CN114590396A - Actuation control method of reverse-thrust actuation device - Google Patents
Actuation control method of reverse-thrust actuation device Download PDFInfo
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- CN114590396A CN114590396A CN202210246957.9A CN202210246957A CN114590396A CN 114590396 A CN114590396 A CN 114590396A CN 202210246957 A CN202210246957 A CN 202210246957A CN 114590396 A CN114590396 A CN 114590396A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009347 mechanical transmission Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000005484 gravity Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C15/00—Attitude, flight direction, or altitude control by jet reaction
- B64C15/14—Attitude, flight direction, or altitude control by jet reaction the jets being other than main propulsion jets
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- 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
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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Abstract
The embodiment of the invention discloses an actuation control method of a reverse-thrust actuation device, wherein the reverse-thrust actuation device comprises: reversely pushing the cover; at least two actuators; at least two drivers; and a controller; wherein, the actuation control method comprises the following steps: the controller receives an actuating command and calculates a stop actuating position according to the actuating command; each actuation sensor acquires current actuation position information of the corresponding actuator and feeds the current actuation position information back to the controller; the controller calculates the power to be output by the corresponding driver according to the difference between the current actuating position and the stop actuating position; the driver drives the corresponding actuator to actuate to a stop actuating position according to the required power.
Description
Technical Field
The invention relates to the field of reverse thrust actuation of aircrafts, in particular to an actuation control method of a reverse thrust actuation device.
Background
Most aircraft, in particular those designed for civil transport, are equipped with thrust reversal means for improving the braking of the aircraft during landing. The thrust reversal actuation means are connected to the aircraft engine and can be commanded to switch from a retracted inactive position to a deployed active position and vice versa. In the deployed, active position, the thrust reverser receives the jet from the relative engine and reverses it so that it participates in the braking of the aircraft.
The reverse-thrust actuating device in the prior art generally comprises a reverse-thrust cover cap, 4 actuators, a driver, the actuators and a flexible transmission shaft, wherein the flexible transmission shaft connects the actuators, then is connected to the driver, and drives the flexible transmission shaft to rotate through one or two drivers so as to drive the four actuators to move synchronously.
However, synchronization by means of a flexible transmission shaft may occur in the event of an unbalanced load on the actuator, a jamming or a failure break in the mechanical transmission system, which may result in the thrust-back cover braking in a certain position in the stroke. If the flexible transmission shaft needs to be disassembled in the maintenance process, a special tool needs to be used to eliminate the virtual position of the gear of the actuator after reassembly, and the synchronism of all the actuators is ensured. And the transmission system has heavy weight and low mechanical transmission efficiency, and has fussy installation and poor maintainability although the synchronism is ensured.
Therefore, there is a need to develop an actuation control method for a reverse-thrust actuation device to solve the technical problem of the prior art that the maintenance is complicated to ensure that all actuators are synchronized.
Disclosure of Invention
The embodiment of the invention provides an actuation control method of a reverse-thrust actuation device, which is used for solving the technical problem that the steps are too complicated in order to ensure the synchronous maintenance of all actuators in the prior art.
In order to solve the above technical problem, the embodiment of the present invention discloses the following technical solutions:
in one aspect, there is provided an actuation control method of a reverse-drive actuating apparatus including: the device comprises a reverse thrust cover, an actuator, an actuating sensor and a driver which correspond to the actuator, and a controller; the actuation control method comprises the following steps: the controller receives an actuating command and calculates a stop actuating position according to the actuating command; each actuation sensor acquires current actuation position information of the corresponding actuator and feeds the current actuation position information back to the controller; the controller calculates the power to be output by the corresponding driver according to the difference between the current actuating position and the stop actuating position; the driver drives the corresponding actuator to actuate to the stop actuating position according to the required power.
In addition or as an alternative to one or more of the features disclosed above, the thrust reverser comprises in particular: reversely pushing the cover; the power output end of each actuator acts on the reverse thrust cover cap, and each actuator is provided with an actuating sensor which is used for sensing the actuating position of the corresponding actuator; the drivers correspond to the actuators one by one, and each driver is in transmission connection with the power input end of the corresponding actuator; and the controller is electrically connected with the driver and the actuating sensor.
In addition to or in the alternative to one or more of the features disclosed above, the step of driving the respective actuator to the deactivated position further comprises the step of: each actuating sensor acquires a cut-off actuating position of the corresponding actuator; calculating an actuation difference value between the cut-off actuation position and a preset actuation position; judging whether the actuation difference value exceeds a preset error threshold value or not; and if the actuation difference value exceeds an error threshold value, the driver drives the actuator to adjust until the actuation difference value is smaller than or equal to the error threshold value.
In addition to or in lieu of one or more of the features disclosed above, the step of driving the respective actuator to the deactivated position may further include the step of monitoring: when the driving power of one driver is continuously larger than the driving power of other drivers, the controller controls all the drivers to suspend operation.
In addition to or in lieu of one or more of the features disclosed above, the driver is a lead screw driver and the actuation sensor is an angle resolving sensor.
In addition to or in lieu of one or more of the features disclosed above, the lead screw drive includes a motor and a lead screw, the lead screw of each lead screw drive being drivingly connected to the power input of the respective actuator.
In addition to or instead of one or more of the features disclosed above, the actuation sensor is configured to calculate an actuation distance of the corresponding actuator according to an angle of rotation of a lead screw of the corresponding driver over a period of time, so as to obtain actuation position information of the actuator.
In addition to or in lieu of one or more of the features disclosed above, a curve based on displacement and actuation time of the actuator is provided in the controller, and the displacement and actuation time of the actuator are adapted to the curve by adjusting the driving power of the driver when the actuation difference of the actuator exceeds an error threshold.
In addition or alternatively to one or more of the features disclosed above, a power source is further included, the power source being electrically connected to the controller and the driver, and the controller controls the driver to stop operating by disconnecting the power supply circuit.
In addition or alternatively to one or more of the features disclosed above, the number of actuators and actuators is three.
In addition to one or more of the features disclosed above, or as an alternative, three of the actuators may be evenly distributed along a circumferential direction of the thrust reverser cover.
One of the above technical solutions has the following advantages or beneficial effects: through the driver that corresponds to every actuator configuration, be equipped with relevant transmission sensor on the actuator, position information and the feedback of monitoring every actuator through transmission sensor are given back to the controller, realize the synchronous drive of backstepping actuating device, and can the quick accurate control each actuator actuate speed and position, avoid using the hysteresis that flexible transmission shaft caused and need loaded down with trivial details maintenance simultaneous movement's work, the cooperation smoothness degree of backstepping shroud and actuator has been improved, discern unusual friction in advance, avoid warping inefficacy.
Drawings
The technical solution and other advantages of the present invention will become apparent from the following detailed description of specific embodiments of the present invention, which is to be read in connection with the accompanying drawings.
FIG. 1 is a schematic structural diagram of a reverse-thrust actuating device according to an embodiment of the present invention;
fig. 2 is a flowchart of an actuation control method according to an embodiment of the present invention.
Description of the drawings:
a controller-1; a first driver-2;
a second driver-3; a second driver-4;
a first actuation sensor-5; a second actuation sensor-6;
a third motion sensor-7; a first actuator-8;
a second actuator-9; a third actuator-10;
reversely pushing the cover lid-11.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a reverse-thrust actuating device, where the reverse-thrust actuating device includes a reverse-thrust cover 11, a first actuator 8, a second actuator 9, a third actuator 10, a first driver 2, a second driver 3, a third driver 4, and a controller 1.
The thrust reverser cover 11 is substantially cylindrical and is provided on the inside with three coupling parts (it should be understood that the illustration is merely schematic, and that the coupling parts may actually be completely inside the thrust reverser cover 11 and therefore not visible from the outside).
The first actuator 8, the second actuator 9, and the third actuator 10 are provided inside the thrust back cover 11. The power output ends of the first actuator 8, the second actuator 9 and the third actuator 10 are respectively and fixedly connected to three connecting parts of the thrust-back cover, and the power output ends of the first actuator 8, the second actuator 9 and the third actuator 10 act on the thrust-back cover 11. The first actuator 8, the second actuator 9, and the third actuator 10 and the connecting portions are uniformly distributed in the circumferential direction of the thrust back cover 11.
The first actuator 8, the second actuator 9 and the third actuator 10, which are uniformly distributed along the circumferential direction of the thrust hood 11, and the connecting part enable the thrust hood to be stressed more evenly, so that the stability of the movement is further ensured.
The first actuator 8, the second actuator 9 and the third actuator 10 are respectively provided with a first actuation sensor 5, a second actuation sensor 6 and a third actuation sensor 7 which are associated with the first actuator, the second actuator and the third actuator, and the first actuation sensor 5, the second actuation sensor 6 and the third actuation sensor 7 are all electrically connected to the controller 1. The actuating sensor is used for sensing the actuating position of the corresponding actuator and feeding back the obtained result to the controller 1.
It should be understood that the number of actuators and connecting portions in the above embodiments is merely illustrative, and that other arrangements are fully possible in the practice of the invention, provided that each actuator is guaranteed to have a corresponding actuator.
The first driver 2, the second driver 3 and the third driver 4 are all identical and can therefore deliver the same mechanical power. The screw drive comprises a motor and a screw the power input of the first actuator 8 is drivingly connected to the first drive 2, the power input of the second actuator 9 is drivingly connected to the second drive 3, and the power input of the third actuator 10 is drivingly connected to the third drive 4. Each driver is used for driving the corresponding connected actuator, and the drivers drive the actuators to synchronously move along the same direction.
In the present embodiment, the first drive 2, the second drive 3 and the third drive 4 are all permanent magnet synchronous motors.
In the present embodiment, the first driver 2, the second driver 3, and the third driver 4 are all screw drivers, and the first actuation sensor 5, the second actuation sensor 6, and the third actuation sensor 7 are all angle-resolving sensors. First driver 2, second driver 3 and third driver 4 all include motor and lead screw, the lead screw of first driver 2 is connected with the power input end transmission of first actuator 8, the lead screw of second driver 3 is connected with the power input end transmission of second actuator 9, the lead screw of third driver 4 is connected with the power input end transmission of third actuator 10, the rotatory angle of lead screw according to corresponding driver in a period of time is configured to the angle of angle analysis sensor, calculate the distance of actuating of corresponding actuator, and then obtain the position information that actuates of actuator.
Specifically, the angle analysis sensor correspondingly rotates theta after the lead screw of the driver rotates one circle0Angle, actuator actuating distance X0. The angle change collected by the angle analysis sensor and the actuating distance of the actuator can be represented as follows:
the corresponding driver is configured for each actuator, and the actuating sensor is arranged to monitor the position information of each actuator to realize synchronous driving of the reverse actuating device, so that the actuating speed and position of each actuator can be quickly and accurately controlled.
The controller 1 is connected to the first, second and third actuators 2, 3, 4 for controlling the first, second and third actuators 2, 3, 4 to drive the first, second and third actuators 8, 9, 10 synchronously, i.e. to ensure that the connections inside the thrust back cover are driven at the same speed along the length of the actuators, so that the thrust back cover is very smoothly driven from the open position to the closed position or vice versa.
In this embodiment, the reverse driving device may further include a power source electrically connected to the controller 1 and all drivers. The power supply supplies power to the driver through the controller 1, and the controller 1 controls the driver to stop or suspend the operation by disconnecting the power supply circuit.
Referring to fig. 2, fig. 2 is a flowchart of an actuation control method according to the present embodiment, where the actuation control method includes steps 1 to 4.
Step 1: the controller receives the actuating command and calculates the stopping actuating position according to the actuating command.
Step 2: each actuation sensor acquires the current actuation position information of the corresponding actuator and feeds the current actuation position information back to the controller.
Specifically, the first actuation sensor 5 acquires the current position of the first actuator 8, and feeds back the current position of the first actuator 8 to the controller 1; the second actuating sensor 6 acquires the current position of the second actuator 9 and feeds back the current position of the second actuator 9 to the controller 1; the third actuator sensor 7 acquires the current position of the third actuator 10, and feeds back the current position of the third actuator 10 to the controller 1.
And step 3: the controller calculates the power to be output by the corresponding driver according to the difference between the current actuating position and the stop actuating position.
And 4, step 4: the driver drives the corresponding actuator to actuate to the stop actuating position according to the required power.
The first driver 2 drives the first actuator 8 to actuate to the stop actuating position; the second drive 32 drives the second actuator 9 to actuate to the stop actuating position; the third driver 4 drives the third actuator 10 to the stop actuation position.
After the actuator actuates to the stop actuating position, the method further comprises the following adjusting steps:
step 41: each actuation sensor acquires a cut-off actuation position of the corresponding actuator.
Specifically, the first actuation sensor 5 acquires a cut-off actuation position of the first actuator 8, and feeds back the cut-off actuation position of the first actuator 8 to the controller 1; the second actuating sensor 6 acquires the stopping actuating position of the second actuator 9 and feeds the stopping actuating position of the second actuator 9 back to the controller 1; the third operation sensor 7 acquires the cutoff operation position of the third actuator 10, and feeds back the cutoff operation position of the third actuator 10 to the controller 1.
Step 42: and calculating the action difference value between the stop action position and the preset action position.
The controller 1 calculates an actuation difference value between a cut-off actuation position of the first actuator 8, a cut-off actuation position of the second actuator 9, and a cut-off actuation position of the third actuator 10 and a preset actuation position.
Step 43: and judging whether the actuation difference value exceeds a preset error threshold value.
The controller 1 determines whether the actuation difference value of the first actuator 8, the actuation difference value of the second actuator 9, and the actuation difference value of the third actuator 10 exceed a preset error threshold.
Step 44: if the actuation difference exceeds the error threshold, the actuator is driven by the driver to adjust until the actuation difference is less than or equal to the error threshold.
If the actuation difference value of the first actuator 8 exceeds the error threshold value, the controller 1 controls the first driver 2 to adjust the first actuator 8 until the actuation difference value of the first actuator 8 is less than or equal to the error threshold value; if the actuation difference value of the second actuator 9 exceeds the error threshold value, the controller 1 controls the second driver 3 to adjust the second actuator 9 until the actuation difference value of the second actuator 9 is less than or equal to the error threshold value; if the actuation difference of the third actuator 10 exceeds the error threshold, the controller 1 controls the third driver 4 to adjust the third actuator 10 until the actuation difference of the third actuator 10 is less than or equal to the error threshold.
Because manufacturing and installation errors and gravity influence are added, the three actuators are difficult to achieve load perfect balance, and therefore the actuation difference values of the three actuators easily exceed the error threshold value. The controller 1 is internally provided with a curve based on the displacement and the actuation time of the actuator. When the actuating difference value of the actuator exceeds the error threshold value, the input voltage or current of the corresponding actuator is increased or decreased by adjusting the driving power of the corresponding driver, so that the displacement and the actuating time of the actuator conform to the curve.
After the adjusting step, the method further comprises the monitoring step of:
when the driving power of one driver is continuously larger than that of other drivers, the controller controls all the drivers to pause.
When the driving power of at least one of the first driver 2, the second driver 3 and the third driver 4 is larger than that of the other drivers, the controller 1 controls all the drivers to suspend operation. Specifically, when the drive power of the driver for consecutive 30 frames (TBD) exceeds the rated power of 150% (TBD), the controller 1 controls all the drivers to suspend operation.
When the mechanical structure is deformed and the reverse thrust cover is blocked, the actuator can be continuously overloaded when being pushed immovably, and the driving power of the corresponding driver can be continuously larger than that of other drivers.
And controlling all drivers to pause. Here, "pause" means that all drives are stopped for a short period of time, for example, a few seconds, and then require a worker to adjust the drives and resume normal operation or resume the operation before the pause.
The synchronous motion control mode omits a mechanical flexible shaft in a reverse-thrust actuating device in the prior art, simplifies the configuration of the whole reverse-thrust actuating device and reduces the weight of the reverse-thrust actuating device.
Through the driver that the configuration of giving every actuator corresponds, the position information who actuates every actuator of sensor control realizes the synchronous drive that the device was actuated in the backstepping, and the speed and the position of actuating that can every actuator of quick accurate control avoid using the hysteresis that flexible transmission shaft caused and need loaded down with trivial details maintenance simultaneous movement's work, improved the cooperation smoothness degree of backstepping shroud and actuator, discern unusual friction in advance, avoid warping inefficacy.
The above detailed description is provided for the actuation control method of the reverse-thrust actuation device according to the embodiment of the present invention, and the specific examples are applied herein to explain the principle and the implementation of the present invention, and the above description of the embodiments is only used to help understanding the technical solution and the core idea of the present invention; those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An actuation control method of a reverse-thrust actuation device, characterized in that the reverse-thrust actuation device comprises: the device comprises a reverse thrust cover, an actuator, an actuating sensor and a driver which correspond to the actuator, and a controller;
the actuation control method comprises the following steps:
the controller receives an actuating command and calculates a stop actuating position according to the actuating command;
each actuation sensor acquires current actuation position information of the corresponding actuator and feeds the current actuation position information back to the controller;
the controller calculates the power to be output by the corresponding driver according to the difference between the current actuating position and the cut-off actuating position;
the driver drives the corresponding actuator to actuate to the stop actuating position according to the required power.
2. The actuation control method according to claim 1, wherein the reverse actuation device comprises:
reversely pushing the cover;
the power output end of each actuator acts on the reverse thrust cover cap, and each actuator is provided with an actuating sensor which is used for sensing the actuating position of the corresponding actuator;
the drivers correspond to the actuators one by one, and each driver is in transmission connection with the power input end of the corresponding actuator; and
and the controller is electrically connected with the driver and the actuating sensor.
3. The actuation control method according to claim 1, wherein the step of driving the respective actuator to the deactivated actuation position further comprises the step of adjusting:
each actuating sensor acquires a cut-off actuating position of the corresponding actuator;
calculating an actuation difference value between the cut-off actuation position and a preset actuation position;
judging whether the actuation difference value exceeds a preset error threshold value or not;
and if the actuation difference value exceeds an error threshold value, the driver drives the actuator to adjust until the actuation difference value is smaller than or equal to the error threshold value.
4. The actuation control method of claim 1, wherein the step of driving the corresponding actuator to the deactivated actuation position further comprises the step of monitoring:
when the driving power of one driver is continuously larger than the driving power of other drivers, the controller controls all the drivers to suspend operation.
5. The actuation control method according to claim 2, wherein the driver is a lead screw driver, and the actuation sensor is an angle resolving sensor.
6. The actuation control method according to claim 5, wherein the lead screw drivers include a motor and a lead screw, the lead screw of each lead screw driver being drivingly connected to the power input of the corresponding actuator.
7. The actuation control method according to claim 6, wherein the actuation sensor is configured to calculate an actuation distance corresponding to the actuator according to an angle of rotation of a lead screw corresponding to the driver over a period of time, thereby obtaining the actuation position information of the actuator.
8. The actuation control method according to claim 3, wherein a curve based on the displacement and actuation time of the actuator is provided in the controller, and when the actuation difference of the actuator exceeds an error threshold, the displacement and actuation time of the actuator are made to conform to the curve by adjusting the driving power of the driver.
9. The actuation control method according to claim 2, further comprising a power source electrically connected to the controller and the driver.
10. The actuation control method according to claim 2, wherein the number of the actuators and the drivers is three.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210246957.9A CN114590396A (en) | 2022-03-14 | 2022-03-14 | Actuation control method of reverse-thrust actuation device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210246957.9A CN114590396A (en) | 2022-03-14 | 2022-03-14 | Actuation control method of reverse-thrust actuation device |
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| CN202210246957.9A Pending CN114590396A (en) | 2022-03-14 | 2022-03-14 | Actuation control method of reverse-thrust actuation device |
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| WO2020035715A1 (en) * | 2018-08-15 | 2020-02-20 | Gary Anthony Daprato | Aircrafts with controllers and tiltable rotors for attitude-controlled flight |
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|---|---|---|---|---|
| US20080229851A1 (en) * | 2007-03-20 | 2008-09-25 | Goodrich Actuation Systems Limited | Actuator Arrangement |
| CN201466875U (en) * | 2009-04-02 | 2010-05-12 | 中国航天科技集团公司烽火机械厂 | electromechanical actuator |
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