CN113246934B

CN113246934B - Double-wheel control method and device based on self-adaptive runway and memory

Info

Publication number: CN113246934B
Application number: CN202110512458.5A
Authority: CN
Inventors: 刘晓超; 王壮壮; 焦宗夏; 李定波; 白宁; 齐鹏远; 李洋; 尚耀星
Original assignee: Beihang University; Ningbo Institute of Innovation of Beihang University
Current assignee: Beihang University; Ningbo Institute of Innovation of Beihang University
Priority date: 2021-05-11
Filing date: 2021-05-11
Publication date: 2022-06-28
Anticipated expiration: 2041-05-11
Also published as: CN113246934A

Abstract

The invention provides a double-wheel control method based on a self-adaptive runway, which comprises the steps of judging the wheel slip depth of two sides by detecting whether an aircraft slips or not, judging the wheel slip depth of two sides if the difference value between the wheel speed of any side and a preset reference speed is greater than a deep slip threshold, executing deep slip control and carrying out synchronization among the wheels; and if the difference value of the wheel speed and the preset reference speed is less than the deep slip threshold, determining that the wheel speed is shallow slip, performing shallow slip control, and performing independent control among the wheels. The scheme of the invention provides an airplane wheel skid synchronous processing logic aiming at the problem that the traditional brake control method is lack of adaptation to runway surface state change, enhances the adaptability of a brake system to a changing runway, strengthens skid synchronization and improves the safety of an airplane in the brake process.

Description

Double-wheel control method and device based on self-adaptive runway and memory

Technical Field

The invention relates to the field of aircraft navigation, in particular to a double-wheel control method, double-wheel control equipment and a double-wheel control memory based on an adaptive runway.

Background

The aircraft brake system is a subsystem with relatively independent functions on the aircraft, and has the functions of absorbing kinetic energy of the aircraft during landing. An aircraft anti-skid Brake System (ABS for short) is based on the traditional Brake System and adopts a certain control method to realize the automatic adjustment of Brake moment, thereby preventing the locking of aircraft wheels caused by overlarge Brake pressure during braking. The current main antiskid brake control strategy has a better antiskid brake effect on the surface condition of a single runway. However, the states of the aircraft landing runways are complex and changeable, and the difference of the friction characteristics of the surfaces of different runways is large, so that the control method lacks adaptability to the change of the states of the surfaces of the runways.

Statistics show that most accidents of an aircraft occur during the landing phase, most of which are caused by the aircraft running out of the runway or yawing. For the airplane wheel airplane with each of the left main undercarriage and the right main undercarriage, the airplane brake control system needs to design a reasonable double-wheel control strategy except for improving the adaptability to runway surface state change and avoiding yawing of the airplane in the brake process.

Disclosure of Invention

In order to solve at least one of the technical problems, the invention provides a double-wheel control method, equipment and a memory based on an adaptive runway, which improve the reliability of aircraft brake control.

The purpose of the invention is realized by adopting the following technical scheme:

according to an aspect of the present invention, there is provided an adaptive runway-based two-wheel control method, including the steps of:

s1, detecting whether the aircraft slips;

s2, judging the wheel slip depth of the two sides, if the difference value between the wheel speed of any side and the preset reference speed is larger than the deep slip threshold, determining the wheel slip depth, and executing S3; if the difference value of the wheel speed and the preset reference speed is less than the deep slip threshold, the shallow slip is determined, and S4 is executed;

s3, giving the reference speed calculated by the slipping side and the wheel speed difference value to the wheel on the non-slipping side; the skid side and the non-skid side are subjected to skid prevention treatment simultaneously until the difference value of the reference speed calculated by the skid side and the speed of the airplane wheel is smaller than a deep skid threshold;

S4, the two wheels independently control the wheel speed.

Further, when deep slip occurs, the deceleration rate is adjusted to 70% -90% before the wheel does not slip on the side where deep slip occurs.

Further, step S2 includes a shallow slip threshold, and when the difference between the wheel speed of the wheel on the side generating slip and the predetermined reference speed is smaller than the deep slip threshold but larger than the shallow slip threshold, the wheel is stepped down at a predetermined deceleration rate; when the wheel on the slipping side slips deeply, the wheel is depressurized.

Further, in step S1, when the aircraft does not slip, the wheels continue to be pressurized.

Further, in step S3, the skid side and the non-skid side simultaneously perform the anti-skid processing for 0.3 second to 0.5 second, and then continue to determine whether the reference speed calculated by the skid side and the wheel speed difference have become smaller than the deep skid threshold.

Further, both side wheels have the same reference speed.

Further, when the wheel speed of the low-speed wheel is less than 75% of that of the high-speed wheel, inter-wheel protection is performed.

Further, the slip prevention amount is cut off when the wheel speed is lower than 26 km/h.

According to another aspect of the present invention, there is also provided a readable storage medium having executable instructions thereon, which when executed, cause a computer to perform the adaptive runway-based two-wheel control method described above.

According to another aspect of the present invention, there is also provided a computing device comprising:

one or more processors;

a memory; and

one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors to perform one of the adaptive runway-based two-wheel control methods described above.

Compared with the prior art, the invention has the advantages that: the invention provides a double-wheel control method based on a self-adaptive runway, which comprises the steps of judging the wheel slip depth of two sides by detecting whether an aircraft slips or not, judging the wheel slip depth of two sides if the difference value between the wheel speed of any side and a preset reference speed is greater than a deep slip threshold, executing deep slip control and carrying out synchronization among the wheels; and if the difference value of the wheel speed and the preset reference speed is less than the deep slip threshold, determining that the wheel speed is shallow slip, performing shallow slip control, and performing independent control among the wheels. The scheme of the invention provides an airplane wheel skid synchronous processing logic aiming at the problem that the traditional brake control method is lack of adaptation to runway surface state change, enhances the adaptability of a brake system to a changing runway, strengthens skid synchronization and improves the safety of an airplane in the brake process.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the principles of the invention.

FIG. 1 is a block diagram of an exemplary computing device;

FIG. 2 is a logic diagram of the slip synchronization process of the present invention;

FIG. 3 is a logic diagram of the inter-wheel protection control of the present invention;

FIG. 4 is a control diagram of the anti-skid brake of the present invention.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

Fig. 1 is a block diagram of an example computing device 100 arranged to implement an adaptive runway-based two-wheel control method according to the present invention. In a basic configuration 102, computing device 100 typically includes system memory 106 and one or more processors 104. A memory bus 108 may be used for communication between the processor 104 and the system memory 106.

Depending on the desired configuration, the processor 104 may be any type of processing, including but not limited to: a microprocessor (μ P), a microcontroller (μ C), a digital information processor (DSP), or any combination thereof. The processor 104 may include one or more levels of cache, such as a level one cache 110 and a level two cache 112, a processor core 114, and registers 116. Example processor cores 114 may include Arithmetic Logic Units (ALUs), Floating Point Units (FPUs), digital signal processing cores (DSP cores), or any combination thereof. The example memory controller 118 may be used with the processor 104, or in some implementations the memory controller 118 may be an internal part of the processor 104.

Depending on the desired configuration, system memory 106 may be any type of memory, including but not limited to: volatile memory (such as RAM), non-volatile memory (such as ROM, flash memory, etc.), or any combination thereof. System memory 106 may include an operating system 120, one or more programs 122, and program data 128. In some implementations, the program 122 can be configured to execute instructions on an operating system by one or more processors 104 using the program data 128.

Computing device 100 may also include an interface bus 140 that facilitates communication from various interface devices (e.g., output devices 142, peripheral interfaces 144, and communication devices 146) to the basic configuration 102 via the bus/interface controller 130. The example output device 142 includes a graphics processing unit 148 and an audio processing unit 150. They may be configured to facilitate communication with various external devices, such as a display terminal or speakers, via one or more a/V ports 152. Example peripheral interfaces 144 may include a serial interface controller 154 and a parallel interface controller 156, which may be configured to facilitate communication with external devices such as input devices (e.g., keyboard, mouse, pen, voice input device, touch input device) or other peripherals (e.g., printer, scanner, etc.) via one or more I/O ports 158. The example communication device 146 may include a network controller 160, which may be arranged to facilitate communications with one or more other computing devices 162 over a network communication link via one or more communication ports 164.

The network communication link may be one example of a communication medium. Communication media may typically be embodied by computer readable instructions, data structures, program modules, in a modulated data signal, such as a carrier wave or other transport mechanism, and may include any information delivery media. A "modulated data signal" may be a signal that has one or more of its data set or its changes in such a manner as to encode information in the signal. By way of non-limiting example, communication media may include wired media such as a wired network or private-wired network, and various wireless media such as acoustic, Radio Frequency (RF), microwave, Infrared (IR), or other wireless media. The term computer readable media as used herein may include both storage media and communication media.

Computing device 100 may be implemented as part of a small-form factor portable (or mobile) electronic device such as a cellular telephone, a Personal Digital Assistant (PDA), a personal media player device, a wireless web-watch device, a personal headset device, an application specific device, or a hybrid device that include any of the above functions. Computing device 100 may also be implemented as a personal computer including both desktop and notebook computer configurations.

Among other things, one or more programs 122 of computing device 100 include instructions for performing an adaptive runway-based two-wheel control method according to the present disclosure.

Aiming at the problem that two optimization methods are possible to be asynchronous, the result of optimization of two sides can have the phenomenon that one side is successfully optimized and the other side is also optimized due to inconsistent brake instructions, inconsistent runway states and the like, or the maximum pressure obtained by optimization of the two sides is inconsistent, yaw is very likely to occur due to inconsistent pressures of two wheels, and aiming at the problem, a control strategy for synchronous optimization results is provided, namely when the optimization of one side is successful, the maximum pressure and the deceleration rate obtained by optimization of the one side are assigned to the other side, and the optimization mark position 1 of the other side is assigned. In particular, the present invention achieves the above objects in a dual-wheel control method based on an adaptive runway. The method comprises the following steps:

S1, detecting whether the aircraft slips;

s2, judging the wheel skid depth of both sides, if the wheel speed of either side is greater than the deep skid threshold, determining the wheel skid is deep skid, and executing S3; if the difference value of the wheel speed and the preset reference speed is less than the deep slip threshold, the shallow slip is determined, and S4 is executed;

s4, the two wheels independently control the wheel speed.

Through the airplane wheel slipping synchronization processing logic, the adaptability of the braking system to the variable runway is enhanced, the slipping synchronization is strengthened, and the safety of the airplane in the braking process is improved.

When the deep slip occurs, the deceleration rate is adjusted to 70% -90% before the wheel on the side generating the deep slip does not slip, and preferably, the deceleration rate is adjusted to 85%.

Step S2 further includes a shallow slip threshold, and when the difference between the wheel speed of the wheel on the side where the slip is generated and the predetermined reference speed is smaller than the deep slip threshold but larger than the shallow slip threshold, the wheel is stepped down at the deceleration rate; when the wheel on the side of slipping slips deeply, the wheel is depressurized. And when the sliding block slides deeply, the step-down amplitude is greater than that of the sliding block.

In step S1, when the aircraft does not skid, the wheels continue to be pressurized.

Namely the difference between the reference speed and the wheel speed is larger than delta v1, the pressure is quickly reduced until the wheel speed is recovered; formally and slowly reducing the pressure after the shallow slip, namely the difference value between the reference speed and the wheel speed is greater than delta v 2; when the difference between the reference speed and the wheel speed is smaller than Δ v2, it is described that the pressure increase can be continued at this time, so that the slow pressure increase control is performed.

And the value of the delta v1 is 25km/h-30km/h, the value of the delta v2 is 10km/h-14km/h, preferably, the value of the delta v1 is 27km/h, and the value of the delta v2 is 12 km/h.

And, appear slipping deeply when one side, the opposite side does not appear slipping deeply, if only slip one side fast pressure release deeply this moment, two wheels brake pressure difference are great, cause driftage easily, consequently after one side slips deeply, give the side that does not slip with reference speed and the fast differential amplitude of wheel that this side wheel that will slip deeply calculates, just so both sides all carry out quick step-down and handle, can avoid appearing driftage.

In step S3, the slip side and the non-slip side simultaneously perform the anti-slip processing for 0.3 second to 0.5 second, and then continue to determine whether the difference between the reference speed calculated on the slip side and the wheel speed has become smaller than the deep slip threshold.

Referring to fig. 2, a slip synchronization processing logic diagram is illustrated.

And collecting left and right commands of a pilot, and judging whether any one of the left and right commands is greater than P2, wherein P2 is a preset pressure lower limit of slip synchronization. If not, independently controlling the two wheels, and if so, turning to the next step for judgment.

And judging whether the first-to-obtain mark bit is met, and when the pedal of the pilot is stepped on by more than 90% and the pressure speed reaches the optimizing speed, setting the mark to be 1, namely meeting the first-to-obtain mark. When a single-side found optimization exists, the other side is also provided with the found optimization, the deceleration rate, the pressure and the reference speed are synchronized, the pressure is synchronized for only one period, and the subsequent autonomous updating is carried out according to the same deceleration rate and the same reference speed. And when the first-arrival mark is not met, the airplane wheels on two sides are independently controlled.

It is determined whether the reference speed is greater than v4, v4 preferably being 35 km/h. If not, the wheels are independently controlled, otherwise, the synchronous process is carried out. The reference speed is obtained by the following algorithm, including:

in the synchronization process, the reference speed and the reference deceleration rate of the two wheels are synchronized, and the pressure is synchronized for one period.

On the basis of the self-adaptive anti-skid control algorithm, a novel brake control strategy is designed under the inter-wheel protection function aiming at the characteristics of the double-wheel structure of the airplane: in the braking process of the airplane with the double-wheel structure, the antiskid is prevented from losing efficacy due to sensor faults or detection circuit faults; the condition of the runway is avoided from being asymmetric, so that the conditions of the airplane wheels on the two sides are seriously inconsistent. An adaptive inter-wheel protection control logic is designed, as shown in fig. 3. Sharing a reference speed and performing inter-wheel protection if the speed of the low-speed wheel is less than 75% of that of the high-speed wheel. And cutting off the antiskid amount when the speed of the wheel is lower than v 3. And (4) cutting off the antiskid quantity, namely, carrying out antiskid and inter-wheel protection control. Preferably, v3 is 26km/h, with no inter-wheel protection at wheel speeds below 26 km/h.

And with reference to fig. 3, a reference speed is preset, which is the speed of the wheels. When the reference speed is less than v5, the aircraft is in a low-speed state, and the antiskid and the inter-wheel protection are not triggered to brake normally. And obtaining V5 of 30km-40km according to the size of the aircraft and the general condition analysis of the track, and entering the next judgment step if the reference speed is greater than V5, wherein V5 of 35km/h is preferred.

When the reference speed is larger than delta v1, the inter-wheel protection is started, otherwise, the brake is normally started.

Referring to fig. 4, a method of modifying the external pressure reduction to the maximum pressure is shown.

Firstly, initializing a system and control parameters;

then, performing external pressure conversion according to the initialized parameters;

calculating a reference speed from … …;

the reference speed RefV ═ RefV + CurDiffV × Tsc.

Wherein RefV is the reference velocity; the CurDeffV is the deceleration rate, and the Tsc is the control period;

in the braking process, if the reference speed is reduced to 88 to 84 percent of the original reference speed and the last optimizing pressure is less than 7.5Mpa, variable load detection is started to optimize again, optimizing conditions are triggered, and all states are cleared.

And judging whether the reference speed is smaller than the wheel speed, if not, assigning the wheel speed to the reference speed for the next calculation, and if so, directly entering the next calculation. So that the reference speed must be greater than the wheel speed.

The difference Error between the reference speed and the wheel speed is calculated.

And simultaneously performing the following operations:

1) when Error is greater than a differential threshold, calculating a differential level Vd, and if Vd is less than zero, giving 0 to Vd;

2) when Error is larger than a proportional threshold, calculating a proportional level Vp, and if Vp is smaller than zero, giving 0 to Vd;

3) when Error is larger than or equal to the first integration threshold and Error is larger than the second integration threshold, calculating an integration grade Vi 3;

when Error is larger than or equal to a first integration threshold and Error is smaller than or equal to a second integration threshold, calculating an integration grade Vi 2;

when Error < the first integration threshold, the integration level Vi is calculated.

When the calculated Vi or Vi3 is less than 0, 0 is assigned to Vi or Vi 3. When the calculated Vi or Vi3 is greater than the maximum pressure, the maximum pressure is assigned to Vi or Vi 3.

And calculating the antiskid quantity output V ═ Vd + Vp + Vi according to Vd, Vp and Vi.

Meanwhile, engineers can also make the above method as executable instructions stored in a readable storage medium, and when the executable instructions are executed, the executable instructions cause a computer to perform the operations included in the adaptive runway-based two-wheel control method. Wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors to perform the operations included in the adaptive runway based two-wheel control method described above. The memory and the processor are included in a computing device.

It should be understood that the various techniques described herein may be implemented in connection with hardware or software or, alternatively, with a combination of both. Thus, the methods and apparatus of the present invention, or certain aspects or portions thereof, may take the form of program code (i.e., instructions) embodied in tangible media, such as floppy diskettes, CD-ROMs, hard drives, or any other machine-readable storage medium, wherein, when the program is loaded into and executed by a machine, such as a computer, the machine becomes an apparatus for practicing the invention.

In the case of program code execution on programmable computers, the computing device will generally include a processor, a storage medium readable by the processor (including volatile and non-volatile memory and/or storage elements), at least one input device, and at least one output device. Wherein the memory is configured to store program code; the processor is configured to perform the various methods of the present invention according to instructions in the program code stored in the memory.

By way of example, and not limitation, computer readable media may comprise computer storage media and communication media. Computer-readable media includes both computer storage media and communication media. Computer storage media store information such as computer readable instructions, data structures, program modules or other data. Communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media. Combinations of any of the above are also included within the scope of computer readable media.

It should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be construed to reflect the intent: rather, the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules or units or components of the devices in the examples disclosed herein may be arranged in a device as described in this embodiment or alternatively may be located in one or more devices different from the devices in this example. The modules in the foregoing examples may be combined into one module or may be further divided into multiple sub-modules.

Those skilled in the art will appreciate that the modules in the devices in an embodiment may be adaptively changed and arranged in one or more devices different from the embodiment. The modules or units or components in the embodiments may be combined into one module or unit or component, and furthermore, may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Moreover, those skilled in the art will appreciate that although some embodiments described herein include some features included in other embodiments, not others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

Additionally, some of the embodiments are described herein as a method or combination of method elements that can be implemented by a processor of a computer system or by other means of performing the described functions. A processor with the necessary instructions for carrying out the method or the method elements thus forms a device for carrying out the method or the method elements. Further, the elements of the apparatus embodiments described herein are examples of the following apparatus: the apparatus is for performing functions performed by the elements for the purposes of this disclosure.

As used herein, unless otherwise specified the use of the ordinal adjectives "first", "second", "third", etc., to describe a common object, merely indicate that different instances of like objects are being referred to, and are not intended to imply that the objects so described must be in a given sequence, either temporally, spatially, in ranking, or in any other manner.

While the invention has been described with respect to a limited number of embodiments, those skilled in the art, having benefit of this description, will appreciate that other embodiments can be devised which do not depart from the scope of the invention as described herein. Moreover, it should be noted that the language used in the specification has been principally selected for readability and instructional purposes, and may not have been selected to delineate or circumscribe the inventive subject matter. Accordingly, many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the appended claims. The present invention has been disclosed with respect to the scope of the invention, which is to be considered as illustrative and not restrictive, and the scope of the invention is defined by the appended claims.

Claims

1. A double-wheel control method based on an adaptive runway is characterized by comprising the following steps:

s1, detecting whether the aircraft slips;

s2, judging the wheel skid depth of both sides, if the wheel speed of either side is greater than the deep skid threshold, determining the wheel skid is deep skid, and executing S3; if the difference value of the wheel speed and the preset reference speed is less than the deep slip threshold, the wheel speed is determined to be shallow slip, and S4 is executed;

s3, assigning the reference speed calculated by the slipping side and the wheel speed difference value to the wheel on the non-slipping side; the skid side and the non-skid side are subjected to skid prevention treatment simultaneously until the difference value of the reference speed calculated by the skid side and the speed of the airplane wheel is smaller than a deep skid threshold;

s4, the two wheels independently control the wheel speed.

2. The adaptive runway based two-wheel control method of claim 1, further comprising: when the deep slip occurs, the deceleration rate is adjusted to 70% -90% of the wheel on the side where the deep slip occurs before the wheel slips.

3. The adaptive runway based two-wheel control method of claim 1, wherein: step S2 further includes a shallow slip threshold, and when the difference between the wheel speed of the wheel on the side where the slip is generated and the predetermined reference speed is smaller than the deep slip threshold but larger than the shallow slip threshold, the wheel is stepped down at a predetermined deceleration rate; when the wheel on the side of slipping slips deeply, the wheel is depressurized.

4. The adaptive runway based two-wheel control method of claim 1, further comprising: in step S1, when the aircraft does not skid, the wheels continue to be pressurized.

5. The adaptive runway based two-wheel control method of claim 1, wherein: in step S3, the skid side and the non-skid side simultaneously perform the anti-skid processing for 0.3 second to 0.5 second, and then continue to determine whether the reference speed calculated by the skid side and the wheel speed difference have become smaller than the deep skid threshold.

6. The adaptive runway based two-wheel control method of claim 1, wherein: the wheels on both sides have the same reference speed.

7. The adaptive runway based two-wheel control method of claim 6, wherein: when the wheel speed of the low-speed wheel is less than 75% of that of the high-speed wheel, inter-wheel protection is performed.

8. The adaptive runway based two-wheel control method of claim 7, wherein: and cutting off the skid-proof quantity when the wheel speed is lower than 26 km/h.

9. A readable storage medium having executable instructions thereon that, when executed, cause a computer to perform an adaptive runway-based two-wheel control method as claimed in any of claims 1 to 8.

10. A computing device, comprising:

one or more processors;

a memory; and

one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors to perform an adaptive runway-based two-wheel control method as recited in any of claims 1-8.