CN117889111A - Electro-hydrostatic energy system for landing gear and brake and control method thereof - Google Patents
Electro-hydrostatic energy system for landing gear and brake and control method thereof Download PDFInfo
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- CN117889111A CN117889111A CN202311783066.8A CN202311783066A CN117889111A CN 117889111 A CN117889111 A CN 117889111A CN 202311783066 A CN202311783066 A CN 202311783066A CN 117889111 A CN117889111 A CN 117889111A
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- 239000013585 weight reducing agent Substances 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 33
- 230000001276 controlling effect Effects 0.000 description 13
- 239000010720 hydraulic oil Substances 0.000 description 11
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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
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention provides an electro-hydrostatic energy system for landing gear and brake and a control method thereof, relating to the technical field of electro-hydrostatic actuators, comprising: an oil tank; the landing gear lifting device comprises two motors and two hydraulic pumps, wherein the output ends of the two hydraulic pumps are respectively connected with a first output pipeline and a second output pipeline, the first output pipeline and the second output pipeline are respectively connected with a left brake pipeline and a right brake pipeline, and the tail ends of the first output pipeline and the second output pipeline are connected with landing gear lifting pipelines; the second interface of each two-position three-way electromagnetic valve is connected with one interface of the landing gear actuator through a first electromagnetic switch valve; the two second electromagnetic switch valves are respectively connected with the left brake actuator and the right brake actuator; the problems that in the prior art, a brake system and a landing gear system are driven and controlled by independent subsystems respectively, and weight reduction and space utilization rate of an aircraft are not facilitated are solved.
Description
Technical Field
The invention belongs to the technical field of electro-hydrostatic actuators, and particularly relates to an electro-hydrostatic energy system for landing gear and brake and a control method thereof.
Background
The electro-hydrostatic actuator is a power electric actuator commonly used in the aerospace field and comprises a hydraulic actuator cylinder, an electro-hydraulic servo valve, a function distribution valve, a rotating speed sensor and the like. The electrohydraulic servo valve is a key component of the actuator, receives a control instruction, converts an electric signal into a hydraulic control signal, pushes the actuator cylinder to move, and a displacement sensor in the actuator cylinder converts the displacement signal into an electric signal and feeds the electric signal back to the servo control circuit of the actuator to form position closed-loop control.
The aircraft brake system is a relatively independent subsystem on the aircraft that functions to carry the static weight of the aircraft, to absorb dynamic impact loads and to absorb kinetic energy generated by taxiing thereof and to effectively control it during each procedure. Unmanned aerial vehicle braking system requires that self is small, the quality is little, work efficiency is high. In the unmanned aerial vehicle take-off and landing braking process, the energy system receives the left and right braking duty ratios sent by the upper computer, and the energy system controls the pressure of the left and right braking devices according to the braking duty ratios given by the flight control system, so that the functions of braking deviation correction, braking and the like in the unmanned aerial vehicle take-off and landing running stage are met. After the hydraulic energy system loses power, the left brake pressure and the right brake pressure can be kept at a fixed value through emergency energy.
In the prior art, the brake system and the landing gear system are driven and controlled by independent subsystems respectively, so that more facilities and weight increase are arranged on the aircraft, and the occupied space is larger.
Disclosure of Invention
The invention aims at overcoming the defects in the prior art, provides an electro-hydrostatic energy system for landing gear and brake and a control method thereof, and solves the problems that in the prior art, a brake system and a landing gear system are driven and controlled by independent subsystems respectively, which is not beneficial to weight reduction and space utilization of an aircraft.
In order to achieve the above object, the present invention provides an electro-hydrostatic energy system for landing gear and brake, comprising:
an oil tank;
the hydraulic pump comprises two motors and two hydraulic pumps, wherein each motor is connected with one hydraulic pump and used for driving the hydraulic pump, the input end of the hydraulic pump is connected with the oil tank, the output ends of the two hydraulic pumps are respectively connected with a first output pipeline and a second output pipeline, the first output pipeline and the second output pipeline are respectively connected with a left brake pipeline and a right brake pipeline, and the tail ends of the first output pipeline and the second output pipeline are connected with landing gear lifting pipelines;
the first connector of each two-position three-way electromagnetic valve is connected with the landing gear lifting pipeline, the second connector of each two-position three-way electromagnetic valve is connected with one connector of the landing gear actuator through a first electromagnetic switch valve, and the third connector of each two-position three-way electromagnetic valve is connected with the oil tank through an oil discharge pipeline;
the two second electromagnetic switch valves are respectively arranged on the left brake pipeline and the right brake pipeline, and the left brake pipeline and the right brake pipeline are respectively connected with a left brake actuator and a right brake actuator;
the pressure sensor is used for detecting brake pressure information in the left brake pipeline and the right brake pipeline;
the rotating speed sensor is used for detecting rotating speed information of the motor;
the displacement sensor is used for detecting the displacement information of the landing gear actuator;
the speed sensor of the machine wheel is used for detecting the speed information of the machine wheel;
the controller comprises a brake control module and a landing gear control module, wherein the brake control module is used for controlling the rotating speed of the motor and the opening and closing of the first electromagnetic switch valve according to required pressure, pressure information, rotating speed information and speed information, and the landing gear control module is used for controlling the opening and closing of the second electromagnetic switch valve according to displacement information.
Optionally, the motor is a brushless direct current motor, and the hydraulic pump is a bidirectional fixed displacement pump.
Optionally, the first output pipeline and the second output pipeline are respectively provided with a one-way valve.
Optionally, a first safety valve is arranged on the landing gear lifting pipeline, and the first safety valve is connected with the oil tank through a safety pipeline.
Optionally, a temperature sensor is arranged in the oil tank, an oil tank joint is arranged on one side of the oil tank, a mounting seat is arranged at the top of the oil tank, the motor, the hydraulic pump, the two-position three-way electromagnetic valve, the first electromagnetic switch valve, the second electromagnetic switch valve and the pressure sensor are all arranged on the mounting seat to form at least one cartridge valve group, and a plurality of pipeline joints are arranged on one side of the mounting seat.
Optionally, still include emergent drive structure, emergent drive structure includes emergent air supply, emergent origin is connected with first emergent pipeline and the emergent pipeline of second, first emergent pipeline with landing gear actuator is connected for the emergent whereabouts of landing gear, the emergent pipeline of second passes through first branch pipeline and second branch pipeline respectively with left brake actuator and right brake actuator are connected.
Optionally, the emergency air source includes the gas cylinder, the export of gas cylinder is provided with first safety relief pressure valve, first emergency pipeline with first safety relief pressure valve is connected, just be provided with first one-way switch valve on the first emergency pipeline, the second emergency pipeline is in position between safety relief pressure valve and the first one-way switch valve is connected on the first emergency pipeline, second one-way switch valve and second safety relief pressure valve have been set gradually on the second emergency pipeline.
Optionally, the controller further comprises an emergency control module, wherein the emergency control module is used for controlling the emergency driving structure to start.
Optionally, the system further comprises a fault detection unit, wherein the fault detection unit comprises a current given channel fault detection module, a motor rotation speed sensor fault detection module, a motor fault detection module, a pressure sensor open circuit fault detection module and a fault detection module which cannot be established for a long time.
The present method also provides a control method of an electro-hydrostatic energy system for landing gear and brake, for controlling the electro-hydrostatic energy system for landing gear and brake, comprising:
constructing a control model of an electro-hydrostatic energy system for landing gear and brake, and landing gear actuators, left brake actuators and right brake actuators;
acquiring detection results of a pressure sensor, a rotation speed sensor and a displacement sensor, and constructing a control system based on the acquired detection results and a control model;
designing a control strategy of a control system, and adopting a three-closed loop type integral saturation resistance PID control method;
and controlling the operation of the electro-hydrostatic energy system for landing gear and brake based on a control strategy.
The invention provides an electro-hydrostatic energy system for landing gear and brake and a control method thereof, which have the beneficial effects that: the electro-hydrostatic energy system for the landing gear and the brake is provided with two motors and two hydraulic pumps, two paths of driving are formed, the landing gear actuators can be driven to lift and fall the landing gear together, the left brake actuator and the right brake actuator can be driven to brake respectively and independently, functions of braking, deviation correction and the like can be achieved, the electro-hydrostatic energy system is integrated to drive and control the landing gear and the brake simultaneously, a pressure sensor, a rotation speed sensor and a displacement sensor are adopted to detect pressure information of the brake, rotation speed information of the motor and displacement information of the landing gear respectively, the pressure sensor, the rotation speed information of the motor and the displacement information of the landing gear are used as feedback, the controller is used for carrying out accurate closed-loop control on the retraction and the extension of the landing gear, and the opening and closing of each valve are controlled, so that the integrated control on the brake and the landing gear is achieved, the structure is simplified, the space is saved, and the lightweight design of the aircraft is facilitated.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular descriptions of exemplary embodiments of the invention as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the invention.
Fig. 1 shows a schematic diagram of an electro-hydrostatic energy system for landing gear and braking according to one embodiment of the present invention.
Fig. 2 shows a schematic connection of an electro-hydrostatic energy system for landing gear and braking according to an embodiment of the present invention.
Fig. 3 shows a schematic control principle of an electro-hydrostatic energy system for landing gear and braking according to an embodiment of the present invention.
Fig. 4 shows a current hardware protection circuit diagram of an electro-hydrostatic energy system for landing gear and brake, according to one embodiment of the present invention.
Fig. 5 shows a current software protection circuit diagram of an electro-hydrostatic energy system for landing gear and brake, according to one embodiment of the present invention.
Fig. 6 shows a schematic of the external configuration of an electro-hydrostatic energy system for landing gear and braking according to an embodiment of the present invention.
FIG. 7 illustrates a schematic diagram of a three-closed loop anti-integral saturation PID control method for a control method of an electro-hydrostatic energy system for landing gear and brake, according to an embodiment of the present invention.
Reference numerals illustrate:
1. an oil tank; 2. a motor; 3. a hydraulic pump; 4. a first output line; 5. a second output line; 6. a left brake pipe; 7. a right brake pipeline; 8. landing gear landing pipe; 9. a two-position three-way electromagnetic valve; 10. a first electromagnetic switching valve; 11. an undercarriage actuator; 12. an oil discharge pipeline; 13. a second electromagnetic switching valve; 14. a left brake actuator; 15. a right brake actuator; 16. a one-way valve; 17. a first safety valve; 18. a safety pipeline; 19. an oil tank joint; 20. a mounting base; 21. cartridge valve group; 22. a pipe joint; 23. a temperature sensor; 24. an emergency air source; 25. a first emergency line; 26. a second emergency line; 27. a first branch line; 28. a second branch line; 29. a first safety relief valve; 30. a first one-way switching valve; 31. a second one-way switching valve; 32. a second safety relief valve; a pressure sensor.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the preferred embodiments of the present invention are described below, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As shown in fig. 1 to 3, the present invention provides an electro-hydrostatic energy system for landing gear and brake, comprising:
an oil tank 1;
the hydraulic system comprises two motors 2 and two hydraulic pumps 3, wherein each motor 2 is connected with one hydraulic pump 3 and used for driving the hydraulic pump 3, the input end of each hydraulic pump 3 is connected with an oil tank 1, the output ends of the two hydraulic pumps 3 are respectively connected with a first output pipeline 4 and a second output pipeline 5, the first output pipeline 4 and the second output pipeline 5 are respectively connected with a left brake pipeline 6 and a right brake pipeline 7, and the tail ends of the first output pipeline 4 and the second output pipeline 5 are connected with landing gear lifting pipelines 8;
the first interface of each two-position three-way electromagnetic valve 9 is connected with the landing gear lifting pipeline 8, the second interface of each two-position three-way electromagnetic valve 9 is connected with one interface of the landing gear actuator 11 through a first electromagnetic switch valve 10, and the third interface of each two-position three-way electromagnetic valve 9 is connected with the oil tank 1 through an oil discharge pipeline 12;
the two second electromagnetic switch valves 13 are respectively arranged on the left brake pipeline 6 and the right brake pipeline 7, and the left brake pipeline 6 and the right brake pipeline 7 are respectively connected with the left brake actuator 14 and the right brake actuator 15;
a pressure sensor 33 for detecting brake pressure information in the left brake pipe 6 and the right brake pipe 7;
a rotation speed sensor for detecting rotation speed information of the motor 2;
a displacement sensor for detecting displacement information of the landing gear actuator 11;
the speed sensor of the machine wheel is used for detecting the speed information of the machine wheel;
the controller comprises a brake control module and a landing gear control module, wherein the brake control module is used for controlling the rotating speed of the motor 2 and the opening and closing of the first electromagnetic switch valve 10 according to the needed pressure, pressure information, rotating speed information and speed information, and the landing gear control module is used for controlling the on-off of the second electromagnetic switch valve 13 according to the displacement information.
Specifically, in order to solve the problems that in the prior art, a brake system and a landing gear system are driven and controlled by independent subsystems respectively, which is not beneficial to the weight reduction and the space utilization rate of an aircraft; the electro-hydrostatic energy system for landing gear and brake provided by the invention is provided with two motors 2 and two hydraulic pumps 3, so that two paths of driving are formed, the two paths of driving can drive the landing gear actuator 11 to lift and fall the landing gear together, the left brake actuator 14 and the right brake actuator 15 can be independently driven to control the brake respectively, the functions of braking, deviation correction and the like can be realized, the electro-hydrostatic energy system is integrated to drive and control the landing gear and the brake simultaneously, a pressure sensor, a rotation speed sensor and a displacement sensor are adopted in a control part to detect the pressure information of the brake, the rotation speed information of the motor 2 and the displacement information of the landing gear respectively, the pressure sensor, the rotation speed information of the motor and the displacement information of the landing gear are used as feedback, the controller is used for carrying out accurate closed-loop control on the braking pressure, the deviation correction and the retraction and the extension of the landing gear, and the opening and closing of each valve are controlled, the integrated control on the brake and the landing gear is realized, the structure is simplified, the space is saved, and the light weight design of an aircraft is facilitated.
Alternatively, the motor 2 is a brushless DC motor 2 and the hydraulic pump 3 is a bi-directional fixed displacement pump.
Specifically, as shown in fig. 1, in the electro-hydrostatic energy system for landing gear and brake, a hydraulic pump 3 is a bidirectional constant displacement pump, a brushless direct current motor 2 is selected as a motor 2, the brake pressure is controlled by controlling the rotation speed of the motor 2, each valve is inserted on a mounting plate to form an integrated cartridge valve, and a controller controls the flow direction of hydraulic oil by controlling two-position three-way electromagnetic valves 9, two first electromagnetic switch valves 10 and two second electromagnetic switch valves 13 in the cartridge valve, so that different functions of retraction, lowering and braking of the landing gear and switching of the brake pressure tracking and maintaining are realized; the system is operated in a mode of combining pump control and valve control, the brake control module adjusts the rotating speed of a bidirectional constant delivery pump driven by the brushless direct current motor 2 according to the instruction requirement of the required pressure of braking, pressure information fed back by a pressure sensor forms closed-loop control to control the rotating speed of the bidirectional constant delivery pump, and accordingly the pressure and flow output by the hydraulic pump 3 are controlled, and the purpose of regulating the braking pressure is achieved; when the controller obtains a landing gear lowering command, the corresponding two-position three-way electromagnetic valve 9 and the first electromagnetic switch valve 10 are controlled to be conducted, the motor 2 is controlled to drive the two-way constant delivery pump to convey hydraulic oil in the oil tank 1 to the upper end of the actuating cylinder of the landing gear actuator 11, under the action of the hydraulic pressure, the landing gear is lowered, and the hydraulic oil at the lower end of the actuating cylinder of the landing gear actuator 11 returns to the oil tank 1 through the corresponding two-position three-way electromagnetic valve 9; when the landing gear is put down to lock in place, the system stops the rotation of the motor 2 and keeps the pressure of the system through the hydraulic lock; the retraction process of the landing gear is opposite to the extension process, and the retraction and extension process of the landing gear is not required to control the pressure in real time like the braking process, and the pressure is controlled only by ensuring that the pressure in the actuator cylinder does not exceed the maximum value, so that the rising time of the pressure is reduced as much as possible, and the pressure fluctuation is reduced.
As shown in fig. 3, in the system, a brake control module controls the rotation speed of a motor 2 through the control of a motor driver through the speed information of a wheel collected by a wheel speed sensor and the pressure information of a brake collected by a pressure sensor, and further controls the output of a hydraulic pump 3, thereby controlling the brake pressure; when the controller receives a braking command of the upper computer, the motor 2 is controlled to rotate positively, the hydraulic pump 3 discharges hydraulic oil into the braking actuator, the pressure in the braking actuator rises, and braking is started at the moment.
The speed information of the wheel is the rotational speed of the wheel.
Optionally, a check valve 16 is provided on each of the first output line 4 and the second output line 5.
Specifically, the check valve 16 is provided to ensure unidirectional flow of hydraulic oil in the first output line 4 and the second output line 5.
Optionally, the landing gear lifting line 8 is provided with a first safety valve 17, the first safety valve 17 being connected to the tank 1 via a safety line 18.
Specifically, a safety valve is arranged in the system to prevent the system from being broken down due to the fact that the pressure is too high; the safety valve is arranged on the landing gear lifting pipeline 8 after the two one-way valves 16 are converged, the safety pressure is set, when the hydraulic pressure in the pipeline of the system is too high, particularly when the landing gear is put down, the controller controls the motor 2 to stop rotating, but due to inertia, the motor 2 continues to rotate, oil is continuously pumped into an oil way, overpressure is easy to generate at the moment, and the safety valve can be used for pressure relief and maintain at the safety pressure.
Optionally, a temperature sensor 23 is arranged in the oil tank 1, an oil tank joint 19 is arranged on one side of the oil tank 1, an installation seat 20 is arranged at the top of the oil tank 1, the motor 2, the hydraulic pump 3, the two-position three-way electromagnetic valve 9, the first electromagnetic switch valve 10, the second electromagnetic switch valve 13 and the pressure sensor are all arranged on the installation seat 20 to form at least one cartridge valve group 21, and a plurality of pipeline joints 22 are arranged on one side of the installation seat 20.
Specifically, as shown in fig. 6, the temperature sensor 23 is used for detecting the oil temperature in the oil tank 1, the oil tank 1 is located at the lowest part of the whole system, and components such as each sensor and the electromagnetic valve are integrated into a whole through the two cartridge valve groups 21, so that the structure is more compact and the actual operation is facilitated.
Optionally, an emergency driving structure is further included, the emergency driving structure includes an emergency air source 24, an emergency origin is connected with a first emergency pipeline 25 and a second emergency pipeline 26, the first emergency pipeline 25 is connected with the landing gear actuator 11 for emergency falling of the landing gear, and the second emergency pipeline 26 is connected with the left brake actuator 14 and the right brake actuator 15 through a first branch pipeline 27 and a second branch pipeline 28 respectively.
Specifically, as shown in fig. 2, the electric brushless dc motor 2 is coaxially connected with a bi-directional fixed displacement pump, and is used for driving the hydraulic pump 3 to operate efficiently, and in order to ensure the safety of the system, a first safety valve 17 is arranged in the system, so as to prevent the system from failure caused by over-high pressure; the two-position three-way electromagnetic valve 9, the first electromagnetic switch valve 10 and the second electromagnetic switch valve 13 are used for realizing the functions of retraction, extension and braking of the landing gear and switching of the tracking and maintaining of the braking pressure; the system adopts a mode of combining pump control and valve control, a motor 2 drives a controller to adjust the rotation speed of a bidirectional fixed displacement pump driven by a brushless direct current motor 2 according to the instruction requirement of the aircraft brake pressure, the pressure value fed back by a pressure sensor forms closed-loop control to control the rotation speed of the bidirectional fixed displacement pump, and accordingly the pressure and flow output by the bidirectional fixed displacement pump are controlled, and the purpose of brake pressure adjustment is achieved. The left broken line frame is internally provided with a landing gear retracting and releasing structure, when the controller receives a landing gear releasing command of the upper computer, the two motors 2 rotate positively, two paths of hydraulic oil output by the two hydraulic pumps 3 are converged into one path after passing through the one-way valve 16, the on-off of each pipeline is controlled through the two-position three-way electromagnetic valve 9 and the first electromagnetic switch valve 10, the hydraulic oil is sent to an upper oil inlet of the landing gear actuator 11, the pressure is quickly released, the hydraulic oil at the lower oil inlet flows out, and the pressure is reduced; when the hydraulic pressure reaches a given pressure threshold, the upper lock is opened and the landing gear is put down. The landing gear retracting process is opposite to the landing gear putting-down process, the motor 2 still rotates positively, hydraulic oil is switched to a lower oil inlet of the landing gear actuator 11 by controlling the two-position three-way electromagnetic valves 9 and the first electromagnetic switch valve 10, the pressure of the lower oil inlet rises rapidly, the hydraulic oil of the upper oil inlet flows out, and the pressure drops; when the pressure of the upper oil inlet falls to a given threshold value, the lower lock is opened, and the undercarriage is retracted.
The upper and lower areas of the right end of the left dashed line frame are respectively a left brake actuating structure and a right brake actuating structure, when the system works in a pressurized brake state, the controller sends out an instruction to close the two-position three-way electromagnetic valve 9 and the first electromagnetic switch valve 10, and two hydraulic paths of the two hydraulic pumps 3 are switched to independent working states to respectively control the left brake actuator 14 and the right brake actuator 15; when braking, the motor 2 drives the hydraulic pump 3 to rotate, the second electromagnetic switch valve 13 of the hydraulic passage is controlled to be opened, single-passage hydraulic oil flows into the corresponding brake actuator, the aircraft starts to brake, and the working conditions of the left brake actuator 14 and the right brake actuator 15 are the same. The controller gives the same pressure control instruction, so that the positive and negative rotation speeds of the two motors 2 are the same, and the left and right wheels can be controlled to brake at the same time, so that the braking function is realized until the wheels are braked; in order to realize the braking deviation correcting function, the braking instructions of different pressures of the left wheel and the right wheel can be respectively given, the braking pressures of the left wheel and the right wheel are different when the vehicle is braked, and the deviation correcting function can be realized by matching with the front wheel.
The emergency driving structure mainly comprises the following functions: the landing gear emergency lowering function can emergency lower the landing gear actuator 11 through an emergency air source 24, namely high-pressure nitrogen, when the electro-hydrostatic energy system fails; and when the electro-hydrostatic energy system fails, the air brake is connected after the aircraft is judged to be grounded, and the brake pressure of the left brake actuator 14 and the brake pressure of the right brake actuator 15 can be kept at a fixed value through the emergency air source 24.
Optionally, the emergency air source 24 includes an air bottle, an outlet of the air bottle is provided with a first safety pressure reducing valve 29, the first emergency pipeline 25 is connected with the first safety pressure reducing valve 29, a first one-way switch valve 30 is arranged on the first emergency pipeline 25, a second emergency pipeline 26 is connected on the first emergency pipeline 25 at a position between the safety pressure reducing valve and the first one-way switch valve 30, and a second one-way switch valve 31 and a second safety pressure reducing valve 32 are sequentially arranged on the second emergency pipeline 26.
Specifically, the emergency working process adopts a pneumatic servo control scheme and is realized by an emergency air source 24, wherein the emergency air source 24 is connected with an air pressure sensor and an air supplementing interface on an air bottle, high-pressure air in the air bottle is firstly depressurized through a first safety depressurization valve 29 and then is connected into the landing gear actuator 11 through a first emergency pipeline 25 and a first one-way switch valve 30 to finish the landing gear lowering; the second emergency pipeline 26 is connected to the left brake actuator 14 and the right brake actuator 15 through a second one-way switch valve 31 and a second safety relief valve 32.
Optionally, the controller further comprises an emergency control module, and the emergency control module is used for controlling the emergency driving structure to start.
Specifically, after a normal electro-hydrostatic energy system fails, the unmanned aerial vehicle can control an emergency driving structure in a dotted line frame on the right side to work through an emergency control module; if the emergency control module also fails, the emergency driving structure can be directly controlled to work through the upper computer, so that the emergency driving structure can be ensured to work.
Optionally, the system further comprises a fault detection unit, wherein the fault detection unit comprises a current given channel fault detection module, a motor 2 rotating speed sensor fault detection module, a motor 2 fault detection module, a pressure sensor open circuit fault detection module and a fault detection module which cannot be established for a long time.
Specifically, considering the safety and the maintenance convenience of the system, the system integrates the following fault detection method and can upload fault codes to an upper computer through a communication bus.
(1) A current given channel failure; can be judged by the corresponding relation between the current and the pressure.
(2) Motor 2 rotation speed sensor failure; giving an instruction to enable the motor 2 to rotate for 5 circles in an open loop, and detecting whether the output signal of the rotating speed sensor is correct or not.
(3) A failure of the motor 2; giving an instruction to enable the motor 2 to rotate for 5 circles according to a certain current, detecting whether the output signal of the rotating speed sensor and the signal of the current sensor are correct, and further judging whether the motor 2 fails.
(4) Open circuit failure of the pressure sensor; when the pressure sensor is disconnected, zero potential detection can be performed by using a designed pressure sensor interface circuit, so that open circuit faults are judged.
(5) The pressure cannot build up a fault for a long time; may be caused by a variety of factors, such as: large-area leakage of the hydraulic system, damage to the hydraulic pump 3, damage to the first relief valve 17, etc.; and (3) giving a smaller target pressure for testing, and observing whether the target pressure is built or not within a set time to judge the fault.
In this embodiment, the overcurrent protection circuit plays a very important role on the hardware of the whole system, and the short circuit of the stator armature winding of the motor 2, the power switch Guan Duanlu of the inverter bridge and the like can cause the motor 2 to overcurrent, when the motor 2 overflows, the winding seriously heats, and the safety of the system is directly threatened; the overcurrent protection in the system is divided into hardware protection and software protection.
Referring to fig. 4, the hardware protection is to sample the bus current, and when an overcurrent phenomenon occurs, turn off the output of the power driving chip from the hardware, turn off all field effect transistors of the inverter circuit, and reduce the current of the motor 2, thereby protecting the circuit.
Referring to fig. 5, the software protection is to protect a circuit by a program, and the key is that an overcurrent signal is obtained, the conditioned bus current and voltage are passed through the conditioning circuit again, the protection current is set to a certain value by a voltage comparator, and once the bus current of the motor 2 reaches the value, the DSP is used for blocking the PWM wave output by the program, so that a power circuit device is protected.
As shown in fig. 7, the present method further provides a control method of an electro-hydrostatic energy system for landing gear and brake, for controlling the electro-hydrostatic energy system for landing gear and brake, including:
constructing a control model of an electro-hydrostatic energy system for landing gear and brake and landing gear actuators 11, left brake actuators 14 and right brake actuators 15;
acquiring detection results of a pressure sensor, a rotation speed sensor and a displacement sensor, and constructing a control system based on the acquired detection results and a control model;
designing a control strategy of a control system, and adopting a three-closed loop type integral saturation resistance PID control method;
the operation of the electro-hydrostatic energy system for landing gear and braking is controlled based on a control strategy.
Specifically, as shown in fig. 7, the control strategy adopts a three-closed-loop PID control mode, wherein the innermost ring is a current ring, the middle is a speed ring, and the outermost ring is a pressure ring; the function of the current loop is mainly: (1) The maximum current is limited, so that the system has enough accelerating torque, and the maximum value of the armature current is limited when the motor 2 is overloaded or even locked, thereby playing a rapid safety protection role; (2) The transfer function of the inner loop control object is modified, so that the rapidity of the system is improved; (3) timely suppressing interference inside the current loop; (4) plays a timely anti-interference role on the power grid voltage; the main function of the speed ring is to improve the anti-interference performance and dynamic performance of the system and inhibit speed fluctuation; the function of the pressure ring is to ensure the static precision and dynamic tracking performance of the system, generate the speed command of the motor 2 and make the motor 2 ready to track, compare the set target pressure with the actual pressure, utilize the deviation thereof to generate the speed command of the motor 2 through the pressure regulator, when the motor 2 is started initially (in a large deviation area), generate the maximum speed command, accelerate the motor 2 and operate at the maximum speed and at the constant speed, and generate the speed command of decreasing the primary and secondary in a small deviation area, and make the motor 2 operate at a reduced speed until the final positioning.
The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described.
Claims (10)
1. An electro-hydrostatic energy system for landing gear and brake, comprising:
an oil tank;
the hydraulic pump comprises two motors and two hydraulic pumps, wherein each motor is connected with one hydraulic pump and used for driving the hydraulic pump, the input end of the hydraulic pump is connected with the oil tank, the output ends of the two hydraulic pumps are respectively connected with a first output pipeline and a second output pipeline, the first output pipeline and the second output pipeline are respectively connected with a left brake pipeline and a right brake pipeline, and the tail ends of the first output pipeline and the second output pipeline are connected with landing gear lifting pipelines;
the first connector of each two-position three-way electromagnetic valve is connected with the landing gear lifting pipeline, the second connector of each two-position three-way electromagnetic valve is connected with one connector of the landing gear actuator through a first electromagnetic switch valve, and the third connector of each two-position three-way electromagnetic valve is connected with the oil tank through an oil discharge pipeline;
the two second electromagnetic switch valves are respectively arranged on the left brake pipeline and the right brake pipeline, and the left brake pipeline and the right brake pipeline are respectively connected with a left brake actuator and a right brake actuator;
the pressure sensor is used for detecting brake pressure information in the left brake pipeline and the right brake pipeline;
the rotating speed sensor is used for detecting rotating speed information of the motor;
the displacement sensor is used for detecting the displacement information of the landing gear actuator;
the speed sensor of the machine wheel is used for detecting the speed information of the machine wheel;
the controller comprises a brake control module and a landing gear control module, wherein the brake control module is used for controlling the rotating speed of the motor and the opening and closing of the first electromagnetic switch valve according to required pressure, pressure information, rotating speed information and speed information, and the landing gear control module is used for controlling the opening and closing of the second electromagnetic switch valve according to displacement information.
2. The electro-hydrostatic energy system for landing gear and braking of claim 1, wherein said motor is a brushless dc motor and said hydraulic pump is a bi-directional fixed displacement pump.
3. An electro-hydrostatic energy system for landing gear and brake according to claim 1, wherein said first and second output lines are each provided with a one-way valve.
4. An electro-hydrostatic energy system for landing gear and brake according to claim 1, wherein said landing gear landing tube is provided with a first safety valve, said first safety valve being connected to said oil tank by a safety tube.
5. The electro-hydrostatic energy system for landing gear and brake of claim 1, wherein a temperature sensor is disposed in the oil tank, an oil tank joint is disposed on one side of the oil tank, a mounting seat is disposed on the top of the oil tank, and the motor, the hydraulic pump, the two-position three-way solenoid valve, the first electromagnetic switch valve, the second electromagnetic switch valve, and the pressure sensor are all disposed on the mounting seat to form at least one cartridge valve group, and a plurality of pipeline joints are disposed on one side of the mounting seat.
6. The electro-hydrostatic energy system for landing gear and brake of claim 1, further comprising an emergency drive structure including an emergency air source, the emergency source being connected with a first emergency line and a second emergency line, the first emergency line being connected with the landing gear actuator for emergency descent of the landing gear, the second emergency line being connected with the left and right brake actuators through a first and a second branch line, respectively.
7. The electro-hydrostatic energy system for landing gear and brake of claim 6, wherein said emergency gas source comprises a gas cylinder, the outlet of said gas cylinder is provided with a first safety relief valve, said first emergency line is connected to said first safety relief valve, and said first emergency line is provided with a first one-way switching valve, said second emergency line is connected to said first emergency line at a location between said safety relief valve and said first one-way switching valve, and said second emergency line is provided with a second one-way switching valve and a second safety relief valve in sequence.
8. An electro-hydrostatic energy system for landing gear and braking as set forth in claim 6, wherein said controller further includes an emergency control module for controlling actuation of said emergency drive mechanism.
9. An electro-hydrostatic energy system for landing gear and braking according to claim 1, further comprising a fault detection unit including a current given channel fault detection module, a motor speed sensor fault detection module, a motor fault detection module, a pressure sensor open circuit fault detection module, and a pressure failure to establish a fault detection module for a long period of time.
10. A control method of an electro-hydrostatic energy system for landing gear and brake, for controlling an electro-hydrostatic energy system for landing gear and brake according to any one of claims 1 to 9, comprising:
constructing a control model of an electro-hydrostatic energy system for landing gear and brake, and landing gear actuators, left brake actuators and right brake actuators;
acquiring detection results of a pressure sensor, a rotation speed sensor and a displacement sensor, and constructing a control system based on the acquired detection results and a control model;
designing a control strategy of a control system, and adopting a three-closed loop type integral saturation resistance PID control method;
and controlling the operation of the electro-hydrostatic energy system for landing gear and brake based on a control strategy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311783066.8A CN117889111A (en) | 2023-12-22 | 2023-12-22 | Electro-hydrostatic energy system for landing gear and brake and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311783066.8A CN117889111A (en) | 2023-12-22 | 2023-12-22 | Electro-hydrostatic energy system for landing gear and brake and control method thereof |
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| Publication Number | Publication Date |
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| CN117889111A true CN117889111A (en) | 2024-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311783066.8A Pending CN117889111A (en) | 2023-12-22 | 2023-12-22 | Electro-hydrostatic energy system for landing gear and brake and control method thereof |
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| Country | Link |
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| CN (1) | CN117889111A (en) |
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2023
- 2023-12-22 CN CN202311783066.8A patent/CN117889111A/en active Pending
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