when the left pedal is continuously stepped, and the displacement value is reduced when the left pedal rebounds;
the control unit acquires normal acceleration values acquired by the triaxial acceleration sensor in real time and sends rotating direction instructions of the air port nozzle guide plate according to the normal acceleration values.
8. A method for controlling an emergency substitution device in the event of failure of a helicopter tail rotor according to claim 7, said method further comprising:
when the normal acceleration value acquired by the normal acceleration sensor exceeds 1 g value, judging that the normal acceleration value of the tail beam of the helicopter exceeds the limit, sending an instruction to a flow guide direction control motor positioned on the part of the air port nozzle, wherein the motor moves to drive an upper flow guide plate to rotate, and changing the direction of air flow sprayed out of the air port nozzle, so that the vector direction of the reaction force formed by the sprayed air flow is adjusted to adjust the stress of the tail end or the vertical tail of the tail beam in the vertical direction;
when the normal acceleration is positive, the upper and lower guide plates are controlled to face upwards, and the tail beam is controlled to move downwards by means of the normal component of the reaction force of the airflow sprayed out from the air port nozzles, so that the pitching attitude of the helicopter is normal; similarly, when the normal acceleration is negative, the upper and lower guide plates are controlled to face downwards, and the tail beam is controlled to move upwards by the normal component of the reaction force of the airflow sprayed out from the air port nozzles;
when the directions of the upper guide plate and the lower guide plate change, the control unit synchronously controls the gas cylinder control device to increase the gas supply flow until the helicopter keeps balance in the azimuth and the pitch; at this point, step 2.4 is entered.
Step 2.4, after the counter-acting force of the airflow sprayed out through the air port nozzles balances the pitching and heading postures of the helicopter, the control unit still collects pedal displacement signals collected by the pedal displacement sensor in real time so as to sense the operation intention of a pilot; when the displacement of the pedals on the two sides changes in unit time, which indicates that a pilot needs to control the helicopter to rotate left or right, an air supply flow adjusting instruction is sent to the air bottle control device to adjust the air supply flow.
9. The method for controlling the emergency substitute device of the helicopter tail rotor in the failure state of the helicopter according to claim 8, wherein the change of the displacement of the pedals on both sides in the unit time indicates that the pilot needs to control the left turn or the right turn of the helicopter, and the specific judgment method is as follows:
acquiring a pedal displacement value acquired by a pedal displacement sensor in real time, and recording the pedal displacement value as B to sense the operation intention of a pilot; when B is larger than A, the pilot tramples a left pedal and needs to turn left; when B is less than 1, it indicates that the pilot has stepped on the right foot pedal and needs to turn right.
10. The method for controlling the emergency substitution device of the helicopter tail rotor in the failure state according to claim 7, wherein the method for sending the air supply flow adjusting command to the air cylinder control device comprises the following specific steps:
when the tail rotor of the helicopter belongs to a tension tail rotor and is positioned on the left side of the longitudinal axis of the helicopter body, if the pilot needs to control the helicopter to rotate left at the moment, the control unit sends an instruction of reducing the air supply amount to the air bottle control device; on the contrary, if the automobile is required to turn right, the air supply amount is increased;
when the tail rotor of the helicopter belongs to a tension tail rotor and is positioned on the right side of the longitudinal axis of the helicopter body, if the pilot needs to control the helicopter to rotate left at the moment, the control unit sends an instruction of increasing the air supply amount to the air bottle control device; on the contrary, if the vehicle is required to turn right, the air supply amount is reduced;
when the tail rotor of the helicopter belongs to a thrust tail rotor and is positioned on the left side of the longitudinal axis of the helicopter body, if the pilot needs to control the helicopter to rotate left at the moment, the control unit sends an instruction of increasing the air supply amount to the air bottle control device; on the contrary, if the vehicle is required to turn right, the air supply amount is reduced;
when the tail rotor of the helicopter belongs to the thrust tail rotor and is positioned on the right side of the longitudinal axis of the helicopter body, if the pilot needs to control the helicopter to rotate left at the moment, the control unit sends an instruction of reducing the air supply amount to the air bottle control device; on the contrary, if the right turn is required, the amount of supplied air is increased.
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| CN113928577B (en) * | 2021-11-19 | 2023-10-27 | 中国直升机设计研究所 | Emergent buffering landing gear of helicopter |
| CN113968339B (en) * | 2021-11-19 | 2023-04-28 | 中国直升机设计研究所 | Environment-friendly control system capable of emergently balancing helicopter rotor wing reactive torque and control method |
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