JP2018154278A - Control apparatus and landing gear hoist unit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control apparatus capable of reducing a cost by reducing the number of sensors and simplifying a structure, even when controlling a linear actuator on the basis of stroke displacement of the linear actuator, and a landing gear hoist unit.SOLUTION: A control apparatus C, which controls a linear actuator 1 for lifting/lowering a landing gear L, on the basis of stroke displacement of the linear actuator 1, detected by a stroke sensor 10, drives the linear actuator 1 in the direction of lowering the landing gear L when the landing gear L reaches a storage position to be held by a latch device R, in the storage of the landing gear R, and determines whether or not the landing gear L is held by the latch device R, on the basis of the stroke displacement detected after that.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a control device that controls a linear actuator that raises and lowers a landing gear of an aircraft to store and deploy, and an improvement of a landing gear lifting device that includes the control device.

  Conventionally, some aircraft have landing gears (also referred to as front legs or main legs) that can be stored in the aircraft. When storing the landing gear, the landing gear is raised to the storage position by an actuator such as a linear actuator, and the landing gear is held by the latch device, and the landing gear is securely locked (for example, Patent Document 1). Thus, the fact that the landing gear is locked by the latch device is detected by a sensor provided in the latch device.

JP 2003-252296 A

  When the landing gear is stored as described above, it is preferable to reduce the rising speed when the landing gear is raised close to the storage position in order to prevent the landing gear from strikingly colliding with the latch device.

  As described above, there are various methods for decelerating the rising speed of the landing gear in the vicinity of the retracted position. However, when the stroke displacement of the linear actuator is detected by the stroke sensor and the linear actuator is to be controlled by the control device based on the stroke displacement. In addition to the sensor for detecting the lock by the conventional latch device, it is necessary to provide a stroke sensor.

  In an apparatus in an aircraft, high reliability is required, and when performing automatic control using a sensor, it is common to provide redundant sensors. For this reason, if the stroke sensors are increased and each sensor is provided redundantly as described above, the number of sensors increases, the structure becomes complicated, and the cost increases. Therefore, when a stroke sensor is provided, it is preferable to reduce other sensors such as sensors in the latch device.

  However, the provision of the stroke sensor cannot simply eliminate the sensor in the latch device. This is because the sensor in the latch device can directly detect that the landing gear is locked, so that the lock can be detected reliably, but the stroke sensor detects the stroke displacement of the linear actuator. Even if it can be calculated from the stroke displacement that the landing gear is in the retracted position (position held by the latch device), there is no confirmation that the landing gear is held by the latch device, and the latch device is landing. This is because it is impossible to deny the unexpected situation of failing to grab the gear.

  Therefore, the present invention provides a control device and a landing gear lifting device that can reduce the number of sensors, simplify the structure, and reduce the cost even when controlling the linear actuator based on the stroke displacement of the linear actuator. Objective.

  In the control device that solves the above problem, when the landing gear is stored by controlling the linear actuator based on the stroke displacement, the landing gear is moved downward when the landing gear reaches the storage position held by the latch device. The linear actuator is driven, and it is determined whether or not the landing gear is held by the latch device based on the stroke displacement detected thereafter.

  Therefore, according to the control device, the landing gear is actually held in the latch device from the stroke displacement of the linear actuator without directly detecting that the landing gear is held in the latch device by the sensor provided in the latch device. Since it can be confirmed, the sensor in the latch device can be made unnecessary. Further, since the stroke displacement of the linear actuator can be detected, for example, the linear actuator can be controlled based on the stroke displacement to reduce the rising speed of the landing gear near the storage position.

  Further, in the control device, when it is determined that the landing gear is lowered from the retracted position due to the stroke displacement of the linear actuator detected after the linear actuator is driven in the direction in which the landing gear is lowered, The landing gear may be raised again by the linear actuator.

  As described above, when the landing gear is lowered from the retracted position after driving the linear actuator in the landing gear retracting direction in the landing gear retracting process, it can be determined that the landing gear is not held by the latch device. Therefore, according to the control device, when it is determined that the landing gear is not held by the latch device, the landing gear can be raised again by the actuator and the latch device can be retried to hold the landing gear.

  In the control device, when it is determined that the landing gear is in the retracted position by the stroke displacement of the linear actuator detected after driving the linear actuator in a direction in which the landing gear is lowered, The driving of the linear actuator may be stopped.

  As described above, in the landing gear retracting process, when the landing gear is maintained at the retracted position after the linear actuator is driven in the direction of lowering the landing gear, it can be determined that the landing gear is retained by the latch device. Therefore, according to the control device, when it is determined that the landing gear is held by the latch device, the linear actuator can be stopped and the driving of the landing gear can be stopped.

  Moreover, in the said control apparatus, it is good for the thrust of the said linear actuator at the time of driving the said linear actuator to the direction which lowers the said landing gear to be smaller than a rated thrust. In this case, even when the linear actuator is driven in the direction in which the landing gear is lowered while the landing gear is held by the latch device, the load on the landing gear, the latch device, and the linear actuator becomes excessive. Can be prevented.

  In the control device, when the landing gear reaches a predetermined region in the vicinity of the storage position, the rising speed of the landing gear by the linear actuator may be reduced. If it does in this way, it can prevent that a landing gear collides with a latch apparatus vigorously.

  Moreover, the said control apparatus is good to be utilized for the landing gear raising / lowering apparatus. Specifically, the landing gear elevating device raises and lowers the landing gear to store and deploy the landing gear, a stroke sensor that detects a stroke displacement of the linear actuator, and the control that controls the linear actuator And a device.

  According to the landing gear lifting / lowering device, the landing gear is latched from the stroke displacement of the linear actuator detected by the stroke sensor without directly detecting that the landing gear is held by the latch device by the sensor provided in the latch device. Since it can confirm that it was actually hold | maintained at the apparatus, the sensor in a latch apparatus can be made unnecessary. Further, since the stroke sensor is provided, the rising speed of the landing gear near the retracted position can be reduced by controlling the linear actuator based on the stroke displacement of the linear actuator detected by the stroke sensor.

  According to the control device and the landing gear lifting / lowering device of the present invention, even when the linear actuator is controlled based on the stroke displacement of the linear actuator, the number of sensors can be reduced, the structure can be simplified, and the cost can be reduced.

It is a conceptual diagram which shows the landing gear raising / lowering apparatus provided with the control apparatus which concerns on one embodiment of this invention. It is a flowchart which shows the control flow of the linear actuator by the control apparatus which concerns on one embodiment of this invention in landing gear storing process.

  Embodiments of the present invention will be described below with reference to the drawings. The same reference numerals used throughout the several drawings indicate the same parts.

  A control device C according to an embodiment of the present invention shown in FIG. 1 is used for a landing gear lifting device A for lifting and lowering a retractable landing gear L in an aircraft to store and deploy it.

  Specifically, the landing gear lifting device A includes a linear actuator 1 that drives the landing gear L, a stroke sensor 10 that detects the stroke displacement of the linear actuator 1, and the linear actuator 1 based on the stroke displacement detected by the stroke sensor 10. And the above-mentioned control device C for controlling.

  The landing gear L includes a wheel W and a shock absorber D that holds the wheel W at the tip and reduces an impact at the time of landing. The end of the shock absorber D is pin-bonded to the airframe, and the landing gear L can be swung up and down with respect to the airframe to be stored and deployed in the airframe.

  Specifically, when the landing gear L in the present embodiment is stored in the airframe, the landing gear L is rotated counterclockwise in FIG. When the landing gear L rises to the retracted position, the latch device R holds the landing gear L and locks it so as not to descend. FIG. 1 shows a state where the landing gear L in the retracted position is held by the latch device R.

  On the other hand, when the landing gear L in the present embodiment is deployed, first, the lock by the latch device R is released, and the landing gear L is rotated clockwise by the linear actuator 1 in FIG.

  The linear actuator 1 that drives the landing gear L is an electric hydraulic actuator in the present embodiment. The linear actuator 1 includes a cylinder device 2, a pump 3 that supplies liquid such as hydraulic oil into the cylinder device 2 to expand and contract the cylinder device 2, and a reservoir 4.

  Between the cylinder device 2, the pump 3, and the reservoir 4, there are provided passages such as a circulation passage 5a and a reservoir passage 5b, which will be described in detail later, and these constitute a hydraulic circuit.

  The cylinder device 2 includes a cylinder 20, a piston 21 slidably inserted into the cylinder 20, and a rod 22 having one end connected to the piston 21 and the other end protruding outside the cylinder 20. It is a type. When the rod 22 enters and exits the cylinder 20, the cylinder device 2 expands and contracts, and the linear actuator 1 expands and contracts.

  The cylinder 20 is partitioned by a piston 21 into a rod side chamber 23 and a piston side chamber 24, and the rod side chamber 23 and the piston side chamber 24 are filled with liquid, respectively. The rod side chamber 23 and the piston side chamber 24 are communicated with each other by a circulation passage 5a, and the pump 3 is provided in the middle of the circulation passage 5a.

  The pump 3 is a bidirectional discharge hydraulic pump that can rotate forward and backward, and is driven by an electric motor 30. Then, the discharge direction of the pump 3 can be switched by forward / reverse rotation of the motor 30, and liquid can be sent from the piston side chamber 24 to the rod side chamber 23, or liquid can be sent from the rod side chamber 23 to the piston side chamber 24.

  In addition, a reservoir passage 5b communicating with the reservoir 4 is connected to both sides of the pump 3 in the circulation passage 5a. A low pressure priority shuttle valve 6 is provided in the middle of the reservoir passage 5 b, and the low pressure priority shuttle valve 6 communicates the low pressure side chamber of the rod side chamber 23 and the piston side chamber 24 to the reservoir 4. The reservoir 4 is filled with liquid and compressed gas. The reservoir 4 compensates the volume of the rod 22 entering and exiting the cylinder 20 and can pressurize the hydraulic circuit.

  In this embodiment, the cylinder 20 is pin-bonded to the airframe and the rod 22 is pin-bonded to the landing gear L. When the linear actuator 1 is extended, the landing gear L is lowered and the linear actuator 1 is contracted. As a result, the landing gear L is raised.

  In addition, the structure of the linear actuator 1 can be changed suitably. For example, when the linear actuator is an electro-hydraulic actuator as in the present embodiment, the cylinder device 2 may be a double rod type, and the pump 3 is a one-way discharge type and receives hydraulic pressure supply from the pump. The room may be switched by a switching valve. The linear actuator 1 may be an electric actuator. In this case, the electric actuator may use a feed screw mechanism, or may move the field and the armature relative to each other in the axial direction.

  Subsequently, the stroke sensor 10 attached to the linear actuator 1 can detect the movement amount of the rod 22 with respect to the cylinder 20 in this embodiment, and can detect the stroke displacement (shrinkage amount) from the maximum extension of the linear actuator 1. .

  When the stroke displacement of the linear actuator 1 is detected by the stroke sensor 10, the position of the landing gear L can be uniquely determined from the stroke displacement. For this reason, when the stroke displacement of the linear actuator 1 is detected by the stroke sensor 10, the position of the landing gear L at the time of the detection is known.

  That is, the position of the landing gear L and the stroke displacement of the linear actuator 1 have a one-to-one relationship. Therefore, when it is desired to move the landing gear L to a certain position, the linear actuator 1 may be stroked so that the stroke displacement of the linear actuator 1 corresponding to that position becomes the target displacement. Therefore, the stroke sensor 10 may detect the position of the landing gear L in addition to the one that directly detects the stroke displacement of the linear actuator 1.

  In the present embodiment, the control device C that controls the linear actuator 1 based on the stroke displacement detected by the stroke sensor 10 is a controller that controls the rotation speed and rotation direction of the motor 30 that drives the pump 3.

  Then, the control device C rotates the motor 30 forward and backward to switch the discharge direction of the pump 3 to contract the linear actuator 1 and raise the landing gear L, or extend the linear actuator 1 and extend the landing gear L. Can be lowered. Further, when the number of rotations of the motor 30 is increased or decreased by the control device C, the expansion / contraction speed of the linear actuator can be changed, and the rising / lowering speed of the landing gear L can be changed.

  Hereinafter, the operation of the landing gear lifting apparatus A according to the present embodiment will be described.

  In the landing gear elevating device A of the present embodiment, the linear actuator 1 supports the weight of the landing gear L that is going to descend due to gravity. And the load from the landing gear L side acts in the direction which extends the linear actuator 1, and the rod side chamber 23 is pressurized by the said load.

  When deploying the landing gear L, the motor 30 is rotated by the pressure in the rod side chamber 23 to which a load from the landing gear L side is applied, and the liquid is supplied from the rod side chamber 23 to the piston side chamber 24. Then, the pressure in the rod side chamber 23 becomes lower than the holding pressure of the landing gear L, and the piston side chamber 24 on the low pressure side is communicated with the reservoir 4 by the low pressure priority shuttle valve 6. Therefore, the pressure of the piston side chamber 24 is maintained at the pressure of the reservoir 4 (hereinafter referred to as the reservoir pressure). On the other hand, the pressure in the rod side chamber 23 to which a load from the landing gear L side is applied is maintained near the holding pressure of the landing gear L and is higher than the reservoir pressure.

  The load from the landing gear L side moves the piston 21 to the left side in FIG. 1, pulls the rod 22 out of the cylinder 20, and acts in a direction to extend the linear actuator 1. As described above, when the motor 30 is rotated by the pressure of the liquid from the rod side chamber 23 toward the piston side chamber 24, the pump 3 functions as a hydraulic motor, and the motor 30 functions as a generator to regenerate energy. Do. That is, as described above, when liquid is supplied to the piston side chamber 24, thrust in a direction (shrinkage direction) that prevents extension by the linear actuator 1 is generated, and the linear actuator 1 extends while braking the landing gear L. The gear L is lowered.

  Further, when the linear actuator 1 is extended, the liquid corresponding to the volume of the rod 22 withdrawn from the cylinder 20 moves from the reservoir 4 to the circulation passage 5a through the reservoir passage 5b. Therefore, the volume of the rod 22 entering the cylinder 20 is compensated by the reservoir 4.

  Then, as described above, the linear actuator 1 is extended to lower the landing gear L to a predetermined position (deployment position).

  On the other hand, when storing the landing gear L, the motor 30 is rotated forward by energization of the motor 30 and the pump 3 is driven so as to supply the liquid to the rod side chamber 23. Then, the pressure in the rod side chamber 23 becomes higher than the holding pressure of the landing gear L, and the piston side chamber 24 on the low pressure side is communicated with the reservoir 4 by the low pressure priority shuttle valve 6. Therefore, the pressure in the piston side chamber 24 is maintained at the reservoir pressure. On the other hand, as the load from the landing gear L side is applied, the pressure in the rod side chamber 23 that receives the liquid supply from the pump 3 rises and becomes higher than the reservoir pressure.

  The pressure in the rod side chamber 23 acts to move the piston 21 to the right side in FIG. 1, draw the rod 22 into the cylinder 20, and contract the linear actuator 1. For this reason, even when the pump 3 is driven so as to supply the liquid to the rod side chamber 23 by the motor 30, thrust in the contraction direction is generated by the linear actuator 1, and the linear actuator 1 contracts while pulling up the landing gear L.

  Thus, when the linear actuator 1 contracts, the liquid for 22 volumes of the rod that has entered the cylinder 20 moves from the circulation passage 5a to the reservoir 4 through the reservoir passage 5b. Therefore, the volume of the rod 22 that retreats from the cylinder 20 is compensated by the reservoir 4.

  When the landing gear L is stored and the landing gear L is away from the storage position (position held by the latch device R), the linear actuator 1 moves the landing gear L to the normal speed. Raise with. However, when the landing gear L is in the vicinity of the retracted position, the rotational speed of the motor 30 is reduced and the rising speed of the landing gear L by the linear actuator 1 is reduced.

  When the landing gear L reaches the storage position, the motor 30 is rotated in the reverse direction, and the linear actuator 1 is driven in a direction in which the landing gear L is once lowered. Even if the linear actuator 1 is driven in this way, if the landing gear L is held by the latch device R and is normally locked, the lowering of the landing gear L should be prevented by the latch device R.

  For this reason, when the position of the landing gear L after driving the linear actuator 1 in the lowering direction of the landing gear L is in the retracted position, the landing gear L is held by the latch device R and is normally locked. That's what it means.

  On the other hand, when the position of the landing gear L after driving the linear actuator 1 in the direction to lower the landing gear L is lowered from the storage position, the landing gear L is not held by the latch device R and is not locked. That's what it means. Therefore, in this case, the landing gear L is raised again by the linear actuator 1, and the operations after the landing gear L reaches the storage position are repeated.

  By operating these series of linear actuators 1, the landing gear L can be held by the latch device R, and it can be confirmed that it has been securely locked. Further, as described above, when the landing gear L is in the vicinity of the retracted position, the rising speed of the landing gear L by the linear actuator 1 is reduced, so that the landing gear L reaches the retracted position and is held by the latch device R. The landing gear L can be prevented from colliding with the latch device R vigorously.

  Next, control of the linear actuator 1 by the control device C for driving the landing gear L in this way will be described according to the flowchart shown in FIG.

  In step S1, the control device C determines whether or not the landing gear L is near the retracted position from the stroke displacement of the linear actuator 1 detected by the stroke sensor 10, and determines that the landing gear L is near the retracted position. If so, the process proceeds to step S2, and if not, the process proceeds to step S3.

  Specifically, the stroke displacement of the linear actuator 1 detected by the stroke sensor 10 is the displacement X1, and when the landing gear L reaches a predetermined region where the landing gear L near the storage position should be decelerated, it corresponds to the position. The stroke displacement of the linear actuator 1 is set as the target displacement E1. When the displacement X1 is equal to or greater than the target displacement E1 (X1 ≧ E1), it is determined that the landing gear L is in the vicinity of the storage position. On the other hand, if the displacement X1 is less than the target displacement E2 (X1 <E1), it is determined that the landing gear L is not near the retracted position.

  Note that a predetermined area near the storage position where the landing gear L is decelerated, that is, an area to be determined as the vicinity of the storage position, can be appropriately set according to the inertial mass of the landing gear L and the like. By setting the area, it is only necessary to prevent the landing gear L from strikingly colliding with the latch device R when being held by the latch device R and sufficiently reducing the impact when being held by the latch device R.

  Subsequently, in steps S2 and S3, the control device C drives the pump 3 so as to forwardly rotate the motor 30 by energization and supply the liquid to the rod side chamber 23, and contracts the linear actuator 1 to make the landing gear. Increase L. In step S <b> 2, the control device C decreases the rotational speed of the motor 30 to reduce the contraction speed of the linear actuator 1 and decelerates the rising speed of the landing gear L. On the other hand, in step S3, the control device C maintains the rotation speed of the motor 30 at a normal rotation speed, contracts the linear actuator 1 at a normal speed, and quickly raises the landing gear L.

  Subsequently, when the process proceeds to step S4, the control device C determines whether the landing gear L is in the storage position from the stroke displacement of the linear actuator 1 detected by the stroke sensor 10, and the landing gear L is in the storage position. If it is determined that there is, the process proceeds to step S5, and if not, the process returns to step S1.

  Specifically, when the landing gear L reaches the storage position, the stroke displacement of the linear actuator 1 corresponding to the position is set as the target displacement E2. When the displacement X1, which is the stroke displacement of the linear actuator 1, is equal to or greater than the target displacement E2 (X1 ≧ E2), it is determined that the landing gear L has reached the storage position. On the other hand, when the displacement X1 is less than the target displacement E2 (X1 <E2), it is determined that the landing gear L has not reached the storage position.

  In step S5, the controller C energizes the motor 30 for a predetermined time so as to supply the liquid from the pump 3 to the piston side chamber 24 by reversing the motor 30, and the process proceeds to step S6.

  In step S <b> 5, when the liquid is discharged from the rod side chamber 23 to the piston side chamber 24 via the pump 3, the pressure in the rod side chamber 23 falls below the holding pressure of the landing gear L. The pressure drop in the rod side chamber 23 moves the piston 21 to the left side in FIG. 1 and moves the rod 22 out of the cylinder 20 so as to extend the linear actuator 1. For this reason, as described above, when the pump 3 is driven so that the liquid is discharged from the rod-side chamber 23 by the motor 30, the linear actuator 1 extends while maintaining the thrust in the contraction direction by the linear actuator 1.

  Thus, when the linear actuator 1 is driven in the extending direction (the direction in which the landing gear L is lowered) by the control device C, the landing gear L is held by the latch device R, and the landing gear L is normally locked. Therefore, even if the landing gear L is lowered by the backlash of the latch device R, the movement amount is small. However, if the landing gear L is not held by the latch device R, the amount of movement of the landing gear L when the linear actuator 1 is driven in the extending direction by the control device C increases.

  Therefore, the amount of current supplied to the motor 30 and the energization time in step S5 are equal to or greater than the rattling of the latch device R, and the landing gear L can be driven in the downward direction by the linear actuator 1, and the landing gear L is held by the latch device R. Even if the linear actuator 1 is driven in this state, consideration is given so that the load applied to each member does not become excessive.

  Specifically, the energization time of the linear actuator 1 to the motor 30 in the step S5 is about 0.5 to 2 seconds, and the energization gradually increases the amount of current supplied to the motor 30 (for example, a ramp shape). To increase). Further, the thrust of the linear actuator 1 at the time of energization is set to be about 10 to 20% of the rated thrust. Of course, the energization time to the linear actuator 1 and the thrust of the linear actuator 1 in step S5 can be appropriately changed according to the strength of each member, the backlash of the latch device R, and the like.

  Subsequently, in step S6, the control device C determines whether or not the landing gear L is in the storage position from the current stroke displacement of the linear actuator 1 detected by the stroke sensor 10, and the landing gear L is in the storage position. If it is determined that there is, the process proceeds to step S7, and if it is determined that the storage position has been lowered, the process returns to step S1.

  Specifically, the stroke displacement after step S5 detected by the stroke sensor 10 in step S6 is defined as displacement X2. If the displacement X2 is equal to or greater than the target displacement E2 (X2 ≧ E2), it is determined that the landing gear L is in the retracted position. On the other hand, when the displacement X2 is less than the target displacement E2 (X2 <E2), it is determined that the landing gear L is lowered from the storage position and is not in the storage position.

  As described above, if the landing gear L is held by the latch device R and the landing gear L is locked normally, the stroke displacement of the linear actuator 1 is the displacement X1 before step S5 and the displacement X2 after that. Even if the values are slightly different from each other, the difference is within the range of rattling of the latch device R.

  Therefore, if the target displacement E2 is determined in consideration of rattling of the latch device R, the displacement X2 in step S6 does not fall below the target displacement E2 when the landing gear L is held by the latch device R. If so, it can be confirmed that the landing gear L is held by the latch device R.

  On the other hand, if the displacement X2 in step S6 is less than the target displacement E2 (X2 <E2), it means that the landing gear L is not held by the latch device R. Therefore, returning to step S1, the subsequent operation of the linear actuator 1 can be repeated, and the landing gear L can be reliably held by the latch device R. Further, when the number of repetitions increases, it can be detected as a failure of the latch device R.

  The target displacement E2 in the previous step S4 is a value for determining whether or not the landing gear L has been raised to the position where it should be held by the latch device R, and the target displacement E2 in step S6 is the landing This is a value for confirming whether or not the gear L is held by the latch device R. For this reason, the target displacement E2 in step S4 and the target displacement E2 in step S6 may be different values depending on the degree of rattling of the latch device R.

  Subsequently, in step S7, the control device C stops energization of the motor 30, stops the driving of the linear actuator 1, and stops the driving of the landing gear L.

  Hereinafter, the operation and effect of the control device C according to the present embodiment will be described.

  In the present embodiment, when the control device C controls the linear actuator 1 to store the landing gear L, the control device C lowers the landing gear L when the landing gear L reaches the storage position held by the latch device R. The linear actuator 1 is driven to determine whether the landing gear L is held by the latch device R based on the stroke displacement of the linear actuator 1 detected thereafter.

  Therefore, according to the control device C, it is possible to determine whether or not the landing gear L is held by the latch device R using the stroke sensor 10. Therefore, a sensor is provided in the latch device R, and it is not necessary to directly determine whether the latch device R holds the landing gear L with the sensor, and the sensor can be eliminated.

  Further, according to the control device C, since the stroke displacement of the linear actuator 1 can be detected by the stroke sensor 10, the control device C controls the linear actuator 1 so that the landing gear L reaches a predetermined region near the storage position. In this case, the rising speed of the landing gear L can be reduced, and the landing gear L can be prevented from colliding with the latch device R vigorously.

  That is, according to the control device C according to the present embodiment, even if the linear actuator 1 is controlled based on the stroke displacement of the linear actuator 1 so that the rising speed of the landing gear L near the storage position can be reduced, the latch Since the sensors in the device R can be made unnecessary, the number of sensors can be reduced, the structure can be simplified, and the cost can be reduced.

  Further, when the rising speed of the landing gear L near the storage position is decelerated, a stroke sensor is essential when the linear actuator 1 is an electric actuator. For this reason, when the linear actuator driven by the control device C is an electric actuator, the above configuration is particularly effective.

  Further, in the control device C of the present embodiment, the landing gear L is lowered from the retracted position by the displacement X2 that is the stroke displacement of the linear actuator 1 detected after the linear actuator 1 is driven in the direction in which the landing gear L is lowered. If it is determined, the landing gear L is raised again by the linear actuator 1.

  Thus, when it is determined from the displacement X2 that the landing gear L has been lowered from the storage position, the landing gear L has reached the storage position, but the landing gear L has not been held by the latch device R. Show. For this reason, as described above, when the control device C lowers the landing gear L with the linear actuator 1 and then raises it again, the control device C raises the landing gear L again until it reaches the retracted position. Can be retried.

  On the other hand, in the control device C of the present embodiment, the landing gear L is in the retracted position by the displacement X2 that is the stroke displacement of the linear actuator 1 detected after driving the linear actuator 1 in the direction in which the landing gear L is lowered. If it is determined, the driving of the linear actuator 1 is stopped.

  Thus, when it is determined from the displacement X2 that the landing gear L is in the retracted position, it indicates that the landing gear L is held by the latch device R and is securely locked. For this reason, the drive of the linear actuator 1 can be stopped by the control device C as described above.

  Further, in the control device C of the present embodiment, the thrust of the linear actuator 1 when driving the linear actuator 1 in the direction of lowering the landing gear L (step S5) in the landing gear retracting process is smaller than the rated thrust. . For this reason, the load concerning the latch apparatus R, the landing gear L, and the linear actuator 1 can be reduced. And in order to reduce the said load reliably, it is preferable that the thrust of the linear actuator 1 in step S5 is 20% or less of a rated thrust, However, The said thrust can be changed suitably.

  Further, in the control device C of the present embodiment, when the landing gear L reaches a predetermined region near the storage position, the rising speed of the landing gear L by the linear actuator 1 is reduced, and steps S1 and S2 are performed. , S3 is performed. However, the process for decelerating the rising speed of the landing gear L in the vicinity of the storage position can be changed as appropriate.

  Further, control of the linear actuator 1 for decelerating the rising speed of the landing gear L in the vicinity of the retracted position (steps S1, S2, S3), and the landing gear L is lifted to the retracted position so that the landing gear L is latched. The control (steps S4, S5, S6, S7) of the linear actuator 1 for confirming whether or not it is held by the device R may be performed by a separate control device.

  The control device C according to the present embodiment includes a linear actuator 1 that is driven by the control device C to raise and lower the landing gear L, a stroke sensor 10 that detects a stroke displacement of the linear actuator 1, and a landing gear lifting device. A is configured. However, the control device C and the stroke sensor 10 may be part of the linear actuator 1, and the control device C may be incorporated in a main control device that controls the airframe.

  Further, in the present embodiment, when the landing gear L is deployed, the pump 3 functions as a hydraulic motor, and the motor 30 functions as a generator to perform energy regeneration. The linear actuator 1 is extended. That is, since the landing gear L is lowered while the motor 30 is regenerated, power can be saved. Further, the kinetic energy of the landing gear L can be converted into electric energy for braking, and the collected electric energy can be used effectively.

  Further, in the present embodiment, when the landing gear L is stored and the locking by the latch device R is confirmed, when the landing gear L is once lowered, the motor 30 is energized to positively activate the linear actuator 1. To stretch. For this reason, even if the energization time is short, it is possible to determine whether or not it is locked.

  Furthermore, in the landing gear lifting apparatus A of the present embodiment, when the linear actuator 1 is contracted, the landing gear L is raised, and when the linear actuator 1 is extended, the landing gear L is lowered. However, depending on the structure of the link mechanism that connects the landing gear L and the linear actuator 1, the landing gear L is raised when the linear actuator 1 is extended, and the landing gear L is lowered when the linear actuator 1 is contracted. May be.

  The preferred embodiments of the present invention have been described above in detail, but modifications, changes and modifications can be made without departing from the scope of the claims.

A ... landing gear lifting device, C ... control device, L ... landing gear, R ... latch device, 1 ... linear actuator, 10 ... stroke sensor

Claims (6)

A control device that controls a linear actuator that raises and lowers a landing gear to store and deploy the landing gear based on a stroke displacement of the linear actuator detected by a stroke sensor,
When retracting the landing gear, when the landing gear reaches a storage position held by a latch device, the linear actuator is driven in a direction to lower the landing gear, and then the latch is based on the detected stroke displacement. It is determined whether or not the landing gear is held by a device. When it is determined that the landing gear is lowered from the retracted position due to the stroke displacement of the linear actuator detected after the linear actuator is driven in the direction in which the landing gear is lowered, the landing gear is moved by the linear actuator. The controller according to claim 1, wherein the controller is raised again. If it is determined that the landing gear is in the retracted position due to the stroke displacement of the linear actuator detected after the linear actuator is driven in the direction in which the landing gear is lowered, the driving of the linear actuator is stopped. The control device according to claim 1 or 2, wherein The control device according to any one of claims 1 to 3, wherein a thrust of the linear actuator when the linear actuator is driven in a direction in which the landing gear is lowered is smaller than a rated thrust. The control device according to any one of claims 1 to 4, wherein when the landing gear reaches a predetermined region in the vicinity of the retracted position, the rising speed of the landing gear by the linear actuator is decelerated. A linear actuator that raises and lowers the landing gear to store and deploy the landing gear;
A stroke sensor for detecting a stroke displacement of the linear actuator;
A landing gear lifting device comprising: the control device according to any one of claims 1 to 5 that controls the linear actuator.

Images