CN112278297A - Emergency flameout control system of unmanned helicopter - Google Patents
Emergency flameout control system of unmanned helicopter Download PDFInfo
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- CN112278297A CN112278297A CN202011235954.2A CN202011235954A CN112278297A CN 112278297 A CN112278297 A CN 112278297A CN 202011235954 A CN202011235954 A CN 202011235954A CN 112278297 A CN112278297 A CN 112278297A
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- unmanned helicopter
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- 238000002347 injection Methods 0.000 claims abstract description 32
- 239000007924 injection Substances 0.000 claims abstract description 32
- 238000012545 processing Methods 0.000 claims abstract description 26
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 20
- 239000000446 fuel Substances 0.000 claims abstract description 20
- 238000005259 measurement Methods 0.000 claims abstract description 19
- 239000003921 oil Substances 0.000 claims abstract description 16
- 239000010705 motor oil Substances 0.000 claims abstract description 15
- 238000012360 testing method Methods 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims description 10
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 6
- 229910052744 lithium Inorganic materials 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 5
- 238000012795 verification Methods 0.000 claims description 2
- 230000009977 dual effect Effects 0.000 claims 2
- 239000007921 spray Substances 0.000 abstract 1
- 239000000295 fuel oil Substances 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- RNFJDJUURJAICM-UHFFFAOYSA-N 2,2,4,4,6,6-hexaphenoxy-1,3,5-triaza-2$l^{5},4$l^{5},6$l^{5}-triphosphacyclohexa-1,3,5-triene Chemical compound N=1P(OC=2C=CC=CC=2)(OC=2C=CC=CC=2)=NP(OC=2C=CC=CC=2)(OC=2C=CC=CC=2)=NP=1(OC=1C=CC=CC=1)OC1=CC=CC=C1 RNFJDJUURJAICM-UHFFFAOYSA-N 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000003063 flame retardant Substances 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 102220008961 rs80356663 Human genes 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
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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; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D37/00—Arrangements in connection with fuel supply for power plant
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
- B64D31/02—Initiating means
- B64D31/06—Initiating means actuated automatically
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
The invention discloses an emergency flameout control system of an unmanned helicopter, which comprises a ground measurement and control system, a flight control system, a comprehensive processing system, an emergency flameout system, a power supply control system, a power supply system, an engine control system, an engine oil injection system, an engine ignition system and an engine, wherein in a ground driving test of the unmanned helicopter, a flameout instruction is wirelessly sent through the ground measurement and control system when the unmanned helicopter is normally flameout, the flameout instruction is effectively sent to the comprehensive processing system through judgment of the flight control system, the power supply control system is controlled to disconnect a power supply of the engine control system, the oil injection and ignition of the engine are stopped, and the unmanned helicopter is; an emergency flameout system is also incorporated into the engine control system and used for directly disconnecting the power supply of the engine control system, and the engine fuel spray nozzle and the igniter stop working, so that the engine stops working, reliable emergency flameout and stopping of the unmanned helicopter are realized, and the safety of a ground starting test of the unmanned helicopter is ensured.
Description
Technical Field
The invention belongs to the technical field of unmanned helicopter control, and particularly relates to an emergency flameout control system of an unmanned helicopter.
Background
The unmanned helicopter does not need a launching system when in use, can take off and land vertically, hover at a fixed point and fly at low altitude, has the characteristics of low site requirement, strong universality, flexible flight, low cost and the like, and can be widely applied to various fields such as agriculture and forestry plant protection, communication relay, air defense early warning, transportation release, forest fire prevention, high altitude detection, homeland surveying and mapping, meteorological hydrology detection and the like.
Before the unmanned helicopter flies for the first time, a series of ground driving tests such as ground grinding, mooring and the like are required to be carried out, the working coordination of various systems such as a flight control system, an avionic system, a rotor system, an engine system, a heat dissipation system and the like is tested, and the existing problems are found and solved. In the ground driving test process, moving parts such as an engine, a main tail rotor wing and a transmission device rotate at a high speed and generate high-temperature gas, so that certain risks are realized, and the unmanned helicopter can reliably extinguish fire in an emergency, and the safety of the test is ensured.
In a ground driving test of the unmanned helicopter, a flameout command is wirelessly sent through a ground measurement and control system when the unmanned helicopter is normally flamed out, the flameout command is effectively sent to the comprehensive processing system after being judged by the flight control system, the power supply control system is controlled to disconnect the power supply of the engine control system, oil injection and ignition are stopped for the engine, and the unmanned helicopter is controlled to be flamed out, but the mode cannot ensure reliable flameout of the engine. The existing emergency flameout method is characterized in that an electromagnetic valve is connected in series in a fuel pipeline, and the purpose of emergency flameout is achieved by controlling the electromagnetic valve to cut off fuel supply.
Disclosure of Invention
The invention aims to provide an emergency flameout control system of an unmanned helicopter, which is used for realizing reliable emergency flameout and parking of the unmanned helicopter in a ground driving test, avoiding the occurrence of abnormal flameout or dangerous conditions caused by the failure of a measurement and control system, the failure of a control system and other faults and ensuring the safety of airplanes and testers.
The technical solution for realizing the purpose of the invention is as follows:
an emergency flameout control system of an unmanned helicopter comprises a ground measurement and control system, a flight control system, a comprehensive processing system, a power supply control system, a power supply system, an engine control system, an engine oil injection system, an engine ignition system, an engine and an emergency flameout system;
the fuel injection system of the engine adopts a double-path fuel injection nozzle to inject fuel into an engine cylinder; the engine ignition system adopts a double-path igniter and is used for igniting the fuel in the engine cylinder; the engine provides power for the unmanned helicopter; the power supply is used for supplying power to the engine control system, the engine ignition system and the engine oil injection system;
the method comprises the following steps that a flameout instruction is sent wirelessly through a ground measurement and control system during normal flameout, and the ground measurement and control system performs data interaction with an unmanned helicopter and is used for sending the flameout instruction to a flight control system; after the flight control system passes the instruction verification, the instruction is sent to the comprehensive processing system, and a relay coil in the power supply control system is controlled to be electrified; the control power supply control system is provided with two relays, the engine control system adopts a dual-redundancy electronic controller, and the two relays respectively control two controllers of the engine control system; the relay is disconnected by the electric contact, so that the power supply of an engine control system, an engine ignition system and an engine oil injection system is disconnected, oil injection and ignition of the engine are stopped, and the unmanned helicopter is normally flamed out;
the emergency flameout system comprises a flameout battery, an emergency flameout switch, a control wire and a diode; the positive electrode of the flameout battery is respectively connected with two diodes through a double-control emergency flameout switch, the two diodes are connected with a power supply control system through a control wire, and the power supply control system is connected with the negative electrode of the flameout battery to form a loop; the power supply control system is used for controlling the power supply of an engine control system, an oil pump and a starting motor; the power supply control system controls the power on and off of the dual-redundancy electronic controller, the dual-redundancy electronic controller respectively controls two paths of oil nozzles in an engine oil injection system, and simultaneously respectively controls two igniters of an engine ignition system; when an emergency occurs in the driving test process, the emergency flameout switch is pressed, the flameout battery supplies power to the relay coil in the power supply control system, and the relay contact is disconnected, so that the power supplies of the engine control system, the engine ignition system and the engine oil injection system are disconnected, oil injection and ignition of the engine are stopped, and the unmanned helicopter is flamed out emergently.
Compared with the prior art, the invention has the following remarkable advantages:
(1) the emergency flameout system is connected with the power supply control system in parallel, the power supply of the electronic controller of the engine is controlled to carry out emergency flameout, the reliable emergency flameout and stop of the unmanned helicopter in a ground driving test are realized, the situation that the unmanned helicopter cannot normally flameout or is dangerous due to the failure of the measurement and control system, the failure of the control system and other faults is avoided, the emergency flameout system is only used in the ground test and does not fly along with the unmanned helicopter, and the safety of the airplane and testers is guaranteed.
(2) The normally closed relay is adopted to control the engine electronic controller to be powered on and powered off, and compared with the normally open relay, the power failure of the coil is reduced, so that the engine electronic controller is powered off, the risk of flameout of the engine is caused, and the reliability of the system is improved.
(3) The emergency flameout switch adopts a two-way rocker switch, and can simultaneously control the dual-redundancy engine electronic controller to be powered off, so that the unmanned helicopter can be quickly flameout in an emergency.
(4) The emergency flameout switch is placed in a safe area through the emergency flameout extension lead, so that the safety of operators is guaranteed, and meanwhile, the emergency flameout battery is light in weight, small in size, convenient to insert, pull out and carry and connected with the lead through the quick-detachable connector.
Drawings
Fig. 1 is a schematic composition diagram of an emergency flameout control system of an unmanned helicopter according to the present invention.
Fig. 2 is a schematic diagram of a control circuit of the present invention.
Reference numbers in the figures: the method comprises the following steps of 1-a ground measurement and control system, 2-a flight control system, 3-a comprehensive processing system, 4-an emergency flameout system, 5-a power supply control system, 6-a power supply system, 7-an engine control system, 8-an engine oil injection system, 9-an engine ignition system and 10-an engine.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
As shown in fig. 1 and fig. 2, the method for controlling emergency flameout of an unmanned helicopter provided by the invention comprises a ground measurement and control system, a flight control system, a comprehensive processing system, an emergency flameout system, a power supply control system, a power supply system, an engine control system, an engine fuel injection system, an engine ignition system and an engine. The ground driving test of the unmanned helicopter is characterized in that a flameout command is wirelessly sent through a ground measurement and control system when the unmanned helicopter is normally flameout, the command is sent to a comprehensive processing system after a frame head, a frame tail, a sum check and an exclusive or check of the command are passed through a flight control system, a relay A and a relay B coil in a power control system are controlled to be electrified, a contact of the relay A and a contact of the relay B are disconnected, a power supply of an engine control system, an engine ignition system and an engine oil injection system are disconnected, oil injection and ignition of an engine are stopped, and the unmanned helicopter is normally flame. The ground measurement and control station sends a flameout instruction to the unmanned helicopter through wireless communication to control the ground driving of the unmanned helicopter to normally flameout.
The ground measurement and control system comprises a measurement and control station, wireless transceiving equipment and an antenna, and is used for performing data interaction with the unmanned helicopter in a wireless communication mode and monitoring and controlling the state of the helicopter in real time; the flight control system consists of a dual-redundancy flight control computer, and is communicated with the avionic equipment of the unmanned helicopter by adopting an RS422 bus and communicated with the engine control system by adopting a CAN bus; the comprehensive processing system consists of a comprehensive processing computer and a sensor, acquires and processes frequency quantity, discrete quantity and analog quantity, controls environmental temperature and rotor braking, and provides an engine control system, an engine starting motor and an oil pump up-down electric signal; the emergency flameout system comprises a flameout battery, an emergency flameout switch, a control wire and diodes, the engine control system is controlled to be powered off in an emergency, the anode of the flameout battery is respectively connected with the two diodes through the double-control emergency flameout switch, the two diodes are connected with the power supply control system through the control wire, and the power supply control system is connected with the cathode of the flameout battery to form a loop; the power control system adopts a 2-path relay to control the power supply of an engine electronic controller, an oil pump and a starting motor; the engine control system adopts a dual-redundancy Electronic Controller (ECU) to acquire data and alarm of various sensors of the engine and control the fuel nozzle, the igniter, the turbocharger and the like of the engine; the engine oil injection system adopts a double-path oil injection nozzle to inject fuel oil into a cylinder; the engine ignition system adopts a double-path igniter to ignite the fuel in the cylinder; the engine provides power for the unmanned helicopter. A relay A in the power supply control system controls an ECU (A) in the engine control system to power up and power down, and a relay B in the power supply control system controls the ECU (B) in the engine control system to power up and power down; ECU (A) in the engine control system controls a fuel oil nozzle A in the fuel injection system of the engine, and ECU (B) in the engine control system controls a fuel oil nozzle B in the fuel injection system of the engine; ECU (A) in the engine control system controls igniter A in the engine ignition system, and ECU (B) in the engine control system controls igniter B in the engine ignition system; the ECU (A) communication interface in the engine control system is CAN (A), and the ECU (B) communication interface in the engine control system is CAN (B).
When an emergency occurs in the ground driving test process of the unmanned helicopter, the emergency flameout system is adopted to flameout, the emergency flameout switch is pressed down, the flameout battery supplies power to a coil A and a coil B in the power control system, and contacts of the relay A and the relay B are disconnected, so that the power supply of the engine control system, the engine ignition system and the engine oil injection system is disconnected, oil injection and ignition of the engine are stopped, and the unmanned helicopter is flameout emergently.
The dual-redundancy flight control computer adopts the same structure to perform hot backup, dual-computer synchronization and CCDL data interaction. The dual-redundancy flight control computer is connected with the comprehensive processing computer through a wire, and sends instructions to the comprehensive processing computer and receives data of the comprehensive processing computer through the RS 422. The dual-redundancy airplane computer is connected with the ECU (A) through a wire, and receives data of the ECU (A) through the CAN (A). The dual-redundancy airplane computer is connected with the ECU (B) through a wire, and receives data of the ECU (B) through the CAN (B).
The positive electrode of the signal of the comprehensive processing computer output control relay A is connected with the positive electrode of the diode 1, the negative electrode of the diode 1 is connected with the positive electrode of the coil of the relay A, and the negative electrode of the coil of the relay A is connected with the ground wire of the comprehensive processing computer to form a loop. The positive electrode of the signal of the comprehensive processing computer output control relay B is connected with the positive electrode of the diode 2, the negative electrode of the diode 2 is connected with the positive electrode of the coil of the relay B, and the negative electrode of the coil of the relay B is connected with the ground wire of the comprehensive processing computer to form a loop. The coils of relay A and relay B share the ground. The relay A and the relay B are normally closed electromagnetic relays with contact load capacity of 20A, and the diode 1 and the diode 2 are rectifier diodes with load capacity of 3A.
A24V and 3Ah lithium battery is adopted as a flameout battery, a double-circuit rocker switch with rated current of 3A is adopted as an emergency flameout switch, a 3-core cable with flame-retardant protection capability and rated current of 3A is selected as a control lead, and a rectifier diode with load capability of 3A is selected as a diode 3 and a diode 4. The positive electrode output of the 24V lithium battery is connected with a terminal a of the two-way rocker switch, a terminal c of the two-way rocker switch is connected with the anode of the diode 3, the cathode of the diode 3 is connected with the positive electrode of the coil A of the relay, and the cathode of the coil A of the relay is connected with the cathode of the 24V lithium battery to form a loop; the positive output of 24V lithium cell connects terminal B of double-circuit rocker switch, and diode 4's positive pole is connected to double-circuit rocker switch's terminal d, and relay B coil positive pole is connected to diode 4's negative pole, and 24V lithium cell negative pole is connected to relay B coil negative pole, constitutes the return circuit. The comprehensive processing computer control signal is connected with the emergency flameout system control signal in parallel. The two-way rocker switch can control the energization of the coil A of the relay and the energization of the coil B of the relay at the same time. The number of the control wires is not less than 3, the diodes adopt two independent diodes, and the load capacity of the emergency flameout control loop is not less than 3A.
The power supply system adopts a 14V power supply of the unmanned helicopter, one end of a contact A of the relay is connected with a positive electrode of the 14V power supply, the other end of the contact A of the relay is connected with a positive electrode of an ECU (A) power supply, and a negative electrode of the ECU (A) power supply is connected with a negative electrode of the 14V power supply to form a loop. One end of the contact of the relay B is connected with the positive pole of a 14-voltage power supply, the other end of the contact of the relay B is connected with the positive pole of an ECU (B) power supply, and the negative pole of the ECU (B) power supply is connected with the negative pole of a 14-voltage power supply to form a loop.
The relay A and the relay B both adopt normally closed relays, the ECU (A) is electrified to work when the coil of the relay A is not electrified, and the ECU (A) is not electrified to work when the coil of the relay A is electrified; when the coil B of the relay is not electrified, the ECU (B) is electrified to work, and when the coil B of the relay is electrified, the ECU (B) is electrified to not work.
And (A) controlling the igniter A and the fuel nozzle A to work, and controlling the igniter A and the fuel nozzle A to work. And (B) controlling the igniter B and the fuel nozzle B to work, and controlling the igniter B and the fuel nozzle B to work. The unmanned helicopter can be flamed out only when the ECU (A) and the ECU (B) are powered off.
The emergency flameout system is connected into the unmanned helicopter before a ground driving test, the two-way rocker switch is in an off state in normal conditions, flameout and parking are carried out through the ground measurement and control station, the two-way rocker switch is connected in emergency conditions, the relay A coil is electrified and the relay B coil is electrified simultaneously, the relay contacts are disconnected, the ECU (A) and the ECU (B) are powered off simultaneously, oil injection and ignition are stopped for an engine, the engine is finally stopped, the purpose of emergency flameout of the unmanned helicopter is achieved, and equipment and personnel safety are guaranteed.
Claims (10)
1. An emergency flameout control system of an unmanned helicopter comprises a ground measurement and control system, a flight control system, a comprehensive processing system, a power supply control system, a power supply system, an engine control system, an engine oil injection system, an engine ignition system and an engine, and is characterized by further comprising an emergency flameout system;
the fuel injection system of the engine adopts a double-path fuel injection nozzle to inject fuel into an engine cylinder; the engine ignition system adopts a double-path igniter and is used for igniting the fuel in the engine cylinder; the engine provides power for the unmanned helicopter; the power supply is used for supplying power to the engine control system, the engine ignition system and the engine oil injection system;
the method comprises the following steps that a flameout instruction is sent wirelessly through a ground measurement and control system during normal flameout, and the ground measurement and control system performs data interaction with an unmanned helicopter and is used for sending the flameout instruction to a flight control system; after the flight control system passes the instruction verification, the instruction is sent to the comprehensive processing system, and a relay coil in the power supply control system is controlled to be electrified; the control power supply control system is provided with two relays, the engine control system adopts a dual-redundancy electronic controller, and the two relays respectively control two controllers of the engine control system; the relay is disconnected by the electric contact, so that the power supply of an engine control system, an engine ignition system and an engine oil injection system is disconnected, oil injection and ignition of the engine are stopped, and the unmanned helicopter is normally flamed out;
the emergency flameout system comprises a flameout battery, an emergency flameout switch, a control wire and a diode; the positive electrode of the flameout battery is respectively connected with two diodes through a double-control emergency flameout switch, the two diodes are connected with a power supply control system through a control wire, and the power supply control system is connected with the negative electrode of the flameout battery to form a loop; the power supply control system is used for controlling the power supply of an engine control system, an oil pump and a starting motor; the power supply control system controls the power on and off of the dual-redundancy electronic controller, the dual-redundancy electronic controller respectively controls two paths of oil nozzles in an engine oil injection system, and simultaneously respectively controls two igniters of an engine ignition system; when an emergency occurs in the driving test process, the emergency flameout switch is pressed, the flameout battery supplies power to the relay coil in the power supply control system, and the relay contact is disconnected, so that the power supplies of the engine control system, the engine ignition system and the engine oil injection system are disconnected, oil injection and ignition of the engine are stopped, and the unmanned helicopter is flamed out emergently.
2. The unmanned helicopter emergency shutdown control system of claim 1, wherein the power control system comprises a first diode, a second diode, a two-way relay;
the comprehensive processing computer of the comprehensive processing system outputs a signal for controlling the positive pole of a first relay to be connected with the anode of a first diode, the cathode of the first diode is connected with the positive pole of a first relay coil, and the negative pole of the first relay coil is connected with the ground wire of the comprehensive processing computer to form a loop;
the comprehensive processing computer outputs a signal for controlling the positive pole of the second relay to be connected with the anode of a second diode, the cathode of the second diode is connected with the positive pole of a second relay coil, and the cathode of the second relay coil is connected with the ground wire of the comprehensive processing computer to form a loop;
and the coils of the first relay and the second relay share the ground wire.
3. The unmanned helicopter emergency shutdown control system of claim 2, wherein the shutdown battery is a 24V lithium battery.
4. The unmanned helicopter emergency shutdown control system of claim 2, wherein the emergency shutdown switch is a two-way rocker switch.
5. The unmanned helicopter emergency shutdown control system of claim 2, wherein the diodes are rectifier diodes with a load capacity of 3A.
6. The unmanned helicopter emergency shutdown control system of claim 1, wherein the line control system is comprised of dual-redundancy flight control computers that use the same architecture for hot-backup, dual-computer synchronization and CCDL data interaction.
7. The unmanned helicopter emergency shutdown control system of claim 6, wherein the dual redundancy flight control computer uses RS422 to send commands to and receive data from the integrated processing system.
8. The unmanned helicopter emergency shutdown control system of claim 6, wherein the dual redundancy flight control computer communicates with the engine control system using a CAN bus.
9. The unmanned helicopter emergency flameout control system of claim 1, wherein the ground measurement and control station sends a flameout command to the unmanned helicopter through wireless communication to control the unmanned helicopter to normally flameout when driving on the ground.
10. The unmanned helicopter emergency shutdown control system of claim 1, wherein both relays are normally closed relays.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011235954.2A CN112278297A (en) | 2020-11-09 | 2020-11-09 | Emergency flameout control system of unmanned helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011235954.2A CN112278297A (en) | 2020-11-09 | 2020-11-09 | Emergency flameout control system of unmanned helicopter |
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| Publication Number | Publication Date |
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| CN112278297A true CN112278297A (en) | 2021-01-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011235954.2A Pending CN112278297A (en) | 2020-11-09 | 2020-11-09 | Emergency flameout control system of unmanned helicopter |
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| CN (1) | CN112278297A (en) |
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- 2020-11-09 CN CN202011235954.2A patent/CN112278297A/en active Pending
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