CN116176832A - Method for controlling retraction, extension and extension based on complex undercarriage configuration - Google Patents

Method for controlling retraction, extension and extension based on complex undercarriage configuration Download PDF

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Publication number
CN116176832A
CN116176832A CN202310486846.XA CN202310486846A CN116176832A CN 116176832 A CN116176832 A CN 116176832A CN 202310486846 A CN202310486846 A CN 202310486846A CN 116176832 A CN116176832 A CN 116176832A
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landing gear
door
main
instruction
place
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CN116176832B (en
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赵静
赵兴平
李建勇
何兴雷
孙璐
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Chengdu CAIC Electronics Co Ltd
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Chengdu CAIC Electronics Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B64C25/18—Operating mechanisms
    • B64C25/24—Operating mechanisms electric
    • 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
    • Y02T50/40—Weight reduction

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Vehicle Body Suspensions (AREA)
  • Lock And Its Accessories (AREA)

Abstract

The invention discloses a method for controlling the retraction and the extension based on a complex undercarriage configuration. The stowing control method comprises the steps of setting stowing activation enabling and unlocking a handle according to the wheel load state; based on the handle signal, landing gear take-up and take-off output control or release control is performed by combining in-place information of the landing gear cabin door lock, the landing gear cabin door, the landing gear strut and the landing gear frame. The setting-down control method comprises setting-down activation enabling; based on the handle signal, landing gear down output control or release control is performed by combining in-place information of the landing gear cabin door lock, the landing gear cabin door, the landing gear strut and the landing gear frame. The invention solves the problems of comprehensive control, alarm indication, complex working condition treatment and the like under the independent actuating mechanism by utilizing the processing modes of redundancy deconstruction, control synchronization, elimination of single-point and multi-azimuth alarm indication and the like, realizes the solutions of normal retraction control and complex working condition treatment, and can effectively improve the accuracy, reliability and safety of retraction control.

Description

Method for controlling retraction, extension and extension based on complex undercarriage configuration
Technical Field
The invention relates to the technical field of landing gear retraction control, in particular to a retraction-up and retraction control method based on a complex landing gear configuration.
Background
The actuating mechanism of the traditional aircraft landing gear retraction control system can finish retraction tasks by adopting linkage type or simple stepping type actions, and the interlocking of the actuating mechanism is realized through a mechanical configuration, so that the control rate and the control mode are simple. For example, the landing gear door of the MA700 aircraft is interlocked with the landing gear strut, so that the retraction of the landing gear strut and the landing gear door can be completed only by controlling the reversing through pressure of one path of selection valve. With the development of large aircrafts, landing gear configurations and actuating mechanisms are increasingly complex, in-place detection requirements and maintenance requirements of actuating mechanisms are improved, and system safety requirements are also greatly improved, for example, a landing gear system of a certain large aircrafts adopts independent multiple struts and is independent of landing gear cabin doors, landing gear cabin door locks, landing gear frames and the like, and meanwhile, the landing gear system has requirements of redundancy management, independent actions, accurate position indication, warning and the like, and the traditional control law is not suitable for the current complex landing gear architecture.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a method for controlling the retraction and the extension of a complex landing gear system based on a multi-strut and independent actuating mechanism.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
in a first aspect, the present invention proposes a method for controlling the retraction of a landing gear based on a complex landing gear configuration, comprising the steps of:
setting up activation enabling, and unlocking the handle according to the wheel load state;
based on the handle signal, landing gear take-up and take-off output control or release control is performed by combining in-place information of the landing gear cabin door lock, the landing gear cabin door, the landing gear strut and the landing gear frame.
Optionally, the setting up the activation enable includes:
setting up enable;
judging whether the left main starting wheel load and the right main starting wheel load are in an air state or not; if yes, receiving enabling activation; otherwise landing gear take-up control is not performed.
Optionally, the unlocking of the handle according to the wheel load state is specifically:
performing majority voting according to all wheel load states of the machine and the self; if the voting is passed, executing the next step; otherwise, unlocking the handle is not executed;
judging whether the handle is in a put-down state or not; if yes, enabling the handle to be unlocked; otherwise, the handle is not unlocked.
Optionally, the in-place information output control or release control based on the handle signal and combined with the landing gear cabin door lock, the landing gear cabin door, the landing gear strut and the landing gear frame comprises:
acquiring the state of the nose landing gear, and judging whether the instruction is received effectively or not and the nose landing gear is not received in place; if yes, the unlocking instruction of the front landing gear cabin door lock is effective, and the unlocking action of the front landing gear cabin door lock is executed; otherwise, the unlocking instruction of the door lock of the front landing gear cabin is invalid;
judging whether the door lock of the front landing gear cabin is unlocked in place or not; if yes, the unlocking instruction of the door lock of the front landing gear cabin is released in a delayed mode, the opening instruction of the front landing gear cabin door is effective, the opening action of the front landing gear cabin door is executed, and the front landing gear cabin door is released after the front landing gear strut is received in place; otherwise, the front landing gear cabin door opening command is invalid;
judging whether the front landing gear cabin door is opened in place or not; if so, the front landing gear take-up instruction is effective, the front landing gear take-up action is executed, and the time delay is released after the front landing gear cabin door is locked; otherwise, the front landing gear receives an invalid instruction;
judging whether the front landing gear is in place or not; if so, the closing instruction of the front landing gear door is effective, the closing action of the front landing gear door is executed, and the time delay is released after the front landing gear door is locked; otherwise, the front landing gear cabin door closing command is invalid;
judging whether the nose landing gear is locked in place and the nose landing gear cabin door is closed in place; if so, the locking instruction of the front landing gear door is effective, the locking action of the front landing gear door is executed, and the time delay is released after the front landing gear door is locked; otherwise, the locking instruction of the front landing gear cabin door is invalid.
Optionally, the in-place information output control or release control based on the handle signal and combined with the landing gear cabin door lock, the landing gear cabin door, the landing gear strut and the landing gear frame comprises:
acquiring the state of the main landing gear, and judging whether the instruction is received effectively or not and the main landing gear is not received in place; if yes, the main landing gear cabin door lock unlocking instruction is effective, and the main landing gear cabin door lock unlocking action is executed; otherwise, the unlocking instruction of the main landing gear cabin door lock is invalid;
judging whether the door lock of the main landing gear cabin is unlocked in place or not; if yes, the unlocking instruction of the door lock of the main landing gear cabin is released in a delayed mode, the opening instruction of the main landing gear cabin door is effective, the opening action of the main landing gear cabin door is executed, and the main landing gear cabin door is released after the main landing gear strut is received in place; otherwise, the main landing gear cabin door opening command is invalid;
judging whether the instruction is received effectively and the main landing gear cabin door is opened in place; if so, the main lifting frame is effective in receiving the instruction, the main lifting frame is carried out to receive the action, and the main landing gear is delayed to be released after being locked; otherwise, the main frame receives an invalid instruction;
judging whether the instruction is received effectively, the main cabin taking door is opened in place, and the main landing gear is received in place; if so, the main landing gear up-take instruction is effective, the main landing gear up-take action is executed, and the main landing gear is released after the main landing gear door lock is locked; otherwise, the main landing gear receives an invalid instruction;
judging whether the instruction is received effectively and the main landing gear is received in-place to lock; if so, the main landing gear door closing instruction is effective, the main landing gear door closing action is executed, and the delay is released after the main landing gear door is locked in place; otherwise, the main landing gear cabin door closing command is invalid;
judging whether the up instruction is valid or not and the main landing gear is up in place and the main landing gear door is locked in place; if so, the locking instruction of the main landing gear door is effective, the locking action of the main landing gear door is executed, and the main landing gear door is released after being locked; otherwise, the locking instruction of the main landing gear cabin door is invalid.
In a second aspect, the present invention proposes a method of controlling the lowering of a landing gear based on a complex landing gear configuration, comprising the steps of:
setting a put-down activation enable;
based on the handle signal, landing gear down output control or release control is performed by combining in-place information of the landing gear cabin door lock, the landing gear cabin door, the landing gear strut and the landing gear frame.
Optionally, the setting the put down activation enable includes:
setting a setting-down enable;
judging whether the undercarriage handle is in a non-retracted state; if yes, putting down the enabling activation; otherwise landing gear down control is not performed.
Optionally, the controlling or releasing the landing gear down output based on the handle signal and in combination with the landing gear cabin door lock, the landing gear cabin door, the landing gear strut and the landing gear frame comprises:
acquiring the state of the nose landing gear, and judging whether the instruction for putting down is valid or not and the nose landing gear is not put down in place; if yes, the unlocking instruction of the front landing gear cabin door lock is effective, and the unlocking action of the front landing gear cabin door lock is executed; otherwise, the unlocking instruction of the door lock of the front landing gear cabin is invalid;
judging whether the door lock of the front landing gear cabin is unlocked in place or not; if yes, the unlocking instruction of the door lock of the front landing gear cabin is released in a delayed mode, the opening instruction of the front landing gear cabin door is effective, the opening action of the front landing gear cabin door is executed, and the front landing gear cabin door is released after the front landing gear strut is received in place; otherwise, the front landing gear cabin door opening command is invalid;
judging whether the lowering instruction is valid and the front landing gear cabin door is opened in place; if yes, the nose landing gear down instruction is effective, the nose landing gear down action is executed, and the time delay is released after the nose landing gear cabin door is locked; otherwise, the nose landing gear down instruction is invalid;
judging whether the nose landing gear is put down in place or not; if so, the closing instruction of the front landing gear door is effective, the closing action of the front landing gear door is executed, and the time delay is released after the front landing gear door is locked; otherwise, the front landing gear cabin door closing command is invalid;
judging whether the nose landing gear is put down to be locked in place and the nose landing gear cabin door is closed in place; if so, the locking instruction of the front landing gear door is effective, the locking action of the front landing gear door is executed, and the time delay is released after the front landing gear door is locked; otherwise, the locking instruction of the front landing gear cabin door is invalid.
Optionally, the controlling or releasing the landing gear down output based on the handle signal and in combination with the landing gear cabin door lock, the landing gear cabin door, the landing gear strut and the landing gear frame comprises:
acquiring the state of the main landing gear, and judging whether the down instruction is valid or not and the main landing gear is not down in place; if yes, the main landing gear cabin door lock unlocking instruction is effective, the main landing gear cabin door lock unlocking action is executed, and the delay is released after the main landing gear cabin door is opened in place; otherwise, the unlocking instruction of the main landing gear cabin door lock is invalid;
judging whether the lowering instruction is valid or not and unlocking the main landing gear door lock in place; if so, the main landing gear door opening command is effective, the main landing gear door opening action is executed, and the delay is released after the main landing gear door is opened in place; otherwise, the main landing gear cabin door opening command is invalid;
judging whether the lowering instruction is valid or not and opening the main landing gear cabin door in place; if yes, the main landing gear down instruction is effective, the main landing gear down action is executed, and the main landing gear is released after being locked in place after being down; otherwise, the main landing gear down instruction is invalid;
judging whether the instruction is received effectively, the main cabin taking door is opened in place, and the main landing gear is put down in place to lock; if so, the main lifting frame lowering instruction is effective, the main lifting frame lowering action is executed until the main lifting frame is put down in place and locked, and then the delay is released; otherwise, the main landing gear is not valid when receiving the instruction.
The invention has the following beneficial effects:
the invention solves the problems of comprehensive control, alarm indication, complex working condition treatment and the like under the independent actuating mechanism by utilizing the processing modes of redundancy deconstruction, control synchronization, elimination of single-point and multi-azimuth alarm indication and the like, realizes the solutions of normal retraction control and complex working condition treatment, and can effectively improve the accuracy, reliability and safety of retraction control.
Drawings
FIG. 1 is a schematic diagram of a method for controlling landing gear based on a complex landing gear configuration according to embodiment 1 of the present invention;
FIG. 2 is a schematic flow chart of an on-take control method based on a complex landing gear configuration according to embodiment 1 of the present invention;
FIG. 3 is a schematic diagram of a method for controlling the landing gear in accordance with embodiment 2 of the present invention;
fig. 4 is a schematic flow chart of a method for controlling the landing gear to be put down based on a complex landing gear configuration according to embodiment 2 of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and all the inventions which make use of the inventive concept are protected by the spirit and scope of the present invention as defined and defined in the appended claims to those skilled in the art.
The landing gear retraction control scheme provided by the embodiment of the invention comprises landing gear retraction control and landing gear extension control, wherein the landing gear retraction control and the landing gear extension control are judged according to the in-place position information of the handle and the sensor and are carried out step by step. The landing gear is provided with an on-take-up activation enabling device, the handle is unlocked according to the wheel load state, the effectiveness of the handle is judged by the comprehensive handle signals, the landing gear cabin door lock, the landing gear cabin door, the landing gear strut and the landing gear frame are driven and controlled by adopting in-place information output/release control of the front sequence/rear sequence position, and the landing gear down enabling device is used for eliminating an uncertain state when an on-take-up instruction is taken off. The position in-place judgment adopts redundancy position information as comprehensive judgment, and ensures the output consistency under synchronous control.
Example 1
With reference to fig. 1 and 2, an example of a control rate scheme for a landing gear retraction control unit (LGCU) to control an implemented retraction and landing process is described below during an aircraft climb phase. In order to ensure consistency of two control outputs, the control rate of the LGCU adopts self and position state data of the LGCU machine to carry out redundancy synthesis in a synchronous working mode under a redundancy framework.
The embodiment of the invention provides a retraction control method based on a complex undercarriage configuration, which comprises the following steps of:
setting up activation enabling, and unlocking the handle according to the wheel load state;
based on the handle signal, landing gear take-up and take-off output control or release control is performed by combining in-place information of the landing gear cabin door lock, the landing gear cabin door, the landing gear strut and the landing gear frame.
In an alternative embodiment of the present invention, the setting up the activation enable includes:
setting up enable;
judging whether the left main starting wheel load and the right main starting wheel load are in an air state or not; if yes, receiving enabling activation; otherwise landing gear take-up control is not performed.
Specifically, to prevent possible non-commanded stow faults during high-speed running of the aircraft, a stow enabling function is provided, and the stow enabling function is activated only when both the left main lift wheel load (lmlg_wow) and the right main lift wheel load (rmlg_wow) are in an air state (front lift wheel load is not introduced, the number of variables is controlled, and the failure links that cannot be normally stowed are reduced), otherwise, the stow action is not executed even if the handle is hit to the stow. In order to further eliminate non-instruction stow failure, redundancy judgment is performed on wheel-mounted sensor data corresponding to another LGCU in the integrated system. The sensor only considers its data valid if its state is normal.
The logical relation is as follows:
RET_ACTIVE=
(notLMLG_WOW×notRMLG_WOW+notLMLG_WOW_OP×notRMLG_WOW+notLMLG_WOW×notRMLG_WOW_OP)×(notLMLG_WOW_X×notRMLG_WOW_X+notLMLG_WOW_X_OP×notRMLG_WOW_X+notLMLG_WOW_X×notRMLG_WOW_X_OP)
wherein RET_ACTIVE represents an on-Enable activation, LMLG_WOW represents a left main landing gear wheel load sensor, RMLG_WOW represents a right main landing gear wheel load sensor, LMLG_WOW_OP represents a left main landing gear wheel load sensor state, RMLG_WOW_OP represents a right main landing gear wheel load sensor state, LMLG_WOW_X represents a left main landing gear wheel load sensor, RMLG_WOW_X represents a right main landing gear wheel load sensor, LMLG_WOW_X_OP represents a left main landing gear wheel load sensor state, and RMLG_WOW_X_OP represents a right main landing gear wheel load sensor state.
In an optional embodiment of the present invention, the unlocking of the handle according to the wheel load state is specifically:
performing majority voting according to all wheel load states of the machine and the self; if the voting is passed, executing the next step; otherwise, unlocking the handle is not executed;
judging whether the handle is in a put-down state or not; if yes, enabling the handle to be unlocked; otherwise, the handle is not unlocked.
Specifically, after the wheels are lifted off, the LGCU sends out an unlock command to release the handle-down lock function, and the handle unlock output only works when the aircraft is in the air and the handle is in a down state (lgcl_ret_cmd is false). The handle unlocking adopts self and wheel load states of the machine to carry out majority voting, namely that all wheel load signals reach or exceed half and are invalid, and even the handle unlocking can be realized. The logical relation is as follows:
LGCL_UNLK_DRV =
notLGCL_RET_CMD×(notNLG_WOW+notNLG_WOW_X)×(notLMLG_WOW+ notLMLG_WOW_X) ×( notRMLG_WOW+ notRMLG_WOW_X)
wherein lgcl_unlk_drv indicates a handle unlock drive, lgcl_ret_cmd indicates a handle take-up command, nlg_wow indicates a nose landing gear wheel load sensor, and nlg_wow_x indicates its nose landing gear wheel load sensor.
And then carrying out the confirmation of the effectiveness of the handle collection. In order to ensure the reliability of the receiving instruction in the synchronous working mode, the receiving instruction of the handle is synthesized by adopting the receiving/releasing signals of the handle and the receiving/releasing signals of the machine, namely, when the receiving instructions collected by the two LGCUs are all true, the receiving is considered to be effective, when the signals of the two received handles are inconsistent, the alarm information is reported through the central alarm system, the LGCUs do not control and output, so that the landing gear unexpected action during high-speed cruising is prevented, and the logic relation formula is as follows:
RET_CMD =
(LGCL_RET_CMD × notLGCL_EXT_CMD) ×
(LGCL_RET_CMD_X × notLGCL_EXT_CMD_X)
wherein RET_CMD represents an up command, LGCL_RET_CMD represents an undercarriage control handle up signal, LGCL_EXT_CMD represents an undercarriage control handle down signal, LGCL_RET_CMD_X represents an undercarriage control handle up signal, and LGCL_EXT_CMD_X represents an undercarriage control handle down signal.
In an alternative embodiment of the present invention, the present embodiment includes a landing gear stow control scheme, and the in-place information output control or release control based on the handle signal in combination with the landing gear door lock, the landing gear door, the landing gear leg, and the landing gear frame includes:
acquiring the state of the nose landing gear, and judging whether the instruction is received effectively or not and the nose landing gear is not received in place; if yes, the unlocking instruction of the front landing gear cabin door lock is effective, and the unlocking action of the front landing gear cabin door lock is executed; otherwise, the unlocking instruction of the door lock of the front landing gear cabin is invalid;
judging whether the door lock of the front landing gear cabin is unlocked in place or not; if yes, the unlocking instruction of the door lock of the front landing gear cabin is released in a delayed mode, the opening instruction of the front landing gear cabin door is effective, the opening action of the front landing gear cabin door is executed, and the front landing gear cabin door is released after the front landing gear strut is received in place; otherwise, the front landing gear cabin door opening command is invalid;
judging whether the front landing gear cabin door is opened in place or not; if so, the front landing gear take-up instruction is effective, the front landing gear take-up action is executed, and the time delay is released after the front landing gear cabin door is locked; otherwise, the front landing gear receives an invalid instruction;
judging whether the front landing gear is in place or not; if so, the closing instruction of the front landing gear door is effective, the closing action of the front landing gear door is executed, and the time delay is released after the front landing gear door is locked; otherwise, the front landing gear cabin door closing command is invalid;
judging whether the nose landing gear is locked in place and the nose landing gear cabin door is closed in place; if so, the locking instruction of the front landing gear door is effective, the locking action of the front landing gear door is executed, and the time delay is released after the front landing gear door is locked; otherwise, the locking instruction of the front landing gear cabin door is invalid.
Specifically, a front hatch door lock unlock command is first confirmed. The front landing gear cabin door is only opened in the retraction process, and after the retraction is completed, the front cabin door is kept in a closed and locked state, so that the front cabin door lock unlocking command adopts the front landing gear state as an opening condition, and the unlocking is in place as a releasing condition, namely the front landing gear is not retracted in place (the retraction command is valid, the front upper lock is not locked or the front lower lock is locked in place, or the lowering command is valid, the front lower lock is not locked or the front upper lock is locked in place), and the front cabin door lock unlocking command is valid. And after the current cabin starting door lock is unlocked in place, the instruction delay is released. The logical relation is:
NLG-DOOR-UNLOCK-DRIVE =
[RET_ACTIVE × RET_CMD × (NLG_DNLKD + notNLG_UPLKD) +
EXT_CMD × (NLG_UPLKD + notNLG_DNLKD)] ×
(NLG_DOOR_UNLK × TIME_DELAY)
wherein NLG-DOOR-UNLOCK-DRIVE represents a nose landing gear DOOR unlocking DRIVE, NLG_DNLKD represents that the nose landing gear is put down in place, NLG_UPLKD represents that the nose landing gear is put up in place, EXT_CMD represents a put-down instruction, NLG_DOOR_UNLK represents a nose landing gear DOOR unlocking sensor, and TIME_DELAY represents a DELAY.
And (3) judging that all the positions are in place by adopting two paths of sensor data at the same position for integration, and considering that the positions are in place only when the effective sensor data are close, or else, considering that the positions are not in place. The lock-in-place logic relation is as follows:
NLG_DNLKD=NLG_DN_SENSOR ×NLG_DN_SENSOR_X+
NLG_DN_SENSOR ×notNLG_DN_SENSOR_X_OP +
NLG_DN_SENSOR_X ×notNLG_DN_SENSOR_OP
where NLG_DN_SENSOR represents the nose landing gear down lock SENSOR, NLG_DN_SENSOR_X represents its nose landing gear down lock SENSOR, NLG_DN_SENSOR_X_OP represents its nose landing gear down lock SENSOR state, NLG_DN_SENSOR_OP represents the nose landing gear down lock SENSOR state.
The front hatch opening command is then confirmed. After unlocking in place, the front landing gear starts to execute the opening action of the front landing gear, the front landing gear is not retracted in place, the opening instruction of the front landing gear is valid, and the front landing gear strut is released after being in place. The logical relation is:
NLG-DOOR-OPEN-DRIVE=
NLG_DOOR_UNLK ×
[RET_ACTIVE×RET_CMD × (NLG_DNLKD + notNLG_UPLKD)
+EXT_CMD × (NLG_UPLKD + notNLG_DNLKD)]
where NLG-DOOR-OPEN-DRIVE indicates nose gear DOOR opening actuation, NLG_DOOR_UNLK indicates that the nose gear DOOR is unlocked in place.
The nose landing gear is then confirmed as commanded. After the front cabin door is opened in place, the front landing gear is started to be carried out to take up, and the front landing gear takes up instructions are effective, so that the reliable taking up is ensured, and the front cabin door is unlocked after being locked. The logical relation is:
NLG-UP-DRIVE =
[(RET_ACTIVE×RET_CMD × NLG_DOOR_OPEND)
× notNLG_DOOR_LK_STA]
where NLG-UP-DRIVE represents nose landing gear take-UP DRIVE, NLG_DOOR_OPEND represents nose landing gear DOOR open in place, NLG_DOOR_LK_STA represents nose landing gear DOOR locked state.
The front hatch door close command is then confirmed. After the nose landing gear is retracted or put down in place, the front cabin lifting door closing action is started to be executed, and the front cabin lifting door closing instruction is valid until the front cabin lifting door is locked and then is released in a delayed manner. The landing gear strut is in-place judged by comprehensively adding the locking of the upper lock/lower lock and the front lifting support rod lock. The logical relation is:
NLG-DOOR-CLOSE-DRIVE =
(NLG_UPLKD ×NLG_LOCK× RET_CMD +
NLG_DNLKD ×NLG_LOCK× EXT_CMD) ×
NLG_DOOR_LK × TIME_DELAY
where NLG-DOOR-CLOSE-DRIVE represents nose gear DOOR closing actuation, NLG_LOCK represents nose gear position LOCK sensor, and NLG_DOOR_LK represents nose gear DOOR locking.
And then confirming a locking instruction of the front cabin door lock. And after the front landing gear is retracted or put down to lock in place and the front cabin door is closed in place, the front cabin door lock executes a locking instruction until the front cabin door is locked and then is released in a delayed manner. The logical relation is:
NLG-DOOR-LOCK-DRIVE =
[(RET_CMD × NLG_UPLKD+EXT_CMD × NLG_DNLKD) ×
NLG_DOOR_CLOSED] ×
(NLG_DOOR_LK_STA × TIME_DELAY)
in an alternative embodiment of the present invention, the present embodiment includes a main landing gear stow control scheme, and the in-place information output control or release control based on the handle signal in combination with the landing gear door lock, the landing gear door, the landing gear leg, and the landing gear frame includes:
acquiring the state of the main landing gear, and judging whether the instruction is received effectively or not and the main landing gear is not received in place; if yes, the main landing gear cabin door lock unlocking instruction is effective, and the main landing gear cabin door lock unlocking action is executed; otherwise, the unlocking instruction of the main landing gear cabin door lock is invalid;
judging whether the door lock of the main landing gear cabin is unlocked in place or not; if yes, the unlocking instruction of the door lock of the main landing gear cabin is released in a delayed mode, the opening instruction of the main landing gear cabin door is effective, the opening action of the main landing gear cabin door is executed, and the main landing gear cabin door is released after the main landing gear strut is received in place; otherwise, the main landing gear cabin door opening command is invalid;
judging whether the instruction is received effectively and the main landing gear cabin door is opened in place; if so, the main lifting frame is effective in receiving the instruction, the main lifting frame is carried out to receive the action, and the main landing gear is delayed to be released after being locked; otherwise, the main frame receives an invalid instruction;
judging whether the instruction is received effectively, the main cabin taking door is opened in place, and the main landing gear is received in place; if so, the main landing gear up-take instruction is effective, the main landing gear up-take action is executed, and the main landing gear is released after the main landing gear door lock is locked; otherwise, the main landing gear receives an invalid instruction;
judging whether the instruction is received effectively and the main landing gear is received in-place to lock; if so, the main landing gear door closing instruction is effective, the main landing gear door closing action is executed, and the delay is released after the main landing gear door is locked in place; otherwise, the main landing gear cabin door closing command is invalid;
judging whether the up instruction is valid or not and the main landing gear is up in place and the main landing gear door is locked in place; if so, the locking instruction of the main landing gear door is effective, the locking action of the main landing gear door is executed, and the main landing gear door is released after being locked; otherwise, the locking instruction of the main landing gear cabin door is invalid.
Specifically, the manner of unlocking the main landing gear door in this embodiment is similar to that of the nose landing gear door, and will not be described here.
Then confirm that the main frame receives the instruction. The main landing gear cabin door is in an open state when the landing gear is in a down state, namely, the main landing gear is retracted and executed from the frame, or the main landing gear is still unlocked and the frame is retracted after the cabin door is opened. And when the command is effective and the main lifting cabin door is in an open state, the main lifting frame executes the command. And the main landing gear is delayed to release after being locked. If the left main landing gear cabin door or the right main landing gear cabin door or the strut are controlled by the same hydraulic component, the position in-place judgment can be carried out by introducing the sensor states of the symmetrical struts for comprehensive judgment.
MLG-FR-RET-DRIVE=
[(RET_ACTIVE × RET_CMD × MLG_DOOR_OPEND) ×
(MLG_UPLKD× TIME_DELAY)]
Wherein MLG-FR-RET-DRIVE indicates a main landing gear frame stow DRIVE, MLG_DOOR_OPEND indicates a main landing gear DOOR open in place, and MLG_UPLKD indicates a main landing gear stowed in place.
And then confirm that the main landing gear is commanded up. And when the command is received effectively, the main cabin lifting door is opened, and after the main cabin lifting frame is received in place, the main landing gear executes the command until the main cabin lifting door lock is locked and then is released in a delayed manner. The logical relation is:
MLG-RET-DRIVE=
(RET_ACTIVE × RET_CMD × MLG_DOOR_OPEND × MLG_FR_RET_STA) × notMLG_DOOR_LK_STA
wherein MLG-RET-DRIVE represents the main landing gear up-take DRIVE, MLG_FR_RET_STA represents the main landing gear frame up-take state, and MLG_DOOR_LK_STA represents the main landing gear DOOR up-take state.
The main landing gear door closing command is then acknowledged. And after the main landing gear is received and locked, the main landing gear door executes a closing instruction until the main landing gear door is locked in place and then is released in a delayed manner.
The main landing gear door lock up command is then confirmed. And when the main landing gear is locked after the main landing gear is locked and the main cabin lifting door is closed, the main cabin lifting door lock executes the locking instruction until the main cabin lifting door is locked in place and then is released in a delayed mode.
Example 2
Referring to fig. 3 and 4, an example of a control scheme for the landing gear lowering process during the approach phase of an aircraft is described below.
The embodiment of the invention provides a method for controlling the lowering of a complex undercarriage configuration, which comprises the following steps:
setting a put-down activation enable;
based on the handle signal, landing gear down output control or release control is performed by combining in-place information of the landing gear cabin door lock, the landing gear cabin door, the landing gear strut and the landing gear frame.
In an alternative embodiment of the invention, the setting down activation enable includes:
setting a setting-down enable;
judging whether the undercarriage handle is in a non-retracted state; if yes, putting down the enabling activation; otherwise landing gear down control is not performed.
Specifically, to ensure flight safety, the possible indeterminate state of the landing gear handle is eliminated, and in view of the landing gear being in a safe state, the landing gear control handle is considered to be effective when the landing gear handle is in a non-stowed state. I.e., ext_cmd=notset_cmd.
In an alternative embodiment of the present invention, the present embodiment includes a landing gear down control scheme, and the performing landing gear down output control or release control based on the handle signal and in combination with the landing gear door lock, the landing gear door, the landing gear leg, and the landing gear frame in-place information includes:
acquiring the state of the nose landing gear, and judging whether the instruction for putting down is valid or not and the nose landing gear is not put down in place; if yes, the unlocking instruction of the front landing gear cabin door lock is effective, and the unlocking action of the front landing gear cabin door lock is executed; otherwise, the unlocking instruction of the door lock of the front landing gear cabin is invalid;
judging whether the door lock of the front landing gear cabin is unlocked in place or not; if yes, the unlocking instruction of the door lock of the front landing gear cabin is released in a delayed mode, the opening instruction of the front landing gear cabin door is effective, the opening action of the front landing gear cabin door is executed, and the front landing gear cabin door is released after the front landing gear strut is received in place; otherwise, the front landing gear cabin door opening command is invalid;
judging whether the lowering instruction is valid and the front landing gear cabin door is opened in place; if yes, the nose landing gear down instruction is effective, the nose landing gear down action is executed, and the time delay is released after the nose landing gear cabin door is locked; otherwise, the nose landing gear down instruction is invalid;
judging whether the nose landing gear is put down in place or not; if so, the closing instruction of the front landing gear door is effective, the closing action of the front landing gear door is executed, and the time delay is released after the front landing gear door is locked; otherwise, the front landing gear cabin door closing command is invalid;
judging whether the nose landing gear is put down to be locked in place and the nose landing gear cabin door is closed in place; if so, the locking instruction of the front landing gear door is effective, the locking action of the front landing gear door is executed, and the time delay is released after the front landing gear door is locked; otherwise, the locking instruction of the front landing gear cabin door is invalid.
Specifically, the present embodiment first confirms the front hatch door lock unlock instruction, and then confirms the front hatch door open instruction. The manner adopted here is similar to that of embodiment 1, and thus a description thereof will be omitted.
The nose landing gear down command is then acknowledged. After the drop command is valid and the forward landing gear is open in place, the nose landing gear executes the drop command. To ensure that the drop action is complete, the drop command is valid until the lock of the forward hatch is released with a delay. The logical relation is:
NLG-DOWN-DRIVE =
(EXT_CMD × NLG_DOOR_OPEND) × notNLG_DOOR_LK_STA
where NLG-DOWN-DRIVE represents nose landing gear DOWN DRIVE.
And then confirms the front hatch closing instruction and confirms the front hatch locking and locking instruction. The manner adopted here is similar to that of embodiment 1, and thus a description thereof will be omitted.
In an alternative embodiment of the present invention, the present embodiment includes a main landing gear landing control scheme, and the landing gear landing output control or release control based on the handle signal and in combination with landing gear door lock, landing gear door, landing gear leg, and landing gear frame in-place information includes:
acquiring the state of the main landing gear, and judging whether the down instruction is valid or not and the main landing gear is not down in place; if yes, the main landing gear cabin door lock unlocking instruction is effective, the main landing gear cabin door lock unlocking action is executed, and the delay is released after the main landing gear cabin door is opened in place; otherwise, the unlocking instruction of the main landing gear cabin door lock is invalid;
judging whether the lowering instruction is valid or not and unlocking the main landing gear door lock in place; if so, the main landing gear door opening command is effective, the main landing gear door opening action is executed, and the delay is released after the main landing gear door is opened in place; otherwise, the main landing gear cabin door opening command is invalid;
judging whether the lowering instruction is valid or not and opening the main landing gear cabin door in place; if yes, the main landing gear down instruction is effective, the main landing gear down action is executed, and the main landing gear is released after being locked in place after being down; otherwise, the main landing gear down instruction is invalid;
judging whether the instruction is received effectively, the main cabin taking door is opened in place, and the main landing gear is put down in place to lock; if so, the main lifting frame lowering instruction is effective, the main lifting frame lowering action is executed until the main lifting frame is put down in place and locked, and then the delay is released; otherwise, the main landing gear is not valid when receiving the instruction.
Specifically, a main cabin door lock unlock command is first confirmed. The main cabin door is in a closing and locking state when the landing gear is in a retracted state, when the down instruction is effective, the main landing gear is not in a released and locked state, the main cabin door lock executes an unlocking instruction until the main cabin door is opened in place, and the delay is released. The logical relation is:
MLG-DOOR-UNLOCK-DRIVE=
EXT_CMD × (MLG_UPLKD + notMLG_DNLKD)×
(MLG_DOOR_UNLK × TIME_DELAY)
wherein MLG-DOOR-UNLOCK-DRIVE indicates a main landing gear DOOR lock unlocking actuation, mlg_dnlkd indicates main landing gear down-in-place, and mlg_door_unlk indicates main landing gear DOOR UNLOCK-in-place.
The main door open command is then confirmed. The main cabin lifting door is only in an open state in the process of putting down or putting down, when the putting down instruction is effective, the main cabin lifting door lock is in an unlocking state, the main landing gear is locked or not put down in place, the main cabin lifting door executes the opening instruction, and the time delay is released after the cabin door is opened in place. The logical relation is:
MLG-DOOR-OPEN-DRIVE=
MLG_DOOR_UNLK ×[EXT_CMD × (MLG_UPLKD + notMLG_DNLKD)]
×(MLG_DOOR_OPEND × TIME_DELAY)
wherein MLG-DOOR-OPEN-DRIVE represents the main landing gear DOOR opening DRIVE.
The main landing gear down command is then acknowledged. And when the lowering instruction is effective and the main jack door is in an open state, the main landing gear executes the lowering instruction until the main jack frame is put in place and then delays releasing. The logical relation is:
MLG-DOWN-DRIVE=
(EXT_CMD × MLG_DOOR_OPEND )× notMLG_FR_EXT_STA
where MLG-DOWN-DRIVE represents the main landing gear DOWN DRIVE and MLG_FR_EXT_STA represents the main landing gear frame DOWN state.
And then confirms the main frame down instruction. And when the down instruction is valid and the main landing gear door is in an open state, the main landing gear is put down and locked, and the main landing gear frame executes the down instruction until the main landing gear frame is put down in place and then is released in a delayed manner. The logical relation is:
MLG-FRAME-DOWN-DRIVE=
(EXT_CMD × MLG_DNLKD × MLG_DOOR_OPEND) ×
(MLG_FR_EXT_STA× TIME_DELAY)
wherein MLG-FRAME-DOWN-DRIVE represents the main landing gear FRAME lowering motion.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Those of ordinary skill in the art will recognize that the embodiments described herein are for the purpose of aiding the reader in understanding the principles of the present invention and should be understood that the scope of the invention is not limited to such specific statements and embodiments. Those of ordinary skill in the art can make various other specific modifications and combinations from the teachings of the present disclosure without departing from the spirit thereof, and such modifications and combinations remain within the scope of the present disclosure.

Claims (9)

1. An on-take-up control method based on a complex landing gear configuration is characterized by comprising the following steps of:
setting up activation enabling, and unlocking the handle according to the wheel load state;
based on the handle signal, landing gear take-up and take-off output control or release control is performed by combining in-place information of the landing gear cabin door lock, the landing gear cabin door, the landing gear strut and the landing gear frame.
2. A method of on-board control based on complex landing gear configurations as claimed in claim 1, wherein said setting on-board activation enables comprises:
setting up enable;
judging whether the left main starting wheel load and the right main starting wheel load are in an air state or not; if yes, receiving enabling activation; otherwise landing gear take-up control is not performed.
3. The method for controlling the retraction of a complex landing gear according to claim 1, wherein said unlocking of the handle according to the state of the wheel is specifically:
performing majority voting according to all wheel load states of the machine and the self; if the voting is passed, executing the next step; otherwise, unlocking the handle is not executed;
judging whether the handle is in a put-down state or not; if yes, enabling the handle to be unlocked; otherwise, the handle is not unlocked.
4. The method of claim 1, wherein the controlling or releasing the landing gear door lock, landing gear door, landing gear leg, and landing gear frame based on the handle signal in combination with the in-place information output comprises:
acquiring the state of the nose landing gear, and judging whether the instruction is received effectively or not and the nose landing gear is not received in place; if yes, the unlocking instruction of the front landing gear cabin door lock is effective, and the unlocking action of the front landing gear cabin door lock is executed; otherwise, the unlocking instruction of the door lock of the front landing gear cabin is invalid;
judging whether the door lock of the front landing gear cabin is unlocked in place or not; if yes, the unlocking instruction of the door lock of the front landing gear cabin is released in a delayed mode, the opening instruction of the front landing gear cabin door is effective, the opening action of the front landing gear cabin door is executed, and the front landing gear cabin door is released after the front landing gear strut is received in place; otherwise, the front landing gear cabin door opening command is invalid;
judging whether the front landing gear cabin door is opened in place or not; if so, the front landing gear take-up instruction is effective, the front landing gear take-up action is executed, and the time delay is released after the front landing gear cabin door is locked; otherwise, the front landing gear receives an invalid instruction;
judging whether the front landing gear is in place or not; if so, the closing instruction of the front landing gear door is effective, the closing action of the front landing gear door is executed, and the time delay is released after the front landing gear door is locked; otherwise, the front landing gear cabin door closing command is invalid;
judging whether the nose landing gear is locked in place and the nose landing gear cabin door is closed in place; if so, the locking instruction of the front landing gear door is effective, the locking action of the front landing gear door is executed, and the time delay is released after the front landing gear door is locked; otherwise, the locking instruction of the front landing gear cabin door is invalid.
5. The method of claim 1, wherein the controlling or releasing the landing gear door lock, landing gear door, landing gear leg, and landing gear frame based on the handle signal in combination with the in-place information output comprises:
acquiring the state of the main landing gear, and judging whether the instruction is received effectively or not and the main landing gear is not received in place; if yes, the main landing gear cabin door lock unlocking instruction is effective, and the main landing gear cabin door lock unlocking action is executed; otherwise, the unlocking instruction of the main landing gear cabin door lock is invalid;
judging whether the door lock of the main landing gear cabin is unlocked in place or not; if yes, the unlocking instruction of the door lock of the main landing gear cabin is released in a delayed mode, the opening instruction of the main landing gear cabin door is effective, the opening action of the main landing gear cabin door is executed, and the main landing gear cabin door is released after the main landing gear strut is received in place; otherwise, the main landing gear cabin door opening command is invalid;
judging whether the instruction is received effectively and the main landing gear cabin door is opened in place; if so, the main lifting frame is effective in receiving the instruction, the main lifting frame is carried out to receive the action, and the main landing gear is delayed to be released after being locked; otherwise, the main frame receives an invalid instruction;
judging whether the instruction is received effectively, the main cabin taking door is opened in place, and the main landing gear is received in place; if so, the main landing gear up-take instruction is effective, the main landing gear up-take action is executed, and the main landing gear is released after the main landing gear door lock is locked; otherwise, the main landing gear receives an invalid instruction;
judging whether the instruction is received effectively and the main landing gear is received in-place to lock; if so, the main landing gear door closing instruction is effective, the main landing gear door closing action is executed, and the delay is released after the main landing gear door is locked in place; otherwise, the main landing gear cabin door closing command is invalid;
judging whether the up instruction is valid or not and the main landing gear is up in place and the main landing gear door is locked in place; if so, the locking instruction of the main landing gear door is effective, the locking action of the main landing gear door is executed, and the main landing gear door is released after being locked; otherwise, the locking instruction of the main landing gear cabin door is invalid.
6. A method of landing gear configuration based on complex landing gear configuration, comprising the steps of:
setting a put-down activation enable;
based on the handle signal, landing gear down output control or release control is performed by combining in-place information of the landing gear cabin door lock, the landing gear cabin door, the landing gear strut and the landing gear frame.
7. A method of landing gear configuration based on complex landing gear configuration as claimed in claim 6, wherein the set-down activation enabling comprises:
setting a setting-down enable;
judging whether the undercarriage handle is in a non-retracted state; if yes, putting down the enabling activation; otherwise landing gear down control is not performed.
8. The method of claim 6, wherein the controlling or releasing landing gear down output based on the handle signal in combination with the landing gear door lock, the landing gear door, the landing gear leg, and the landing gear frame in-place information comprises:
acquiring the state of the nose landing gear, and judging whether the instruction for putting down is valid or not and the nose landing gear is not put down in place; if yes, the unlocking instruction of the front landing gear cabin door lock is effective, and the unlocking action of the front landing gear cabin door lock is executed; otherwise, the unlocking instruction of the door lock of the front landing gear cabin is invalid;
judging whether the door lock of the front landing gear cabin is unlocked in place or not; if yes, the unlocking instruction of the door lock of the front landing gear cabin is released in a delayed mode, the opening instruction of the front landing gear cabin door is effective, the opening action of the front landing gear cabin door is executed, and the front landing gear cabin door is released after the front landing gear strut is received in place; otherwise, the front landing gear cabin door opening command is invalid;
judging whether the lowering instruction is valid and the front landing gear cabin door is opened in place; if yes, the nose landing gear down instruction is effective, the nose landing gear down action is executed, and the time delay is released after the nose landing gear cabin door is locked; otherwise, the nose landing gear down instruction is invalid;
judging whether the nose landing gear is put down in place or not; if so, the closing instruction of the front landing gear door is effective, the closing action of the front landing gear door is executed, and the time delay is released after the front landing gear door is locked; otherwise, the front landing gear cabin door closing command is invalid;
judging whether the nose landing gear is put down to be locked in place and the nose landing gear cabin door is closed in place; if so, the locking instruction of the front landing gear door is effective, the locking action of the front landing gear door is executed, and the time delay is released after the front landing gear door is locked; otherwise, the locking instruction of the front landing gear cabin door is invalid.
9. The method of claim 6, wherein the controlling or releasing landing gear down output based on the handle signal in combination with the landing gear door lock, the landing gear door, the landing gear leg, and the landing gear frame in-place information comprises:
acquiring the state of the main landing gear, and judging whether the down instruction is valid or not and the main landing gear is not down in place; if yes, the main landing gear cabin door lock unlocking instruction is effective, the main landing gear cabin door lock unlocking action is executed, and the delay is released after the main landing gear cabin door is opened in place; otherwise, the unlocking instruction of the main landing gear cabin door lock is invalid;
judging whether the lowering instruction is valid or not and unlocking the main landing gear door lock in place; if so, the main landing gear door opening command is effective, the main landing gear door opening action is executed, and the delay is released after the main landing gear door is opened in place; otherwise, the main landing gear cabin door opening command is invalid;
judging whether the lowering instruction is valid or not and opening the main landing gear cabin door in place; if yes, the main landing gear down instruction is effective, the main landing gear down action is executed, and the main landing gear is released after being locked in place after being down; otherwise, the main landing gear down instruction is invalid;
judging whether the instruction is received effectively, the main cabin taking door is opened in place, and the main landing gear is put down in place to lock; if so, the main lifting frame lowering instruction is effective, the main lifting frame lowering action is executed until the main lifting frame is put down in place and locked, and then the delay is released; otherwise, the main landing gear is not valid when receiving the instruction.
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