CN117944876A - Active and passive self-adaptive landing gear of carrier-based helicopter and application method thereof - Google Patents
Active and passive self-adaptive landing gear of carrier-based helicopter and application method thereof Download PDFInfo
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- CN117944876A CN117944876A CN202410338119.3A CN202410338119A CN117944876A CN 117944876 A CN117944876 A CN 117944876A CN 202410338119 A CN202410338119 A CN 202410338119A CN 117944876 A CN117944876 A CN 117944876A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000005096 rolling process Methods 0.000 claims abstract description 30
- 230000008569 process Effects 0.000 claims abstract description 19
- 230000008859 change Effects 0.000 claims abstract description 16
- 229910000831 Steel Inorganic materials 0.000 claims description 24
- 239000010959 steel Substances 0.000 claims description 24
- 239000006096 absorbing agent Substances 0.000 claims description 21
- 230000035939 shock Effects 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 2
- 230000003044 adaptive effect Effects 0.000 claims 1
- 230000036544 posture Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
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- 238000006243 chemical reaction Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C2025/325—Alighting gear characterised by elements which contact the ground or similar surface specially adapted for helicopters
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Abstract
The invention belongs to the technical field of helicopter landing gears, and particularly relates to an active and passive self-adaptive landing gear of a carrier-based helicopter and a using method of the active and passive self-adaptive landing gear. The technical proposal is as follows: the device comprises a frame, two driving legs, driven legs, a gyroscope and three laser rangefinders, wherein the two driving legs are respectively and symmetrically arranged on two sides of the front part of the frame, and the driven legs are arranged on the rear part of the frame; the two laser range finders are symmetrically arranged on two sides of the front part of the frame respectively, and the other laser range finders are arranged on the rear part of the frame; the gyroscope is arranged in the middle of the frame. According to the invention, by collecting the attitude information of the ship deck and the helicopter body, the motor is controlled to change the attitude of the driving leg so as to actively adapt to the continuous change of the tilting angle and the rolling angle of the ship deck, and meanwhile, the driven leg can be passively adjusted according to the attitude of the deck plane so as to adapt to the continuous change of the rolling angle of the ship deck, so that the ship-based helicopter body is kept horizontal in the process of landing and mooring the ship deck.
Description
Technical Field
The invention belongs to the technical field of helicopter landing gears, and particularly relates to an active and passive self-adaptive landing gear of a carrier-based helicopter and a using method of the active and passive self-adaptive landing gear.
Background
The sea surface situation is complex and various, so that the inclination angle and the rolling angle of the deck plane of the ship are continuously changed, and the safety and the stability of the ship-based helicopter in the landing and mooring processes are greatly reduced. Traditional helicopter landing gears are mainly divided into two main categories: skid landing gear and wheel landing gear, the most common landing gear is skid landing gear, and the skid landing gear has the advantages of simple design, light structure, convenience in maintenance and the like. Meanwhile, for a large heavy-duty helicopter, the wheeled landing gear is relatively more practical and convenient. However, due to the fixed structure, the landing gear can not be actively adjusted in real time according to landing topography and environment, so that the landing gear has high requirements on landing sites, can not be used for ship decks with continuously changed tilting angles and rolling angles, and can only be used for ship decks with relatively flat land and small shaking amplitude.
Disclosure of Invention
The invention provides an active and passive self-adaptive landing gear of a ship-based helicopter and a use method thereof.
The technical scheme of the invention is as follows:
The active and passive self-adaptive landing gear of the ship-borne helicopter comprises a frame, two active legs, passive legs, a gyroscope and three laser rangefinders, wherein the two active legs are symmetrically arranged on two sides of the front part of the frame respectively, and the passive legs are arranged on the rear part of the frame; the two laser range finders are symmetrically arranged on two sides of the front part of the frame respectively, and the other laser range finders are arranged on the rear part of the frame; the gyroscope is arranged in the middle of the frame.
Further, the active and passive self-adaptive landing gear of the ship-based helicopter, the active leg comprises a motor screw sliding table, a sliding table fixing sheet, a swing arm hinge, an upper swing arm, a lower swing arm, a leg shock absorber, a sliding block connecting hinge and a grounding foot, the motor screw sliding table is fixedly connected with the frame through the sliding table fixing sheet, the swing arm hinge is fixedly connected with the frame, two ends of the upper swing arm and the lower swing arm are respectively hinged with the swing arm hinge and the grounding foot through bearings, one end of the leg shock absorber is hinged with the upper swing arm through bearings, the other end of the leg shock absorber is hinged with the sliding block connecting hinge through bearings, and the sliding block connecting hinge is fixedly connected with the sliding block of the motor screw sliding table.
Further, the landing foot comprises a foot support, a foot rocker arm, a foot hinge, a trundle and a foot shock absorber, one side of the foot support is hinged with the upper swing arm and the lower swing arm through bearings, the other side of the foot support is hinged with one end of the foot rocker arm through bearings, the other end of the foot rocker arm is hinged with the foot hinge through bearings, the trundle is hinged with the foot hinge through bearings, one end of the foot shock absorber is hinged with the foot support through bearings, and the other end of the foot shock absorber is hinged with the foot hinge through bearings.
Further, the carrier-based helicopter active and passive self-adaptive undercarriage, the number of the slipway fixing pieces is 6, and each active leg is fixedly connected with the frame through 3 slipway fixing pieces.
Further, the passive leg comprises a support, a body hinge, a connecting rod, a left buffer, a left swing arm, a left rear foot seat steel pipe, a left ball head supporting leg, a right buffer, a right swing arm, a right rear foot seat steel pipe and a right ball head supporting leg, the support and the body hinge are fixedly connected with the frame, and the middle part of the connecting rod is hinged with the body hinge through a bearing; one end of the left swing arm is hinged with the left side of the support through a bearing, the other end of the left swing arm is fixedly connected with a left rear foot seat steel tube, and a left ball head supporting leg is arranged below the left rear foot seat steel tube; one end of the right swing arm is hinged with the right side of the support through a bearing, the other end of the right swing arm is fixedly connected with a right rear foot seat steel pipe, and a right ball head supporting leg is arranged below the right rear foot seat steel pipe; one end of the left buffer is hinged with the left end of the machine body hinge through a bearing, the other end of the left buffer is hinged with the left swing arm through a bearing, one end of the right buffer is hinged with the right end of the machine body hinge through a bearing, and the other end of the right buffer is hinged with the right swing arm through a bearing.
Further, the active and passive self-adaptive landing gear of the ship-based helicopter is characterized in that a left buffer, a left swing arm, a left rear foot seat steel pipe, a left ball head supporting foot, a right buffer, a right swing arm, a right rear foot seat steel pipe and a right ball head supporting foot are symmetrically arranged relative to the middle surface of the frame.
Further, the carrier-based helicopter active and passive self-adaptive landing gear, the gyroscope and the laser range finder transmit data to the upper computer, and the upper computer controls the motor of the motor screw sliding table to execute actions through the lower computer.
The application method of the active and passive self-adaptive landing gear of the carrier-based helicopter comprises the following steps of:
Step one, when a ship-based helicopter lands on a ship deck, three laser rangefinders detect three measuring points on the ship deck to obtain distances between the three laser rangefinders and the three measuring points in the vertical direction, and measurement information is uploaded to an upper computer; the upper computer calculates the tilting angle and the rolling angle of the deck plane of the ship, deduces the angle of the driving leg to be adjusted, and sends the angle to the lower computer to control the motor of the motor screw sliding table to rotate so as to finish the adjustment of the gesture of the driving leg; in the process of landing the ship deck by the ship-based helicopter, continuously executing the steps until the measured distance of the laser range finder exceeds a threshold value;
Step two, detecting the change of the tilting angle and the rolling angle of the body of the carrier-based helicopter through a gyroscope when the carrier-based helicopter is tethered to the deck of the ship, wherein the carrier-based helicopter and the landing gear thereof are regarded as rigid bodies in the gyroscope detection process, and the change values of the tilting angle and the rolling angle of the body of the carrier-based helicopter are the change values of the plane tilting angle and the rolling angle of the deck of the ship; the gyroscope uploads the information of the change of the tilting angle and the rolling angle to the upper computer, the upper computer deduces the angle of the driving leg to be adjusted and sends the angle to the lower computer to control the motor of the motor screw sliding table to rotate so as to finish the adjustment of the posture of the driving leg, thereby enabling the body of the carrier-based helicopter to be always horizontal in the process of mooring the carrier deck; in the process of mooring the carrier-based helicopter to the ship deck, the steps are continuously executed until the carrier-based helicopter leaves the ship deck.
Further, according to the method for using the active and passive self-adaptive landing gear of the carrier-based helicopter, the attitude of the passive leg is completely dependent on the rolling angle of the deck of the ship, and when the rolling angle of the deck of the ship is determined, the attitude of the passive leg is determined.
The beneficial effects of the invention are as follows:
1. The invention can realize landing and mooring of the ship-based helicopter under complex sea conditions, and can adjust the gesture of the driving leg of the landing gear in real time according to the tilting angle and the rolling angle of the ship-based helicopter so as to adapt to the current ship-based helicopter, thereby keeping the balance of the helicopter body in the landing and mooring process of the ship-based helicopter.
2. The invention adopts the multistage buffer, and can effectively reduce the impact and vibration in the process of landing the ship deck of the ship-based helicopter.
Drawings
FIG. 1 is a schematic view of a passive and active landing gear for a carrier-based helicopter;
FIG. 2 is a schematic diagram of a frame;
FIG. 3 is a schematic diagram of an active leg;
FIG. 4 is a schematic view of a ground engaging foot;
Fig. 5 is a schematic diagram of a passive leg.
Detailed Description
As shown in fig. 1-5, the active-passive self-adaptive landing gear of the ship-borne helicopter comprises a frame 1, two active legs 2, passive legs 3, a gyroscope 5 and three laser rangefinders 4, wherein the two active legs 2 are symmetrically arranged on two sides of the front part of the frame 1 respectively, and the passive legs 3 are arranged on the rear part of the frame 1; wherein two laser rangefinders 4 are symmetrically arranged on two sides of the front part of the frame 1 respectively, and the other laser rangefinder 4 is arranged on the rear part of the frame 1; the gyroscope 5 is arranged in the middle of the frame 1, and can accurately measure the current tilting angle and the rolling angle of the carrier-based helicopter body.
The driving leg 2 comprises a motor lead screw sliding table 7, a sliding table fixing sheet 6, a swing arm hinge 8, an upper swing arm 9, a lower swing arm 10, a leg shock absorber 12, a sliding block connecting hinge 11 and a grounding foot 13, wherein the motor lead screw sliding table 7 is fixedly connected with the frame 1 through the sliding table fixing sheet 6, the swing arm hinge 8 is fixedly connected with the frame 1, two ends of the upper swing arm 9 and the lower swing arm 10 are respectively hinged with the swing arm hinge 8 and the grounding foot 13 through bearings, one end of the leg shock absorber 12 is hinged with the upper swing arm 9 through bearings, the other end of the leg shock absorber is hinged with the sliding block connecting hinge 11 through bearings, and the sliding block connecting hinge 11 is fixedly connected with a sliding block of the motor lead screw sliding table 7; the leg shock absorbers 12 are used for buffering the reaction force generated by the landing foot 13 on the driving leg 2 in the landing or mooring process of the carrier-based helicopter, so that the safety and stability of the landing gear are improved.
The landing foot 13 comprises a foot support 14, a foot rocker arm 15, a foot hinge 16, a caster 18 and a foot shock absorber 17, wherein one side of the foot support 14 is hinged with the upper swing arm 9 and the lower swing arm 10 through bearings, the other side of the foot support is hinged with one end of the foot rocker arm 15 through bearings, the other end of the foot rocker arm 15 is hinged with the foot hinge 16 through bearings, the caster 18 is hinged with the foot hinge 16 through bearings, one end of the foot shock absorber 17 is hinged with the foot support 14 through bearings, and the other end of the foot shock absorber is hinged with the foot hinge 16 through bearings. The number of the sliding table fixing pieces 6 is 6, and each driving leg 2 is fixedly connected with the frame 1 through 3 sliding table fixing pieces 6; the foot shock absorber 17 can buffer the reaction force born by the truckle 18 in the landing or mooring process of the carrier-based helicopter, and the truckle 18 is hinged to the foot hinge 16, so that the landing gear can move conveniently.
The passive leg 3 comprises a support 19, a body hinge 20, a connecting rod 21, a left buffer 25, a left swing arm 22, a left rear foot seat steel pipe 23, a left ball head supporting leg 24, a right buffer 29, a right swing arm 26, a right rear foot seat steel pipe 27 and a right ball head supporting leg 28, wherein the support 19 and the body hinge 20 are fixedly connected with the frame 1, and the middle part of the connecting rod 21 is hinged with the body hinge 20 through a bearing; one end of the left swing arm 22 is hinged with the left side of the support 19 through a bearing, the other end of the left swing arm 22 is fixedly connected with a left rear foot seat steel pipe 23, and a left ball head supporting leg 24 is arranged below the left rear foot seat steel pipe 23; one end of the right swing arm 26 is hinged with the right side of the support 19 through a bearing, the other end of the right swing arm 26 is fixedly connected with a right rear foot seat steel tube 27, and a right ball head supporting leg 28 is arranged below the right rear foot seat steel tube 27; one end of the left buffer 25 is hinged with the left end of the machine body hinge 20 through a bearing, the other end of the left buffer 29 is hinged with the left swing arm 22 through a bearing, one end of the right buffer 29 is hinged with the right end of the machine body hinge 20 through a bearing, and the other end of the right buffer 29 is hinged with the right swing arm 26 through a bearing; the left bumper 25, the left swing arm 22, the left rear foot rest steel pipe 23, the left ball foot 24, the right bumper 29, the right swing arm 26, the right rear foot rest steel pipe 27 and the right ball foot 28 are symmetrically arranged about the middle surface of the frame 1.
The gyroscope 5 and the laser range finder 4 transmit data to an upper computer, and the upper computer controls a motor of the motor lead screw sliding table 7 to execute actions through a lower computer.
In order to ensure that the ship-borne helicopter is kept in a horizontal state in the landing and mooring deck process, the planes formed by the four lowest points of the two landing feet 13, the left ball head supporting foot 24 and the right ball head supporting foot 28 are consistent with the tilting angles and the rolling angles of the landing and mooring deck planes of the ship-borne helicopter by adjusting the postures of the driving leg 2 and the driven leg 3, so that the ship-borne helicopter body is horizontal (the tilting angles and the rolling angles measured by the gyroscope 5 are 0 degrees).
The frame 1 is composed of an aluminum profile, die-casting corner aluminum, a connecting plate, T-shaped nuts, bolts and the like; because the frame 1 is directly and tightly connected with the carrier-based helicopter body, the tilting angle and the rolling angle of the frame 1 are consistent with those of the carrier-based helicopter body.
The freedom degree of the driving leg 2 is 1, and when the motor of the motor screw sliding table 7 rotates to drive the sliding block of the motor screw sliding table 7 to move, the upper swing arm 9, the lower swing arm 10 and the leg shock absorber 12 have unique movement corresponding to the movement; thus, the attitude of the active leg 2 can be controlled by controlling the rotation of the motor.
The degree of freedom of the landing foot 13 is 0, the landing foot 13 depends on the position of the foot support 14, and when the positions of the upper swing arm 9 and the lower swing arm 10 are fixed, the elevation angle and the rolling angle of the ship deck are fixed, and the posture of the landing foot 13 is fixed.
The application method of the active and passive self-adaptive landing gear of the carrier-based helicopter comprises the following steps of:
Step one, when a ship-based helicopter lands on a ship deck, three laser rangefinders 4 detect three measuring points on the ship deck to obtain distances between the three laser rangefinders 4 and the three measuring points in the vertical direction, and the measuring information is uploaded to an upper computer; the upper computer calculates the tilting angle and the rolling angle of the deck plane of the ship, deduces the angle to be adjusted of the driving leg 2, and sends the angle to the lower computer to control the motor of the motor screw sliding table 7 to rotate so as to finish the adjustment of the posture of the driving leg 2; in the process of landing the ship deck by the ship-based helicopter, continuously executing the steps until the distance measured by the laser range finder 4 exceeds a threshold value;
Step two, detecting the change of the tilting angle and the rolling angle of the body of the carrier-based helicopter through the gyroscope 5 when the carrier-based helicopter is tethered to the ship deck, wherein the carrier-based helicopter and the landing gear thereof are regarded as rigid bodies in the detection process of the gyroscope 5, and the change values of the tilting angle and the rolling angle of the body of the carrier-based helicopter are the change values of the plane tilting angle and the rolling angle of the ship deck; the gyroscope 5 uploads the information of the change of the tilting angle and the rolling angle to the upper computer, the upper computer deduces the angle of the driving leg 2 to be adjusted and sends the angle to the lower computer to control the motor of the motor screw sliding table 7 to rotate so as to finish the adjustment of the posture of the driving leg 2, thereby enabling the body of the carrier-based helicopter to be always horizontal in the process of mooring the carrier deck; in the process of mooring the carrier-based helicopter to the ship deck, the steps are continuously executed until the carrier-based helicopter leaves the ship deck.
The attitude of the passive leg 3 is completely dependent on the roll angle of the ship deck, and when the roll angle of the ship deck is determined, the attitude of the passive leg 3 is determined.
According to the mathematical geometry principle, a three-dimensional model of the ship deck plane under the landing gear coordinate system is established, and then the inclination angle and the rolling angle of the ship deck plane are obtained. The tilting angle and the rolling angle of the deck plane of the ship are the tilting angle and the rolling angle which are needed to be achieved by the landing gear supporting plane (the center of the connecting line of the two driving legs 2 and the connecting line center of the coupling driven legs 3 and the plane formed by three points). Then, according to the mathematical geometry, the ideal posture to be realized by the centers of the two active legs 2 is calculated. Then, according to a formula established by the mechanical structure of the landing gear, the position of the driving leg 2, which is required to be positioned under the control of the sliding block and the screw of the motor screw sliding table 7, is deduced, namely, the angle of the sliding block and the screw of the motor screw sliding table 7, which are required to be displaced, is obtained, and accordingly, the angle of the motor, which is required to be rotated, is deduced. After that, the number of pulses to be input to the motor is obtained according to the angle at which the motor needs to rotate. After the calculation of the pulse number is completed, the modification of the program is automatically completed, and the program is sent to a lower computer, so that the adjustment of the position of the active leg 2 is realized, and finally the whole closed-loop control is completed. Due to a plurality of complex environmental conditions on the sea surface, the deck gesture of the ship is continuously changed before the carrier-based helicopter finishes landing, and the landing gear gesture is required to be modified in real time to continuously adapt to the change of the deck gesture until the carrier-based helicopter finishes landing.
Claims (8)
1. The active and passive self-adaptive landing gear of the ship-based helicopter is characterized by comprising a frame, two active legs, two passive legs, a gyroscope and three laser rangefinders, wherein the two active legs are symmetrically arranged on two sides of the front part of the frame respectively, and the passive legs are arranged on the rear part of the frame; the two laser range finders are symmetrically arranged on two sides of the front part of the frame respectively, and the other laser range finders are arranged on the rear part of the frame; the gyroscope is arranged in the middle of the frame.
2. The ship-based helicopter active-passive self-adaptive landing gear according to claim 1, wherein the active leg comprises a motor screw sliding table, a sliding table fixing sheet, a swinging arm hinge, an upper swinging arm, a lower swinging arm, a leg shock absorber, a sliding block connecting hinge and a landing foot, the motor screw sliding table is fixedly connected with the frame through the sliding table fixing sheet, the swinging arm hinge is fixedly connected with the frame, two ends of the upper swinging arm and the lower swinging arm are respectively hinged with the swinging arm hinge and the landing foot through bearings, one end of the leg shock absorber is hinged with the upper swinging arm through bearings, the other end of the leg shock absorber is hinged with the sliding block connecting hinge through bearings, and the sliding block connecting hinge is fixedly connected with the sliding block of the motor screw sliding table.
3. The passive and active landing gear of claim 2, wherein the landing leg comprises a leg support, a leg rocker arm, a leg hinge, a caster and a leg shock absorber, one side of the leg support is hinged to the upper and lower swing arms through bearings, the other side is hinged to one end of the leg rocker arm through bearings, the other end of the leg rocker arm is hinged to the leg hinge through bearings, the caster is hinged to the leg hinge through bearings, one end of the leg shock absorber is hinged to the leg support through bearings, and the other end of the leg shock absorber is hinged to the leg hinge through bearings.
4. The passive and active landing gear of claim 2, wherein the number of slip fastening tabs is 6, and each active leg is fastened to the frame by 3 slip fastening tabs.
5. The passive and active landing gear of claim 2, wherein the passive leg comprises a support, a body hinge, a connecting rod, a left bumper, a left swing arm, a left rear foot rest steel pipe, a left ball foot, a right bumper, a right swing arm, a right rear foot rest steel pipe and a right ball foot rest, the support and the body hinge are fixedly connected with the frame, and the middle part of the connecting rod is hinged with the body hinge through a bearing; one end of the left swing arm is hinged with the left side of the support through a bearing, the other end of the left swing arm is fixedly connected with a left rear foot seat steel tube, and a left ball head supporting leg is arranged below the left rear foot seat steel tube; one end of the right swing arm is hinged with the right side of the support through a bearing, the other end of the right swing arm is fixedly connected with a right rear foot seat steel pipe, and a right ball head supporting leg is arranged below the right rear foot seat steel pipe; one end of the left buffer is hinged with the left end of the machine body hinge through a bearing, the other end of the left buffer is hinged with the left swing arm through a bearing, one end of the right buffer is hinged with the right end of the machine body hinge through a bearing, and the other end of the right buffer is hinged with the right swing arm through a bearing.
6. The passive and active landing gear of claim 5, wherein the left bumper, the left swing arm, the left rear foot mount steel tube, the left ball foot and the right bumper, the right swing arm, the right rear foot mount steel tube, the right ball foot are symmetrically arranged about a mid-plane of the frame.
7. The passive and active landing gear of any of claims 2-6, wherein the gyroscope and the laser range finder transmit data to an upper computer, and the upper computer controls the motor of the motor screw sliding table to perform actions through a lower computer.
8. The method of using a passive and active adaptive landing gear of a helicopter on board of claim 7, comprising the steps of:
Step one, when a ship-based helicopter lands on a ship deck, three laser rangefinders detect three measuring points on the ship deck to obtain distances between the three laser rangefinders and the three measuring points in the vertical direction, and measurement information is uploaded to an upper computer; the upper computer calculates the tilting angle and the rolling angle of the deck plane of the ship, deduces the angle of the driving leg to be adjusted, and sends the angle to the lower computer to control the motor of the motor screw sliding table to rotate so as to finish the adjustment of the gesture of the driving leg; in the process of landing the ship deck by the ship-based helicopter, continuously executing the steps until the measured distance of the laser range finder exceeds a threshold value;
Step two, detecting the change of the tilting angle and the rolling angle of the body of the carrier-based helicopter through a gyroscope when the carrier-based helicopter is tethered to the deck of the ship, wherein the carrier-based helicopter and the landing gear thereof are regarded as rigid bodies in the gyroscope detection process, and the change values of the tilting angle and the rolling angle of the body of the carrier-based helicopter are the change values of the plane tilting angle and the rolling angle of the deck of the ship; the gyroscope uploads the information of the change of the tilting angle and the rolling angle to the upper computer, the upper computer deduces the angle of the driving leg to be adjusted and sends the angle to the lower computer to control the motor of the motor screw sliding table to rotate so as to finish the adjustment of the posture of the driving leg, thereby enabling the body of the carrier-based helicopter to be always horizontal in the process of mooring the carrier deck; in the process of mooring the carrier-based helicopter to the ship deck, the steps are continuously executed until the carrier-based helicopter leaves the ship deck.
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| CN202410338119.3A CN117944876B (en) | 2024-03-25 | 2024-03-25 | Active and passive self-adaptive landing gear of carrier-based helicopter and application method thereof |
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