CN204512079U - A kind of two remaining Electrical hydrostatic actuator - Google Patents
A kind of two remaining Electrical hydrostatic actuator Download PDFInfo
- Publication number
- CN204512079U CN204512079U CN201520060404.XU CN201520060404U CN204512079U CN 204512079 U CN204512079 U CN 204512079U CN 201520060404 U CN201520060404 U CN 201520060404U CN 204512079 U CN204512079 U CN 204512079U
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- eha
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- dsp controller
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Abstract
The utility model is the two remaining Electrical hydrostatic actuator (EHA) of a kind of novel employing based on the novel hydraulic cylinder of single rod hydraulic pressure symmetry principle, primarily of the two identical EHA bodies of cover and a novel series cylinder composition.EHA body comprises dsp controller, power drive unit, DC brushless motor, bilateral servo pump, one-way valve, accumulator, damping bypass valve, safety valve, current sensor, speed probe and pressure transducer; Series cylinder comprises A, B, C, D tetra-chambers, wherein the active area of A chamber is identical with D chamber, the active area of B chamber is identical with C chamber, and B, C two chambers and A, D two chambers are connected with the oil inlet and outlet of upper channel EHA body with lower channel EHA body respectively.Designed two remaining EHA can reduce the volume and weight of existing couple of remaining EHA, and change minimum to existing EHA; Designed novel hydraulic cylinder structure is simple, easy to process, be easy to realize, and has broad application prospects.
Description
Technical field
The present invention relates to a kind of two remaining Electrical hydrostatic actuator, belong to electro-hydraulic servo control and start technical field.
Background technique
Actuating system is an important step of aircraft.Actuating system on present generation aircraft has hydraulic pressure, electric power, air pressure and mechanical actuation system etc. four kinds.Current airborne hydraulic actuating system is in a most widely used mode of flight control method, current aircraft great majority adopt hydraulic pressure as power, and the Comprehensive Control of fax is carried out by flight control computer, control rudder face with operating aircraft, realize the control of flight attitude and track.The performance quality of Aircraft Actuating system will directly affect the overall performance of aircraft.
In order to meet future aircraft to high maneuverability, ultra high speed and high-power future development, plane hydraulic system is just towards high-pressure trend, high-power, pressure changeable, intellectuality, integrated, redundancy future development.But, adopt hydraulic actuation system, because aircraft whole body is covered with hydraulic pipe line, add the gross weight of flight control system, the under fire area of aircraft is increased, causes aircraft war wound survival rate not high; High-pressure trend and high-power, makes the efficiency of conventional airplane hydraulic system become increasingly conspicuous, and then has caused and such as dispel the heat, make the problems such as aircraft fuel oil total efficiency reduction.
Therefore, along with the development of new material, motor technology, control and advanced manufacturing technology etc., just arisen at the historic moment in order to replace the hydraulicdriven power-by-wire technology of power relied at present.Power delivery between so-called power-by-wire refers to by aircraft second energy system to each actuator of actuating system adopts electric lead to complete in the mode of energy transfer.The Aircraft Actuating system of the future aircraft being developing direction with how electric aircraft will mainly adopt power-by-wire actuator, as Electrical hydrostatic actuator (EHA, Electro-Hydrostatic Actuator) and electromechanical actuator (EMA, Electro-Mechanical Actuator) etc.
After adopting power-by-wire actuating system, due to without the hydraulic pipe line spreading all over fuselage, and integrated actuator easily forms fault-tolerant ability, makes aircraft be provided with following advantage:
1) maintenance is good.Be easy to detect, there is very strong built in test ability; Meanwhile, periodic maintenance work also alleviates to some extent.2) reliability is high.Electrical actuation mode easily forms fault-tolerant ability; Eliminate the servovalve of high rate of fault in former hydraulic actuation system.3) viability is strong.In fuselage and wing, do not have the hydraulic tubing of high pressure, there is not the problems such as hydraulic oil is flammable, thus its viability after fight is impaired is strong, also safer.4) take-off weight is alleviated.Adopt electrical actuation mode greatly will save fuel oil, reduce line arrangement, alleviate the cooling burden of aircraft.5) a large amount of cost saving.Reduce the operating cost of aircraft, development expense and lifetime maintenance cost etc.
Typical EHA is primarily of servomotor, oil hydraulic pump and pressurized strut composition, as shown in Figure 1, by motoring oil hydraulic pump, flow system flow is provided, Direct driver pressurized strut, by regulating motor speed and (or) pump delivery to change flow, reach and carry out servo-controlled object to actuator output displacement or speed, the delivery pressure of pump is determined by load, comparatively valve control system, there is not the pressure loss, belong to volume control system, system effectiveness is higher.
When EHA is for driving aircraft master to fly control rudder face, often need it can provide at least two remainings.When set of system breaks down, another set of system can substitute it and put into operation, to ensure flight safety.Existing pair of remaining EHA system generally adopts the two rod symmetrical hydraulic cylinder of series connection, as shown in Figure 2, often overlaps EHA system and is directly connected with two wherein symmetrical oil hydraulic cylinder two chambeies respectively.Piston rod due to this pair of outlet-rod hydraulic cylinder is two-way to be stretched out, and cause it to take up room comparatively large, this is worthless for aircraft.For this problem, existing patent " a kind of two redundancy electro hydraulic servo actuator (CN 102226453 B) " discloses a kind of two redundancy electro hydraulic servo actuators adopting asymmetric asymmetric servo cylinder to connect with symmetric double outlet-rod hydraulic cylinder, devises different oil hydraulic circuits respectively for asymmetric servo cylinder and two outlet-rod hydraulic cylinder.Although such scheme solves the two outlet-rod hydraulic cylinder of series connection and to take up room large problem, structure is relatively complicated.
Summary of the invention
The object of the invention is to propose a kind of novel two remaining Electrical hydrostatic actuator, by the architecture advances to series cylinder, both saved space, structure is simple again, changes minimum again to existing EHA simultaneously.
In order to realize foregoing invention object, present invention employs following technological scheme:
Of the present invention pair of remaining Electrical hydrostatic actuator, mainly comprises two cover identical EHA bodies and a novel series cylinder;
Described EHA body, comprises dsp controller, power drive unit, direct current brushless servo motor, bilateral servo pump, one-way valve, accumulator, damping bypass valve, safety valve, current sensor, speed probe and pressure transducer;
Described series cylinder, comprise A, B, C, D tetra-chambers, wherein the active area of A chamber is identical with D chamber, the active area of B chamber is identical with C chamber, B with C two chambers are connected with the oil inlet and outlet of upper channel EHA body respectively, A with D two chambers are connected with the oil inlet and outlet of lower channel EHA body respectively.
The identical EHA body of two covers constitutes similar pair of remaining of actuator power source, the principle of any one existing EHA can be adopted, as variable speed becomes discharge capacity (VMVP) type, variable speed fixed displacement (VMFP) type, determines rotating speed change discharge capacity (FMVP) type, be hereafter described for variable speed fixed displacement (VMFP) type EHA body.As shown in Figure 3, the dsp controller often overlapping EHA body receives higher level's flight control computer control command respectively, calculates output signal pass to power drive unit by control algorithm.Power drive unit exports corresponding electric power according to input signal to direct current brushless servo motor, regulates the rotating speed of motor and turns to.Actuating motor and then drive bilateral servo pump rotate, and with flow in regulating system, fluid directly enters corresponding oil hydraulic cylinder cavity volume, finally achieves the adjustment to oil hydraulic cylinder outgoing position and speed.Because EHA belongs to closed type hydraulic system, system inner fluid need keep balance, so will arrange one-way valve and accumulator, for draining and the repairing of control system, avoids system to occur air pocket.Damping bypass valve for isolating the connection of this channel hydraulic cylinder and EHA body, with ensure this physical efficiency of this passage EHA smoothly and actuating system depart from, enter servo-actuated state.Safety valve is used for overvoltage protection, can avoid the too high harm caused of system pressure under abnormal state.Various kinds of sensors is used for real-time control and the status monitoring of system.
Dual-redundancy actuator has multiple working state.During normal work, two passages can be operated in " initiatively/initiatively " or " initiatively/servo-actuated " state." initiatively/initiatively " refer to that two passages carry out active adjustment all always continuously.As shown in Figure 3, when hydraulic cylinder piston rod needs to stretch out, upper channel EHA body exports the C chamber of fluid to oil hydraulic cylinder, and lower channel EHA body exports fluid to oil hydraulic cylinder A chamber.When piston rod needs to retract, upper channel EHA body exports the B chamber of fluid to oil hydraulic cylinder, and lower channel EHA body exports fluid to oil hydraulic cylinder D chamber.The concrete size of two channel output values is provided by higher level's remaining computer for controlling, and because the active area of oil hydraulic cylinder two passages is different, the instruction that two EHA bodies receive also is different.When being operated in during " initiatively/servo-actuated " state, some channels operation are under ACTIVE CONTROL, and other channel system normally powers on, but does not export, and oil hydraulic circuit is in bypass state, and fluid flows under the drive of active channels.Relative to " initiatively/initiatively " state, output power about reduces one times, but the Balance route of two passages simplifies a lot.When a certain channel abnormal cisco unity malfunction, redundancy actuator is operated in degrading state, and abnormal passage is in bypass state, no longer exports.Under normal channel is operated in ACTIVE CONTROL mode, drives load, and drive abnormal passage action.
Two EHA bodies under remaining controller and this channel controller, individually or simultaneously with the mode output power of hydraulic energy to oil hydraulic cylinder, oil hydraulic cylinder is responsible for being the load of mechanical energy Direct driver by the hydraulic energy transfer of input.This actuator adopts the oil hydraulic cylinder shown in Fig. 4, has four working oil chambers, can two remaining realize by hydraulic energy to mechanical transformation of energy.Oil hydraulic cylinder have employed novel single rod hydraulic pressure symmetry principle, relative to two remaining series cylinders before, has many advantages.Barrel of Hydraulic Cylinders is divided into the 2 sections of cavity volumes in left and right, and centre separates by stationary barrier, and have the piston that can be free to slide in every section of cavity volume, diameter and the stroke of two pistons are equal.When arbitrary piston is under pressure and drives, all outwards transmit linear function power by piston rod.The inner axis of cylinder barrel has a guide rod, and piston rod is hollow, is enclosed within guide rod and slides, have seal arrangement therebetween, prevents fluid from entering in hollow piston rod.The variable volume cavity of hollow piston rod is communicated with ambient atmosphere, avoids occurring dead space.In physical dimension, guide rod diameter and piston rod extension equal diameters, can ensure that oil hydraulic cylinder A chamber is equal with D chamber active area like this.According to structure and requirement of strength, the diameter of piston rod between two pistons is greater than guide rod diameter, also ensure that the active area in B chamber and C chamber is equal, but active area is less than A chamber and D chamber.The hydraulic fluid port of such two cover EHA bodies is connected with B, C hydraulic fluid port with oil hydraulic cylinder A, D respectively, just achieves the symmetry properties of hydraulic pressure, meets the general designing requirement of EHA.By introducing guide rod structure, while achieving oil hydraulic cylinder preserved symmetry, only has side rod.The output power of two EHA bodies is comprehensively consistent output through oil hydraulic cylinder.
Compared with prior art, the invention has the advantages that: designed two remaining EHA adopt the novel hydraulic cylinder based on single rod hydraulic pressure symmetry principle, can reduce the volume and weight of existing couple of remaining EHA, and change minimum to existing EHA; Designed novel hydraulic cylinder structure is simple, easy to process, is easy to realize.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of typical EHA;
Fig. 2 is the schematic diagram of existing couple of remaining EHA;
Fig. 3 is general principles figure of the present invention;
Fig. 4 is series cylinder structure principle chart of the present invention;
In figure, 1. upper channel EHA body, 2. lower channel EHA body, 3. series cylinder, 4.DSP controller, 5. power drive unit, 6. direct current brushless servo motor, 7. bilateral servo pump, 8. one-way valve, 9. accumulator, 10. damping bypass valve, 11. safety valves, 12. current sensors, 13. speed probes, 14. pressure transducers, 15. displacement transducers, 16. aft mount, 17. afterbody articulated joints, 18. guide rods, 19. cylinder barrels, 20. stationary barriers, 21. piston rods, 22. pistons, 23. head articulated joints.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The present invention is a kind of two remaining Electrical hydrostatic actuator, the oil inlet and outlet of upper channel EHA body 1 is connected with C chamber with the B chamber of series cylinder 3 respectively, the oil inlet and outlet of lower channel EHA body 2 is connected with D chamber with the A chamber of series cylinder 3 respectively, is realized the object regulated outgoing position and the speed of series cylinder 3 by acting in conjunction; The dsp controller 4 often overlapping EHA body 1 or 2 receives the control command of higher level's flight control computer respectively, calculates output signal pass to power drive unit 5 by control algorithm; Power drive unit 5 exports corresponding electric power according to input signal to direct current brushless servo motor 6, regulates the rotating speed of actuating motor 6 and turns to; Actuating motor 6 and then drive bilateral servo pump 7 rotate, with flow in regulating system; Fluid directly enters the cavity volume of corresponding series cylinder 3, finally achieves the adjustment to oil hydraulic cylinder 3 outgoing position and speed.Because EHA belongs to closed type hydraulic system, system inner fluid need keep balance, coming draining and the repairing of control system, avoiding system to occur air pocket by arranging one-way valve 8 and accumulator 9; Damping bypass valve 10 for isolating the connection of this channel hydraulic cylinder 3 and EHA body 1 or 2, with ensure this passage EHA body 1 or 2 can smoothly and oil hydraulic cylinder 3 depart from, make oil hydraulic cylinder 3 can enter servo-actuated state; Safety valve 11, for overvoltage protection, avoids the too high harm caused of system pressure under abnormal state; Current sensor 12, for the operating current of feedback servo motor 6, controls and status monitoring in real time for dsp controller 4; Speed probe 13, for the working speed of feedback servo motor 6, controls and status monitoring in real time for dsp controller 4; Pressure transducer 14, for feeding back the working pressure in the corresponding cavity volume of series cylinder 3, controls and status monitoring in real time for dsp controller 4; Displacement transducer 15, for feeding back the work shift of series cylinder 3, controls and status monitoring in real time for dsp controller 4.
Series cylinder 3 by aft mount 16 and afterbody articulated joint 17 fixing aboard, by head articulated joint 23 with fly to control rudder face and be connected; The cylinder barrel 19 of series cylinder 3 is divided into the 2 sections of cavity volumes in left and right by being positioned at middle stationary barrier 20, has the diameter of piston 22, two pistons 22 that can be free to slide equal with stroke in every section of cavity volume; When arbitrary piston 22 is under pressure and drives, all outwards transmit linear function power by piston rod 21; The inner axis of cylinder barrel 19 has a guide rod 18, piston rod 21 is hollow, is enclosed within guide rod 18 and slides, have seal arrangement therebetween, prevent fluid from entering in hollow piston rod 21; The variable volume cavity of hollow piston rod 21 is communicated with ambient atmosphere, avoids occurring dead space; The diameter of guide rod 18 and the extension equal diameters of piston rod 21, can ensure that the A chamber of series cylinder 3 is equal with D chamber active area like this; The diameter of the piston rod 21 between two pistons 22 is greater than the diameter of guide rod 18, also ensure that the active area in B chamber and C chamber is equal, but its active area is less than A chamber and D chamber; Two cover EHA bodies 1 with 2 hydraulic fluid port be connected with A, D hydraulic fluid port with B, C of series cylinder 3 respectively, achieve the symmetry properties of hydraulic pressure, meet the general designing requirement of EHA; By introducing guide rod 18, while achieving series cylinder 3 preserved symmetry, only has side rod; The output power of two cover EHA bodies 1 and 2 is comprehensively consistent output through series cylinder 3.
Claims (3)
1. pair remaining Electrical hydrostatic actuator, is characterized in that: comprise upper channel EHA body, lower channel EHA body, series cylinder, dsp controller, power drive unit, direct current brushless servo motor, bilateral servo pump, one-way valve, accumulator, damping bypass valve, safety valve, current sensor, speed probe, pressure transducer, displacement transducer;
The oil inlet and outlet of upper channel EHA body is connected with C chamber with the B chamber of series cylinder respectively;
The oil inlet and outlet of lower channel EHA body is connected with D chamber with the A chamber of series cylinder respectively;
The dsp controller often overlapping EHA body receives the control command of higher level's flight control computer respectively, calculates output signal pass to power drive unit by control algorithm;
Power drive unit exports corresponding electric power according to input signal to direct current brushless servo motor, regulates the rotating speed of actuating motor and turns to;
Actuating motor drives bilateral servo pump to rotate, with flow in regulating system;
One-way valve and accumulator are used for the draining of control system and repairing, avoid system to occur air pocket;
Damping bypass valve for isolating the connection of this channel hydraulic cylinder and EHA body, with ensure this physical efficiency of this passage EHA smoothly and oil hydraulic cylinder depart from;
Safety valve is used for overvoltage protection, avoids the too high harm caused of system pressure under abnormal state;
Current sensor is used for the operating current of feedback servo motor, controls in real time and status monitoring for dsp controller;
Speed probe is used for the working speed of feedback servo motor, controls in real time and status monitoring for dsp controller;
Pressure transducer, for feeding back the working pressure in the corresponding cavity volume of series cylinder, controls and status monitoring in real time for dsp controller;
Displacement transducer, for feeding back the work shift of series cylinder, controls and status monitoring in real time for dsp controller.
2. two remaining Electrical hydrostatic actuator as claimed in claim 1, is characterized in that: described series cylinder comprises aft mount, afterbody articulated joint, guide rod, cylinder barrel, stationary barrier, piston rod, piston, head articulated joint;
Series cylinder is fixing aboard by aft mount and afterbody articulated joint, by head articulated joint with fly to control rudder face and be connected;
The cylinder barrel of series cylinder is divided into the 2 sections of cavity volumes in left and right by being positioned at middle stationary barrier, and have the piston that can be free to slide in every section of cavity volume, diameter and the stroke of two pistons are equal;
When arbitrary piston is under pressure and drives, all outwards transmit linear function power by piston rod;
The inner axis of cylinder barrel has a guide rod, and piston rod is hollow, is enclosed within guide rod and slides, have seal arrangement therebetween;
The variable volume cavity of hollow piston rod is communicated with ambient atmosphere, avoids occurring dead space;
The diameter of guide rod and the extension equal diameters of piston rod;
The diameter of the piston rod between two pistons is greater than the diameter of guide rod, equal to ensure the active area in B chamber and C chamber, but its active area is less than A chamber and D chamber.
3. two remaining Electrical hydrostatic actuator as claimed in claim 2, is characterized in that: do not collide with it when the length of the hollow space of described piston rod should ensure that guide rod moves wherein.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520060404.XU CN204512079U (en) | 2015-01-28 | 2015-01-28 | A kind of two remaining Electrical hydrostatic actuator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520060404.XU CN204512079U (en) | 2015-01-28 | 2015-01-28 | A kind of two remaining Electrical hydrostatic actuator |
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| CN204512079U true CN204512079U (en) | 2015-07-29 |
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| CN201520060404.XU Withdrawn - After Issue CN204512079U (en) | 2015-01-28 | 2015-01-28 | A kind of two remaining Electrical hydrostatic actuator |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104595289A (en) * | 2015-01-28 | 2015-05-06 | 北京航空航天大学 | Double-redundancy electro-hydrostatic actuator (EHA) |
| CN105383675A (en) * | 2015-12-29 | 2016-03-09 | 哈尔滨恒誉名翔科技有限公司 | EHA-VPVM drive steering engine system |
| CN106089820A (en) * | 2016-08-23 | 2016-11-09 | 北京航空航天大学 | A kind of based on the structural test loading actuating system along inverse load Discrete control |
| CN106257060A (en) * | 2016-08-10 | 2016-12-28 | 北京航空航天大学 | A kind of dissimilar redundancy electric steering gear |
| CN106337845A (en) * | 2016-09-08 | 2017-01-18 | 北京精密机电控制设备研究所 | Bidirectional electromechanical static pressure control device |
| CN108457926A (en) * | 2018-03-05 | 2018-08-28 | 北京航空航天大学 | Power controls electronic hydrostatic integration pump control asymmetric cylinder actuator |
| CN108506251A (en) * | 2018-03-05 | 2018-09-07 | 北京航空航天大学 | The Electrical hydrostatic actuator of asymmetric pump control asymmetrical cylinder |
| CN108869437A (en) * | 2018-08-22 | 2018-11-23 | 北京精密机电控制设备研究所 | A kind of naval vessel electromechanical static pressure control unit |
| CN109470384A (en) * | 2018-11-08 | 2019-03-15 | 北京精密机电控制设备研究所 | A kind of two-way braking action device power output measurement caliberating device |
| CN111075782A (en) * | 2019-12-25 | 2020-04-28 | 北京空间机电研究所 | Distributed modular dual-redundancy integrated electro-hydraulic servo driving system and method |
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2015
- 2015-01-28 CN CN201520060404.XU patent/CN204512079U/en not_active Withdrawn - After Issue
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104595289A (en) * | 2015-01-28 | 2015-05-06 | 北京航空航天大学 | Double-redundancy electro-hydrostatic actuator (EHA) |
| CN105383675A (en) * | 2015-12-29 | 2016-03-09 | 哈尔滨恒誉名翔科技有限公司 | EHA-VPVM drive steering engine system |
| CN106257060B (en) * | 2016-08-10 | 2020-01-21 | 北京航空航天大学 | Non-similar redundancy electric steering device |
| CN106257060A (en) * | 2016-08-10 | 2016-12-28 | 北京航空航天大学 | A kind of dissimilar redundancy electric steering gear |
| CN106089820A (en) * | 2016-08-23 | 2016-11-09 | 北京航空航天大学 | A kind of based on the structural test loading actuating system along inverse load Discrete control |
| CN106089820B (en) * | 2016-08-23 | 2018-05-25 | 北京航空航天大学 | A kind of structural test based on along inverse load Discrete control loads actuating system |
| CN106337845A (en) * | 2016-09-08 | 2017-01-18 | 北京精密机电控制设备研究所 | Bidirectional electromechanical static pressure control device |
| CN108457926A (en) * | 2018-03-05 | 2018-08-28 | 北京航空航天大学 | Power controls electronic hydrostatic integration pump control asymmetric cylinder actuator |
| CN108506251A (en) * | 2018-03-05 | 2018-09-07 | 北京航空航天大学 | The Electrical hydrostatic actuator of asymmetric pump control asymmetrical cylinder |
| CN108869437A (en) * | 2018-08-22 | 2018-11-23 | 北京精密机电控制设备研究所 | A kind of naval vessel electromechanical static pressure control unit |
| CN109470384A (en) * | 2018-11-08 | 2019-03-15 | 北京精密机电控制设备研究所 | A kind of two-way braking action device power output measurement caliberating device |
| CN109470384B (en) * | 2018-11-08 | 2020-09-18 | 北京精密机电控制设备研究所 | Output force measuring and calibrating device of double-path brake actuator |
| CN111075782A (en) * | 2019-12-25 | 2020-04-28 | 北京空间机电研究所 | Distributed modular dual-redundancy integrated electro-hydraulic servo driving system and method |
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Granted publication date: 20150729 Effective date of abandoning: 20161026 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |