CN114084368B - Intersection point determining method of servo control surface driving pull rod - Google Patents

Intersection point determining method of servo control surface driving pull rod Download PDF

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CN114084368B
CN114084368B CN202111102669.8A CN202111102669A CN114084368B CN 114084368 B CN114084368 B CN 114084368B CN 202111102669 A CN202111102669 A CN 202111102669A CN 114084368 B CN114084368 B CN 114084368B
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rod
angle
intersection point
determining
control surface
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CN114084368A (en
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段婷婷
韩全民
宋艳华
郑青泉
达磊
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AVIC First Aircraft Institute
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • 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
    • B64C13/26—Transmitting means without power amplification or where power amplification is irrelevant
    • B64C13/28—Transmitting means without power amplification or where power amplification is irrelevant mechanical
    • B64C13/30—Transmitting means without power amplification or where power amplification is irrelevant mechanical using cable, chain, or rod mechanisms
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

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  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
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Abstract

The invention belongs to the field of aircraft structural design, and particularly relates to a method for determining the intersection point position of a follow-up control surface driving device for a double-hinge control surface.

Description

Intersection point determining method of servo control surface driving pull rod
Technical Field
The invention belongs to the field of aircraft structural design, and particularly relates to a method for determining the intersection point position of a follow-up control surface driving device for a double-hinge control surface.
Background
At present, the rudders of multiple models adopt a structural form of double-hinge control surfaces, the deflection angle of the rear rudder and the deflection angle of the front rudder are in a certain relation, and the rear rudder is generally in a double relation with the front rudder. In the control of the deflection angle of the rear rudder, the specific installation coordinates of the pull rod of the rear rudder are determined by a drawing coordination trial-and-error method of the position of the pull rod at present, the method has lower efficiency, the deflection angle of the rear rudder cannot be accurately realized, and certain error exists between the deflection angle and a design value.
Disclosure of Invention
In order to solve the problems, the application provides a method for determining an intersection point of a follower control surface driving pull rod, wherein the follower control surface comprises a front rudder and a rear rudder swinging around the front rudder;
the front rudder is hinged with a first rod, the first rod is hinged with a second rod, the second rod is hinged with a third rod, the third rod is hinged with a fourth rod, the third rod is a part of the rear rudder, and the first rod, the second rod, the third rod and the fourth rod form a plane four-rod mechanism;
the method for determining the intersection point of the servo control surface driving pull rod is characterized by comprising the following steps:
step S1: the direction vertical to the first rod is w direction, the direction vertical to the w direction is z direction, and a right triangle is constructed by using the vector length of the plane four-rod mechanism z and the w direction and two right angle sides serving as the right triangle, wherein the first rod is hypotenuse;
step S2: and constructing a relation equation of two angles of the four bars, namely the length of the four bars, the included angle of the third bar and the w direction or the z direction and the included angle of the fourth bar and the w direction or the z direction according to the three-side relation of the right triangle.
Step S3: giving a plurality of values of an included angle between the third rod and the w direction or the z direction or an included angle between the fourth rod and the w direction or the z direction, substituting the relation equation of two angles of the four rods in the step 2, and constructing a relation equation of one angle of the four rods;
step S4: and establishing a relation of four rods according to the ratio of the preset included angle between the third rod and the w direction or the z direction to the included angle between the fourth rod and the w direction or the z direction, solving the unknown rod length through the known rod length, and determining the position of the intersection point of the rod length.
Preferably, the four-bar two-angle relationship described in step S2 includes two relationships where the third bar is on two different sides of the fourth bar.
Preferably, the three-dimensional relationship of the right triangle in step S2 is the pythagorean theorem.
Preferably, the number of the values given to the angle between the third bar and the w direction or the z direction or the angle between the fourth bar and the w direction or the z direction in step S3 is not less than four.
Preferably, the values given to the angle between the third bar and the w direction or the z direction or the angle between the fourth bar and the w direction or the z direction in step S3 are respectively 0 °, preset angle, 1/2 preset angle and negative preset angle.
Preferably, the angle between the third rod and the w direction or the z direction in the step S2 or the angle between the fourth rod and the w direction or the z direction are both angles between the rod and the w direction or the z direction along the clockwise direction.
Preferably, the length of the first rod is made to be 1.
Preferably, the number of the four-bar relation established in step S4 is not less than 3.
Preferably, the ratio of the included angle between the third rod and the w direction or the z direction preset in the step S4 to the included angle between the fourth rod and the w direction or the z direction is 1/2.
Preferably, the angle between the third rod and the w direction or the z direction preset in the step S4 corresponds to the ratio of the angle between the fourth rod and the w direction or the z direction being 1/2, and the rudder is rotated 60 degrees after the preset rudder is rotated 30 degrees, so as to verify the rationality of the position of the intersection point of the rod length.
The advantages of the present application include:
1. and (3) determining the front and rear point positions of the pull rod through simplifying the geometric relationship and solving an equation.
2. Accurate calculation solution is carried out, so that accurate position design is obtained, and the accurate design of control surface deflection is ensured.
3. The aircraft is verified and authenticated in a plurality of models.
Drawings
FIG. 1 is a schematic diagram of a follower control surface driven pull rod structure of the present application;
FIG. 2 is a schematic diagram of a follower control surface driven pull rod structure of the present application;
FIG. 3 is a simplified schematic diagram of a follower control surface driven pull rod of the present application;
fig. 4 is a graph of calculated results versus actual fit.
Wherein, 1-front rudder, 2-rear rudder, 3-first pole, 4-second pole, 5-third pole, 6-fourth pole.
Detailed Description
For the purposes, technical solutions and advantages of the present application, the following describes the technical solutions in the embodiments of the present application in more detail with reference to the drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, of the embodiments of the present application. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application. All other embodiments, based on the embodiments herein, which would be apparent to one of ordinary skill in the art without undue burden are within the scope of the present application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
The method for determining the intersection point of a servo control surface driving pull rod comprises a front rudder 1 and a rear rudder 2 swinging around the front rudder 1;
the front rudder 1 is hinged with a first rod 3, the first rod 3 is hinged with a second rod 4, the second rod 4 is hinged with a third rod 5, the third rod 5 is hinged with a fourth rod 6, the third rod 5 is a part of the rear rudder 2, and the first rod 3, the second rod 4, the third rod 5 and the fourth rod 6 form a plane four-rod mechanism as shown in fig. 1 and 2;
the method for determining the intersection point of the servo control surface driving pull rod is characterized by comprising the following steps:
step S1: the direction vertical to the first rod 3 is w direction, the direction vertical to the w direction is z direction, and a right triangle is constructed by taking the vector length of the z direction and the w direction of the plane four-rod mechanism and two right angle sides serving as the right triangle, wherein the first rod 3 is a hypotenuse;
step S2: and constructing the length of four rods, the included angle between the third rod 5 and the z direction is y, the included angle between the fourth rod 6 and w is x, the length of the first rod 3 is 1, the length of the second rod 4 is a, the length of the third rod 5 is b, the length of the fourth rod 6 is c, and constructing a relation equation of two angles of the four rods by using the Pythagorean theorem.
When deflected to one side:
(csiny+asinx+1) 2 +(a cosx+c cosy) 2 ＝b 2 (1)
deflection to the other side:
(asinx-csiny-1) 2 +(a cosx+c cosy) 2 ＝b 2 (2)
step S3: giving four values of the included angle between the third rod 5 and the w direction or the included angle between the fourth rod 6 and the w direction or the z direction, substituting the relation equation of the two angles of the four rods in the step 2, and constructing the relation equation of one angle of the four rods, wherein the number of the set angles is enough for smoothly evaluating because the rod pieces have three unknowns;
when x=0°, formula (1) and formula (2) are equivalent, and it is deduced that:
Figure BDA0003271456480000031
Figure BDA0003271456480000032
wherein (1)>
Figure BDA0003271456480000033
Pushing out
Figure BDA0003271456480000041
When x=α, we enter formula (1), we push out:
Figure BDA0003271456480000042
Figure BDA0003271456480000043
wherein (1)>
Figure BDA0003271456480000044
Figure BDA0003271456480000045
When (when)
Figure BDA0003271456480000046
Substituting the formula (1) and pushing out:
Figure BDA0003271456480000047
when x= - α is expressed by formula (2):
Figure BDA0003271456480000048
Figure BDA0003271456480000049
wherein (1)>
Figure BDA00032714564800000410
Figure BDA00032714564800000411
Step S4: and establishing a four-rod relation by a ratio of a preset included angle between the third rod 5 and the w direction or the z direction to a preset included angle between the fourth rod 6 and the w direction or the z direction, solving the unknown rod length through the known rod length, and determining the position of the intersection point of the rod length.
According to the relation of 3-6, the following simultaneous equations are constructed
y 1 -y 0 ＝k×α (7)
Figure BDA00032714564800000412
y 0 -y 2 ＝k×α (9)
The values of a, b, and c can be obtained from (7) to (9) by knowing the fold relationship k and the rudder deflection angle α, and the ratio of the four bars can be determined by knowing the length of one of the four bars.
The following description is made in connection with the examples:
in this rudder, a=8.115, b=7.923, and c=1 are substituted into the formulas (3), (4), and (5), respectively, to obtain:
y 0 ＝115°，y 1 ＝169.19°，y 2 ＝61.1°。
satisfy y 1 -y 0 ＝54°，y 0 -y 2 The requirement of 54 ° illustrates the correctness of the formula.
Below we can pass through
Figure BDA0003271456480000059
The equation is contrasted with a y=2x slope, approximating a y=2x slope, where the change in rotation angle is closer to a 1:2 relationship throughout the motion.
Expanding the formula (1) and substituting the value:
Figure BDA0003271456480000051
Figure BDA0003271456480000052
Figure BDA0003271456480000053
wherein->
Figure BDA0003271456480000054
Figure BDA0003271456480000055
Expanding the formula (2), and substituting the formula into a numerical value:
Figure BDA0003271456480000056
Figure BDA0003271456480000057
Figure BDA0003271456480000058
we now fit f (x) ＝y-y 0 Curve, wherein y 0 =115°. As shown in fig. 4, the calculated value is approximated with the actual wireless, verifying the correctness of the method.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily conceivable by those skilled in the art within the technical scope of the present application should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. The method for determining the intersection point of a servo control surface driving pull rod comprises a front rudder (1), and a rear rudder (2) swinging around the front rudder (1);
the front rudder (1) is hinged with a first rod (3), the first rod (3) is hinged with a second rod (4), the second rod (4) is hinged with a third rod (5), the third rod (5) is hinged with a fourth rod (6), the third rod (5) is a part of the rear rudder (2), and the first rod (3), the second rod (4), the third rod (5) and the fourth rod (6) form a plane four-rod mechanism;
the method for determining the intersection point of the servo control surface driving pull rod is characterized by comprising the following steps:
step S1: the direction vertical to the first rod (3) is w direction, the direction vertical to the w direction is z direction, and a right triangle is constructed by taking the vector length of the z direction and the w direction of the plane four-rod mechanism and two right angle sides serving as the right triangle, wherein the first rod (3) is a hypotenuse;
step S2: constructing a four-bar two-angle relation equation of the length of the four bars, the included angle of the third bar (5) and the w direction or the z direction and the included angle of the fourth bar (6) and the w direction or the z direction according to the three-edge relation of the right triangle;
step S3: giving a plurality of values of the included angle between the third rod (5) and the w direction or the included angle between the fourth rod (6) and the w direction or the z direction, substituting the relation equation of the two angles of the four rods in the step 2, and constructing the relation equation of one angle of the four rods;
step S4: and establishing a relation of four rods according to the ratio of the preset included angle between the third rod (5) and the w direction or the z direction to the included angle between the fourth rod (6) and the w direction or the z direction, solving the unknown rod length through the known rod length, and determining the position of the intersection point of the rod lengths.
2. The method for determining the intersection point of a follower control-driven tie-rod according to claim 1, wherein the four-bar two-angle relationship in step S2 includes two relationships where the third bar (5) is located on two different sides of the fourth bar (6).
3. The method for determining the intersection of a follower control driven tie rod of claim 1, wherein the three-sided relationship of the right triangle in step S2 is the pythagorean theorem.
4. The method for determining the intersection point of the follower control surface driven tie rod according to claim 1, wherein the number of values given to the angle of the third rod (5) to the w-direction or the z-direction or the angle of the fourth rod (6) to the w-direction or the z-direction in step S3 is not less than four.
5. The method for determining the intersection point of the follower control surface driven tie rod according to claim 1, wherein the values given to the angle between the third rod (5) and the w-direction or the z-direction or the angle between the fourth rod (6) and the w-direction or the z-direction in step S3 are 0 °, preset angle, 1/2 preset angle and negative preset angle, respectively.
6. The method for determining the intersection point of the follower control surface driven tie rod according to claim 1, wherein the angle between the third rod (5) and the w-direction or the z-direction or the angle between the fourth rod (6) and the w-direction or the z-direction in the step S2 is the angle between the rod and the w-direction or the z-direction in the clockwise direction.
7. The method for determining the intersection point of the follower control surface-driven tie rod according to claim 1, wherein the length of the first rod (3) is made to be 1.
8. The method for determining the intersection point of a follower control-driven tie rod of claim 1, wherein the number of the four-bar relationships established in step S4 is not less than 3.
9. The method for determining the intersection point of the follower control surface driving tie rod according to claim 1, wherein the preset angle between the third rod (5) and the w direction or the z direction in the step S4 corresponds to a ratio of 1/2 of the angle between the fourth rod (6) and the w direction or the z direction.
10. The method for determining the intersection point of the follower control surface driven pull rod according to claim 9, wherein the angle between the third rod (5) and the w direction or the z direction preset in the step S4 corresponds to the angle between the fourth rod (6) and the w direction or the z direction, and the ratio of the angle between the fourth rod (6) and the w direction or the z direction is 1/2, and the rudder (2) rotates 60 degrees after the preset rudder (1) rotates 30 degrees, so as to verify the rationality of the position of the intersection point of the rod length.
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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3124378A1 (en) * 2015-07-27 2017-02-01 Airbus Helicopters An adjustable and rotary rudder bar for a rotary wing aircraft
CN111572757A (en) * 2020-05-09 2020-08-25 陕西飞机工业（集团）有限公司 Method for designing driving mechanism of follow-up control surface of aircraft rudder

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3124378A1 (en) * 2015-07-27 2017-02-01 Airbus Helicopters An adjustable and rotary rudder bar for a rotary wing aircraft
CN111572757A (en) * 2020-05-09 2020-08-25 陕西飞机工业（集团）有限公司 Method for designing driving mechanism of follow-up control surface of aircraft rudder

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
飞翼飞机开裂式阻力方向舵铰链力矩的预测;龚军锋;祝小平;陶于金;;空气动力学学报(第04期);110-115 *

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