CN113148115A - Rudder balancing system for aircraft and control method thereof - Google Patents
Rudder balancing system for aircraft and control method thereof Download PDFInfo
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- CN113148115A CN113148115A CN202110319790.XA CN202110319790A CN113148115A CN 113148115 A CN113148115 A CN 113148115A CN 202110319790 A CN202110319790 A CN 202110319790A CN 113148115 A CN113148115 A CN 113148115A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000004044 response Effects 0.000 claims abstract description 11
- 230000009471 action Effects 0.000 claims abstract description 10
- 238000009966 trimming Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 3
- 230000002596 correlated effect Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 12
- 230000000875 corresponding effect Effects 0.000 description 8
- 230000001429 stepping effect Effects 0.000 description 6
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000000670 limiting effect Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000007935 neutral effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/04—Initiating means actuated personally
- B64C13/044—Initiating means actuated personally operated by feet, e.g. pedals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/38—Transmitting means with power amplification
- B64C13/50—Transmitting means with power amplification using electrical energy
- B64C13/507—Transmitting means with power amplification using electrical energy with artificial feel
Abstract
The invention discloses a rudder balancing system for an aircraft and a control method thereof, wherein the rudder balancing system comprises: comprises a pedal device, a force-sensing balancing device and a control system. Wherein, the pedal device is provided with a pedal position sensor for detecting the position of the pedal, and the pedal position sensor can provide a pedal position signal. The force sensing trim arrangement is configured to provide a trim force to the footrest arrangement. The control system is in communication with the foot pedal position sensor and the force sensing trim apparatus, respectively, and includes a control switch. Wherein, actuate the control switch when the pilot manipulates the pedal to the required position, control system can produce first instruction according to the pedal position signal that obtains from pedal position sensor, and the force sense balancing unit can provide the balancing force with pedal device's position assorted in response to first instruction for the operator can directly relieve trampling the action.
Description
Technical Field
The invention relates to the technical field of flight control, in particular to a rudder balancing system for an aircraft and a control method thereof.
Background
The flight control system is a complex and key system of a modern civil aircraft and is of great importance to the safety of the aircraft. The invention provides a novel rudder manual balancing system.
In the aspect of international technical research, the aircrew A320/A340/A380, the Boeing B777/B787 and other machine types all adopt a rudder manual balancing function, manual balancing switches of the rudder manual balancing function are similar to balancing logics, balancing knobs and reset switches are all configured, and a balancing motor is controlled by a flight control computer to move at a certain balancing speed (for example, 1 degree/second). Specifically, during the process of pedaling, the pilot needs to manually rotate the knob switch continuously at the same time, so that the force-sensing balancing device gradually adjusts the balancing force provided by the force-sensing balancing device to match the balancing force with the current position of the pedaling. When the trim position is adjusted to the desired position, i.e. the trim force is adapted to the current position of the treading foot pedal, the knob switch is terminated and the pilot no longer treads the foot pedal. During this adjustment, the pilot, due to the lag feedback of the trim system, needs to spend a long time stepping to a certain position to adjust the force-sensitive trim arrangement, so that the current position where the trim force is stepping on the pedals is adapted. For example, the actual stepping position of the pilot at a certain moment may be a 10 ° stepping angle, but the trim can only achieve a 6 °, 7 ° trim effect. The pilot then needs to continue to adjust the trim.
For the manual balancing system of the rudder, when a large angle is needed for balancing, the operation burden of a pilot is large, and the fine adjustment function of the balancing position is not provided, so that the high requirement on the operation precision of the pilot is provided, and the operation duration of the pilot is increased.
Disclosure of Invention
It is an object of the present invention to provide a rudder trim system for an aircraft that effectively addresses any of the above-mentioned deficiencies.
The purpose of the invention is realized by the following technical scheme: a rudder trim system for an aircraft includes a footrest apparatus, a force sensing trim apparatus, and a control system. Wherein, the pedal device is provided with a pedal position sensor for detecting the pedal position thereof, the pedal position sensor can provide a pedal position signal. The force sensing balancing device is configured to provide a balancing force to the foot peg device. The control system is in communication with the foot position sensor and the force sensing trim apparatus, respectively, and includes a control switch.
Wherein the control switch is actuated when the pilot manipulates the pedals to a desired position, the control system is capable of generating a first command from pedal position signals obtained from the pedal position sensors, and the force sensing trim arrangement is capable of providing a trim force matching a position of the pedal arrangement in response to the first command, such that the operator is capable of directly releasing the pedaling action.
In fact, after the pilot has stepped on the pedals and actuated the switch, the system automatically records the corresponding pedal position after the pilot has stepped on the pedals. According to the pedal position signal, the control system can directly regulate and control the balancing force of the force sensing balancing device without the need of manual regulation. In the whole trim adjusting process, a pilot can realize the trim effect of the force-sensitive trim device only by operating the control switch once, so that the rudder trim system can realize the function of one-key trim.
According to a preferred embodiment, the control switch is a self-resetting switch which automatically returns to its original position when the control switch is deactivated.
According to a preferred embodiment, the control switch is configured such that, when the trim force and the pedal position match, the control switch is capable of fine-tuning the trim position of the force-sensing trim arrangement in response to the actuation. The "actuation" may be identical to the "actuation" performed on the control switch by the one-touch trim process, or may be different from the "actuation" provided that the switch may be turned on.
According to a preferred embodiment, the trimming magnitude of the trim force is positively correlated with the number of actuations performed.
The invention further relates to a control method of any one of the rudder trim systems, wherein the control method comprises the following steps:
pedaling such that the pedal means sensor provides an updated pedal position signal of the pedal means;
actuating a control switch of a control system when a foot peg is manipulated to a desired position, such that the control system generates a first command in accordance with the updated foot peg position signal;
the force-sensing balancing means generates a balancing force on the pedal means matching the pedaling force in response to the first command, so that the operator can directly release the pedaling action.
According to a preferred embodiment, the control switch is actuated to fine-tune the trim position of the force sensing trim arrangement when the trim force and the pedal position match.
According to a preferred embodiment, the angle of change of the trim position that can be finely adjusted by performing one actuation is taken from any value in the range of 0.1 degrees to 1 degree when finely adjusting the trim position.
According to a preferred embodiment, the rotational speed of the force-sensing trim arrangement is taken from any value between 1 and 2 degrees/second when fine-tuning the trim position.
According to a preferred embodiment, the maximum amplitude of adjustment of said force-sensing trimming means in response to said actuation is any value in the range of 15 to 25 degrees.
According to a preferred embodiment, the control method is provided with a trim position sensor for detecting a trim position, wherein the control method gradually adjusts the trim force based on a real-time difference of a trim position signal provided by the trim position sensor and the foot pedal position signal.
Drawings
For a better understanding of the above and other objects, features, advantages and functions of the present invention, reference should be made to the preferred embodiments illustrated in the accompanying drawings. Like reference numerals in the drawings refer to like parts. It will be appreciated by persons skilled in the art that the drawings are intended to illustrate preferred embodiments of the invention without any limiting effect on the scope of the invention, and that the various components in the drawings are not drawn to scale.
Fig. 1 is a block diagram of a rudder trim system of the present invention.
Detailed Description
The inventive concept of the present invention will be described in detail below with reference to the accompanying drawings. What has been described herein is merely a preferred embodiment in accordance with the present invention and other ways of practicing the invention will occur to those skilled in the art and are within the scope of the invention. In the following detailed description, expressions such as "first", "one", and the like are not intended to indicate respective corresponding steps, the number of devices, and are used only for distinguishing other contents of the same type. The terminology relating to the steps, the number of devices, etc. of the present invention is for the purpose of illustration and not of limitation, unless otherwise specified.
Referring to fig. 1, a rudder trim system is shown that includes a footrest apparatus, a force sensing trim apparatus, a rudder actuator, and a control system. The pedal device comprises a main pedal group arranged at a main driving position and an auxiliary pedal group arranged at an auxiliary driving position. Each group of pedals is provided with a redundant pedal position sensor for detecting the pedal position. The pedal position sensor monitors the position of the pedal in real time and provides a pedal position signal S1 so as to feed back the treading force and the treading amplitude of the pilot on the pedal.
The force sensing trim arrangement is configured to provide a trim force to the footrest arrangement. The force sensing trim arrangement specifically includes a conventional trim motor, a trim position sensor, associated linkages, and an optional foot pedal position sensor. The balancing motor is mechanically or dynamically connected with the pedals of each pedal assembly through a connecting rod and the like. The balancing motor rotates to drive the connecting rod to act and feed back to the pedals, so that force sense balancing of the pedals is provided.
The trim position sensor detects a trim position of the force sensing trim device, specifically, an angle of a motor shaft of the trim motor or a member that is in power connection with the motor shaft. The trim position sensor provides a trim position signal S3 after detecting the corresponding trim position.
The rudder actuator is used for controlling the movement of the control surface, further changing the flight angle of the airplane and the like. The rudder angle of the rudder is mainly determined by the pedaling strength of the driver.
And the control system, namely the flight control computer, is respectively in communication connection with the pedal position sensor, the force sensing balancing device and the rudder actuator so as to control the action of each actuating device. The control system is provided with a control switch which can be a screwing switch, a pressing switch, a toggle switch and the like, and correspondingly, a pilot can trigger corresponding control instructions in a screwing, pressing, toggling and other modes.
Preferably, the control switch of the present invention is configured as a self-resetting switch. After the pilot actuates (corresponding to screwing, pressing, toggling, etc., as described above) the control switch, it automatically returns to its original position.
Under the condition that a large-angle deviation correction is needed due to the occurrence of crosswind and the like, after the pilot steps on the pedals to a balance position, the pedal sensor sends an updated pedal position signal S1. When the pilot actuates the control switch (corresponding to screwing, pressing, toggling, etc. as described above), the control system thus records the pedal position signal S1 transmitted by the pedal position sensor at the present moment and generates a first command S2 for controlling the force-sensitive balancing device to generate the balancing force based thereon. The force-sensing balancing means thus provides a balancing force matching the position of the footrest means in response to the first command S2, so that the operator can directly release the pedaling action. With this configuration, the rudder trim system is thus provided with a "one-touch trim" function, which enables the aircraft to quickly perform force sense unloading, thereby reducing pilot burden.
In the process of adjusting the balancing force, the force-sensing balancing device, upon receiving the first command S2, starts to adjust the balancing force in a gradual manner. The control system confirms in real time from the trim position signal S3 whether the force sensing trim apparatus has rotated the trim motor to a position corresponding to the desired trim force. Therefore, the control system can perform closed-loop control according to the pedal position signal S1 and the trim position signal S3.
For convenience of explanation, the trim force that matches the pedal position signal S1 will be hereinafter referred to as "primary trim force", and the trim position of the force lever trim device that is capable of providing the primary trim force will be hereinafter referred to as "primary target position".
When the rudder balancing system shown in fig. 1 is used, in the process that a pilot treads a pedal to a position corresponding to a required rudder angle, the pilot can adjust the balancing without manual adjustment and only needs to complete the treading action once, so that the pilot can quickly complete the rudder adjusting process.
It is difficult for inexperienced pilots to accurately confirm which position the pedals are stepped into to adjust the rudder to the desired position. To this end, the rudder trim system shown in fig. 1 is also configured specifically to allow the pilot to step on the foot peg with relatively low accuracy. In particular, after the force-sensing trim has been adjusted to the primary target position, the rudder trim system of the present application allows the pilot to precisely fine tune the trim force provided by the force-sensing trim and thus the rudder accordingly in a manner that is independent of the perceived force.
In the present invention, the way of fine tuning may be to continue to actuate the control switch. The number of times the control switch is actuated is set to be positively correlated, more preferably directly proportional, to the magnitude of the trim force. The actuation of the control switch for fine-tuning the force-sensing trimming device may be the same or different from the actuation of the control switch during one-touch trimming. For example, with a rotary switch, during a "one-touch trim" operation, the pilot may adjust the force sensing trim apparatus to the primary target position by turning the switch once after stepping on the foot pedal. While during fine adjustment of trim forces, the pilot may be allowed to make fine adjustments by any means, such as pressing, pulling the control switch, etc., as long as the control switch is of a type that allows actuation in different ways.
Preferably, the control switch may be set to allow a single type of manipulation to achieve "one-touch trim" as well as "fine tune". For example, the control switch may be set as a rotary switch. The pilot can realize the functions of one-key trim and fine adjustment by rotating the knob respectively, so that the pilot can simplify the operation process.
For a "one-touch trim" procedure, the pilot may rotate the switch once to cause the force sensing trim device to continuously adjust the trim force to complete the trim process, as described above. For the "fine tuning" process, the control system is implemented based on a specific decision manner, in order to ensure that the pilot can complete the fine tuning process by the same rotational action, see in particular the description below.
As described above, the triggering conditions under which the force-sensitive balancing device (rudder balancing unit) performs the balancing work to achieve the "one-touch balancing" include the stepping action of the pilot and the actuation action of the control switch. In the case of "one-touch trim" being completed, or in the case of the pilot not having stepped on the foot pedal (hereinafter both cases will be collectively referred to as "primary trim"), the trim position signal S3 sent by the force sensing trim apparatus to the control system will match the first command S2 sent by the control system to the force sensing trim apparatus. Based on this, the rudder trim system of the present disclosure may set the condition that triggers fine adjustment to both the "system is in a primary trim condition" and the "externally actuated switch" condition, and thus, the pilot may fine-tune the force sensing trim device in the same manner of actuation.
In fine-tuning the trim position, the trim angle change value (i.e., the step angle) fine-tuned by rotating the control switch once is set at an arbitrary value in the range of 0.1 degree to 1 degree, for example, 0.2 degree, 0.5 degree, or the like.
Further, the rotational speed of the force-sensing trim device during fine trim position may be set to any value between 1 and 2 degrees/second, such as 1.2, 1.5, 1.8, and so forth.
The amplitude and speed of the single fine adjustment are set as above, so that the fine adjustment process can be carried out in an accurate and moderate manner.
Further, the maximum adjustment amplitude of the force sensing trim device in response to the rotation control switch is set at any value within the range of 15 degrees to 25 degrees, for example, 18 degrees, 20 degrees, etc. By setting the fine adjustment interval of the force-sensitive trim device within the above range, reasonable trim authority can be brought to the pilot, thereby limiting manual trim errors and causing related safety problems.
In the present application, the rudder trim system is also provided with a trim switch panel as shown in fig. 1, when the pilot needs to reset the trim position or cancel the manual trim. The pilot can press the 'trim reset switch' directly and release the trim reset switch immediately. At this time, the flight control computer performs position closed-loop control according to the trim position signal (S3) to zero the manual trim position, that is, to restore the trim position of the force-sensitive trim apparatus to a position matching the position of the foot pedal before the pilot steps on the foot pedal.
The following describes a control process of the rudder trim system according to the present invention.
In step 1, the pedals are pedaled by the pilot, and the pedal device sensors thus issue a new pedal position signal S1 to the control system indicating that the pilot has pedaled the pedals;
in step 2, the pilot rotates the control switch so that the control system records the pedal position signal S1 and issues a first command S2 to the force-sensing balancing device based on the conventional balancing control law, so that the force-sensing balancing device continues to adjust the balancing force for a subsequent period of time until the balancing force reaches the primary balancing force, completing the one-touch balancing operation. According to the application, after the control switch is rotated, the control switch can automatically return to the neutral position, and the feet of a pilot can directly remove the pedals.
After completing the one-key balancing operation, i.e., when the balancing force matches the pedal position, the pilot may also rotate the control switch one or more times to fine-tune the balancing position of the force-sensing balancing device. The magnitude of the fine adjustment may be adjusted according to actual flight needs.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (10)
1. A rudder trim system for an aircraft, the rudder trim system comprising:
the pedal device is provided with a pedal position sensor for detecting the pedal position of the pedal device, and the pedal position sensor can provide a pedal position signal;
a force-sensing balancing device configured to provide a balancing force to the foot pedal device; and
a control system in communicative connection with the foot pedal position sensor, the force sensing trim arrangement, respectively, and including a control switch,
wherein the control switch is actuated when the pilot manipulates the pedals to a desired position, the control system is capable of generating a first command from pedal position signals obtained from the pedal position sensors, and the force sensing trim arrangement is capable of providing a trim force matching a position of the pedal arrangement in response to the first command, such that the operator is capable of directly releasing the pedaling action.
2. The rudder trim system of claim 1, wherein the control switch is a self-resetting switch that is automatically resettable to an original position when the control switch is deactivated.
3. Rudder trim system according to claim 1 or 2, characterised in that the control switch is configured such that when the trim force and the foot pedal position match, the control switch is capable of fine tuning the trim position of the force sensitive trim arrangement in response to the actuation.
4. Rudder trim system according to claim 3, characterised in that the trimming force trimming magnitude is positively correlated with the number of actuations performed.
5. A control method of a rudder trim system according to any one of claims 1 to 4, characterized in that the control method comprises the steps of:
pedaling such that the pedal means sensor provides an updated pedal position signal of the pedal means;
actuating a control switch of a control system when a foot peg is manipulated to a desired position, such that the control system generates a first command in accordance with the updated foot peg position signal;
the force-sensing balancing means generates a balancing force on the pedal means matching the pedaling force in response to the first command, so that the operator can directly release the pedaling action.
6. The control method of claim 5, wherein the control switch is actuated to fine tune the trim position of the force sensing trim apparatus when the trim force and the pedal position match.
7. The control method according to claim 6, wherein, in trimming the trim position, a change angle of the trim position that can be trimmed by performing one actuation is taken from an arbitrary value in a range of 0.1 degrees to 1 degree.
8. The control method according to claim 6, characterized in that the rotational speed of the force-sensitive balancing device is taken from any value between 1 and 2 degrees/second when fine-tuning the balancing position.
9. A control method according to claim 7 or 8, characterized in that the maximum adjustment amplitude of the force-sensing balancing means in response to the actuation is any value in the range of 15 to 25 degrees.
10. Control method according to claim 5, characterized in that the control method is provided with a trim position sensor for detecting a trim position, wherein the control method adjusts the trim force stepwise based on a real-time difference of a trim position signal provided by the trim position sensor and the pedal position signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110319790.XA CN113148115B (en) | 2021-03-25 | 2021-03-25 | Rudder trimming system for aircraft and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110319790.XA CN113148115B (en) | 2021-03-25 | 2021-03-25 | Rudder trimming system for aircraft and control method thereof |
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| Publication Number | Publication Date |
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| CN113148115A true CN113148115A (en) | 2021-07-23 |
| CN113148115B CN113148115B (en) | 2024-03-22 |
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| CN202110319790.XA Active CN113148115B (en) | 2021-03-25 | 2021-03-25 | Rudder trimming system for aircraft and control method thereof |
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| CN113148115B (en) | 2024-03-22 |
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