JP5073424B2 - Aircraft ground steering apparatus and ground steering method - Google Patents

Description

  The present invention relates to a ground steering device and a ground steering method for steering an aircraft traveling on the ground.

Since no drive device is provided on the wheels of the aircraft, at takeoff, the aircraft travels with a propulsion force such as a propeller, or is pulled by another moving body to move to the runway. At the time of landing, the aircraft slides on the ground with inertial force (inertia), decelerates by the brakes provided on the wheels, and stops.
By the way, there is almost no case where the traveling direction does not have to be changed before the aircraft reaches the predetermined runway at the time of takeoff, and the aircraft cannot reach the runway unless the traveling direction is appropriately changed. Further, in order to stop the aircraft at a predetermined stop location at the time of landing, it is not necessary to simply decelerate the aircraft, and it is necessary to appropriately change the traveling direction of the aircraft.

FIG. 5 is a signal system diagram showing a conventional aircraft ground steering mechanism and brake mechanism.
As shown in FIG. 5, the conventional aircraft includes a ground steering mechanism 50 and a brake mechanism 51. The ground steering mechanism 50 includes actuators 56 a and 56 b that rotate the front legs 59 that support the front wheels 53. The actuators 56a and 56b are connected to the control valve 58 via hydraulic pipes 60a and 60b. The actuators 56a and 56b and the control valve 58 are controlled by a steering controller 57. When the steering controller 57 is operated by stepping on the ladder system 52 of the operator, the direction of the front legs 59 changes. That is, the aircraft operator drives the actuator 56a or 56b of the ground steering mechanism 50 by stepping on the ladder system 52, rotates the front leg 59 to which the front wheel 53 is fixed, and changes the direction of the front wheel 53. To do.

For example, Patent Documents 1 to 3 disclose an aircraft including a steering mechanism for traveling on the ground. Patent Documents 1 and 2 disclose a steering actuator system in which an aircraft having front wheels and main wheels (rear wheels) can change the direction of the front wheels by rotating a pedestal that fixes the front wheels to the fuselage. Is disclosed. Patent Document 3 discloses a steering control device in which a front wheel of an aircraft is fixed to a fuselage with a front leg, and a control program for steering the steering wheel.
JP 2003-63498 A JP 2007-176486 A JP 2004-255910 A

  By the way, all of the configurations disclosed in these prior arts steer a traveling aircraft by changing the direction of the front wheels by rotating a support (leg post, front leg) that supports the front wheels. is there. However, the actuators 56a and 56b as described above are required to rotate the column.

  In addition, a complicated and expensive device such as a steering mechanism 57 for controlling the actuators 56a and 56b, a control valve 58, a control mechanism including hydraulic pipes 60a and 60b, and the like must be mounted. Also, conventional aircraft had to fly with heavy objects such as actuators for steering after landing.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a ground steering device that can change the traveling direction of an aircraft sliding on the ground with a simple configuration.

According to a first aspect of the present invention for solving the above-mentioned problem, in the ground steering apparatus for an aircraft in which wheels having brakes are provided on the left and right sides of the airframe, and the brakes are individually operable, The target angle setting means for setting the steering target angle, the detection means for detecting the rotational speed of each wheel, and the rotational speed difference between the left and right wheels detected by the detection means is set by the target angle setting means. A ground steering apparatus for an aircraft, comprising: control means for controlling the brakes so as to coincide with a difference in rotational speed between left and right wheels necessary for steering based on the steering target angle. is there.

  In the first aspect of the invention, the target steering angle of the airframe is set by the target angle setting means, and the rotational speed of each wheel is detected by the detection means. Further, the control means controls the brakes provided on the respective wheels so that a difference in rotational speed is generated between the left and right wheels based on the set steering target angle and the rotational speed of each wheel. As a result, the aircraft body is steered at the set steering angle.

  According to a second aspect of the present invention, the aircraft includes a front wheel and a main wheel, and the wheel is a main wheel.

  In the invention of claim 2, the main wheels are provided on the left and right sides of the fuselage. The left and right main wheels can be separately brake controlled. Therefore, when the invention of claim 2 is implemented, it is possible to steer an aircraft in which main wheels are provided on the left and right sides of the aircraft.

  According to a third aspect of the present invention, there is provided the aircraft ground steering apparatus according to the second aspect, wherein the direction of the traveling front wheel is freely rotatable.

  In the invention of claim 3, since the direction of the traveling front wheel is freely rotatable, when the aircraft turns, the front wheel faces the turning direction. Therefore, the aircraft is steered smoothly.

According to a fourth aspect of the present invention, in the aircraft ground steering method in which wheels having brakes are provided on the left and right sides of the airframe, and the brakes are individually operable, a steering target angle of the airframe during travel is set. Then, the rotational speed difference between the two wheels is calculated by detecting the rotational speed of each wheel, and the rotational speed difference coincides with the rotational speed difference between the left and right wheels necessary for steering based on the steering target angle. Thus, there is provided an aircraft ground steering method characterized by controlling each of the brakes.

  When the invention of claim 4 is implemented, the traveling direction of the aircraft traveling on the ground can be easily changed.

  The invention according to claim 5 is the aircraft ground steering method according to claim 4, wherein the aircraft includes a front wheel and a main wheel, and the wheel is a main wheel.

  When the invention of claim 5 is carried out, it is possible to steer the aircraft having the front wheels and the main wheels on the ground.

  The invention of claim 6 is the aircraft ground steering method according to claim 5, characterized in that the direction of the front wheel during traveling is freely rotatable.

  When the invention of claim 6 is implemented, the direction of the front wheels can be freely rotated. Therefore, when there is a difference in the rotational speed between the left and right main wheels, the front wheels turn in the traveling direction and the aircraft is steered smoothly.

According to the seventh aspect of the present invention, there is provided storage means for storing a correlation between a difference in control amount of each brake by the control means and a difference in rotational speed between the left and right wheels, and a pair of wheels required for steering based on the steering target angle. The calculation means for calculating a rotational speed difference, wherein the calculation means specifies a difference in control amount of each brake stored in the storage means corresponding to the calculated rotational speed difference. An aircraft ground steering apparatus according to any one of claims 1 to 3.

The invention according to claim 8 has calculation means for calculating a difference in rotational speed between the two wheels necessary for steering based on the steering target angle, and the calculation means is a control means corresponding to the difference in rotational speed between the two wheels. The aircraft ground steering apparatus according to any one of claims 1 to 3, wherein a difference in control amount of each brake is calculated.

  By implementing the present invention, it is possible to steer a traveling aircraft by controlling the brakes of the wheels provided on the left and right sides of the aircraft. Therefore, it is not necessary to mount a heavy object such as an actuator for rotating the front leg as in a conventional aircraft or a complicated configuration for operating the actuator, and the aircraft can be manufactured at low cost and can be reduced in weight.

  FIG. 1 is a system diagram of an aircraft ground steering apparatus embodying the present invention. An aircraft body 1 indicated by a two-dot chain line is provided with a front wheel 3 and a main wheel 4 (a left main wheel 4a and a right main wheel 4b). The front wheel 3 is attached to the airframe 1 via a support 18. The support column 18 is rotatable about an axis, but includes a reset device (not shown) capable of setting the front wheel 3 to a front position indicated by a solid line in FIG. When the aircraft is landing, the orientation of the front wheels 3 is set to the front position in advance by the reset device, so that the aircraft can be smoothly landed and the front wheels 3 (the support columns 18) can be prevented from being damaged.

In FIG. 1, “a” is attached to the reference sign for the configuration arranged basically on the left side of the fuselage 1, and “b” is attached to the reference sign for the configuration arranged on the right side.
The left main wheel 4a is provided with a left brake 5a, and the right main wheel 4b is provided with a right brake 5b. These left brake 5a and right brake 5b are disc brakes. The left brake 5a, the right brake 5b, and the hydraulic pressure source 6 are connected by pipes 9 and 10. A left control valve 8a is disposed on the left brake 5a side of the pipe, and a right control valve 8b is disposed on the right brake 5b side. Further, a shutoff valve 7 is provided near the hydraulic power source 6.
Although FIG. 1 shows a hydraulic brake, an electric brake or an electromagnetic brake can be used instead. When the electric brake is employed, a circuit including a power source, an electric brake control motor, a clutch and the like is configured so that the rotational speeds of the left and right main wheels 4a and 4b can be individually reduced.

  The shutoff valve 7 provided in the pipe 9 is a valve for switching whether to apply the brake, and the left control valve 8a and the right control valve 8b provided in the pipe 10 are valves for controlling the strength of the brake. is there.

  By appropriately setting the opening degree of the shut-off valve 7, the left control valve 8a, and the right control valve 8b, the pressure oil of the hydraulic source 6 is supplied to the left brake 5a or the right brake 5b, and the left main wheel 4a or the right main wheel The rotation of the wheel 4b can be decelerated and stopped.

  When the shutoff valve 7 is closed, the supply of pressure oil is cut off, and neither the left brake 5a nor the right brake 5b is operated. That is, when the shut-off valve 7 is closed, even if the operator depresses a ladder pedal (not shown), the brake is not applied. Conversely, when the shutoff valve 7 is opened, pressure oil is supplied to the pipe 10, and the left brake 5a and the right brake 5b are operated according to the opening degree of the left control valve 8a and the right control valve 8b.

  The ground steering apparatus 2 according to the present invention has a configuration in which the aircraft 1 (aircraft) can be steered by the left brake 5a and the right brake 5b. The left control valve 8a and the right control valve 8b are set to have the same degree of opening so that they can run straight and stop at the stop position so that there is no difference in the rotational speed between the left main wheel 4a and the right main wheel 4b. To do.

Here, the rotation speed detection sensor 17a is provided in the left main wheel 4a. The rotation speed detection sensor 17 a is connected to the control device 11 through a signal line 19 a and transmits the rotation speed information of the left main wheel 4 a to the control device 11 through the signal line 19. The right main wheel 4b is similarly provided with a rotation speed detection sensor 17b, and the rotation speed detection sensor 17b and the control device 11 are connected by a signal line 19b. The shutoff valve 7, the left control valve 8a, and the right control valve 8b are connected to the control device 11 through signal lines 20, 21a, and 21b, respectively.
The signal lines 19a, 19b, 20, 21a, 21b may be omitted, and the signal may be transmitted and received wirelessly.

The configuration of the control device 11 is as follows.
The control device 11 includes a CPU 12 and a memory 13.
The memory 13 is a storage medium capable of writing data such as a RAM. The memory 13 stores a correlation between the opening degree difference (pressure difference) between the control valves 8a and 8b and the difference between the rotational speed of the left main wheel 4a and the rotational speed of the right main wheel 4b as a map. The memory 13 also has a function of storing steering target angle data, which will be described later, and a calculation result of the CPU 12.
In the following, control using this map will be described, but the present invention can be implemented without using the map. That is, the correlation between the opening degree difference between the control valves 8a and 8b and the difference between the rotational speed of the left main wheel 4a and the rotational speed of the right main wheel 4b can be calculated by the CPU 12 each time. Here, the speed of the calculation process is increased by using a map in which the correlation between the two obtained in advance is recorded in advance.

  Further, the control device 11 is inputted with rotation angle information of a steering target angle setting device 16 constituted by a control stick (handle) arranged in a cockpit (not shown). That is, when the steering wheel is operated by the operator, steering target angle data is transmitted to the control device 11 and stored in the memory 13.

  The CPU 12 calculates the rotational speed difference between the two main wheels necessary for steering from the steering target angle data and stores it in the memory 13. Further, the CPU 12 refers to the map and identifies the difference in opening between the control valves 8a and 8b corresponding to the calculated rotational speed difference. When the map is not used, the CPU 12 calculates the opening degree difference between the two control valves 8a and 8b corresponding to the rotational speed difference. And CPU12 adjusts the opening degree of both control valves 8a and 8b. Thereafter, feedback control is performed so that the detected rotational speed difference between the two main wheels coincides with the calculated rotational speed difference necessary for steering.

  Here, the principle of steering (steering) by providing a difference in the rotational speeds of the left and right main wheels will be described with reference to FIGS. 2 (a) and 2 (b). 2A and 2B are plan views showing the operation of the wheels provided on the left and right sides of the aircraft body.

If the center C1 of the left main wheel 4a and the center C2 of the right main wheel 4b move at different distances during t seconds, the direction of the airframe 1 changes by the difference in the distance. FIG. 2A shows that the left main wheel 4a and the right main wheel 4b indicated by solid lines have moved to the position indicated by the two-dot chain line after t seconds.
Since the direction of the fuselage 1 actually changes, both main wheels move to the position indicated by the broken line in FIG. 2 (a), and the center of the left main wheel 4a comes to the position indicated by the symbol C3. Assume that both main wheels 4a and 4b are linearly moved as shown in FIGS. 2 (a) and 2 (b). That is, in the example shown in FIG. 2B, the moving distance of the left main wheel 4a is longer than the moving distance of the right main wheel 4b. As a result, the airframe 1 turns to the right.

  Here, let L be the distance between the two main wheels. If the rotation speed of the left main wheel 4a is Va and the rotation speed of the right main wheel 4b is Vb, the movement distance of the left main wheel 4a after t seconds is “Va · t” as shown in FIG. (The proportional constant is omitted), and the moving distance of the right main wheel 4b is “Vb · t” (the proportional constant is omitted).

Therefore, as shown in FIG. 2B, the difference in the moving distance between the two main wheels is “(Va−Vb) · t”. On the other hand, when the turning angle of the airframe 1 is α, the relationship “Tan α = (Va−Vb) · t / L” is established. Therefore, “Va−Vb = (L · Tanα) / t” (Formula 1).
Here, (Va−Vb) is the speed difference between the two main wheels (that is, the difference in rotational speed).

Also, if the left side of Equation 1 is positive, the aircraft 1 turns to the right, and conversely if it is negative, the aircraft 1 turns to the left.
Here, since the friction between the left and right main wheels and the ground and the unevenness and undulation of the ground are not taken into account at all, it is preferable that the expression 1 is appropriately corrected with a separately obtained correction coefficient.

  The CPU 12 calculates Equation 1 to calculate the rotational speed difference between the left and right main wheels. Based on the calculation result, the opening degree of the left control valve 8a or the right control valve 8b shown in FIG. 1 is adjusted, the left brake 5a or the right brake 5b is operated, and the left main wheel 4a or the right main wheel 4b is decelerated. The aircraft body 1 turns. Thereafter, the rotational speeds of the main wheels 4a and 4b are monitored by the rotational speed detection sensors 17a and 17b, so that the calculated value of Equation 1 matches the rotational speed difference between the main wheels 4a and 4b being monitored. Perform feedback control.

  The ground steering apparatus 2 having the above configuration performs the steering of the airframe 1 in the procedure shown in FIG. FIG. 3 is a flowchart showing a procedure for implementing the ground steering apparatus of the present invention.

  First, in step 1, the turning target angle setting device 16 determines the turning angle α. That is, when the operator operates a handle (not shown), the rotation angle of the handle is stored in the memory 13 of the control device 11 as target turning angle information.

  Next, in step 2, the CPU 12 calculates Equation 1 and calculates the rotational speed difference (Va−Vb) between the two main wheels necessary to realize the steering target angle (turning angle α). Store and go to step 3.

In step 3, the CPU 12 refers to the map stored in the memory 13 and specifies the opening degree of the left control valve 8a or the right control valve 8b corresponding to the rotational speed difference between the two main wheels stored in the memory 13. To do. Alternatively, the opening of the left control valve 8a or the opening of the right control valve 8b corresponding to the rotational speed difference between the two main wheels is specified by the calculation of the CPU 12.
Here, since the clockwise direction is positive in Equation 1, the difference between the two rotational speeds is positive when turning clockwise, and is negative when turning counterclockwise.

  In step 4, the CPU 12 sets the opening degree of the left control valve 8 a (or the right control valve 8 b) to be the opening degree specified in step 3, and the process proceeds to step 5.

  In step 5, the rotational speeds of both main wheels 4a and 4b are detected by both rotational speed detection sensors 17a and 17b, and the CPU 12 calculates the difference in rotational speed between both main wheels 4a and 4b, and proceeds to step 6.

  In step 6, it is determined whether or not the difference between the rotational speeds of the main wheels 4 a and 4 b calculated in step 5 matches the calculated value calculated in step 2. If both match, the process proceeds to step 7. On the other hand, if they do not coincide, the process proceeds to step 8 where the opening of the control valve is finely adjusted so as to eliminate the difference between the two. Here, an allowable range is set in advance with respect to the calculated value according to Formula 1, and if the detected rotational speed difference between the two main wheels is within the allowable range, the calculated value of Formula 1 is “matched”. It is preferable to have it.

  In step 7, when t seconds elapse after the opening degree of the control valve is set, the rotational speeds of both the main wheels 4a and 4b are made to coincide. That is, the rotational speed of the left main wheel 4a is matched with the rotational speed of the right main wheel 4b to which the brake is applied, or the brake of the right main wheel 4b is released, thereby matching the rotational speeds of the two. As a result, the aircraft goes straight after turning by an angle α.

Further, the present invention can be implemented along the flowchart shown in FIG. FIG. 4 is a flowchart showing a procedure for implementing the ground steering apparatus according to the present invention, which is different from FIG.
In the flowchart of FIG. 4, the turning angle α is determined in step 1.
Next, in step 2, the time t required for the aircraft 1 to turn by the turning angle α determined in step 1 is calculated by the CPU 12.
Further, the CPU 12 calculates a rotational speed difference (Va−Vb) between the two main wheels such that the airframe 1 turns by an angle α after t seconds in step 3.
Further, in step 4, the CPU 12 sets the opening degree of the left control valve 8a (or the right control valve 8b) based on the calculation result of step 3.
After t seconds, the airframe 1 is turning by an angle α. Therefore, in step 5, the opening degree of the left control valve 8a (or the right control valve 8b) is returned to the original position after t seconds so that the aircraft goes straight after the turn. .

In the aircraft ground steering apparatus configured as described above, an example is shown in which a difference in rotational speed is generated between the left and right main wheels by steering operation of the operator, and the aircraft is steered. It is also possible to provide a steering target angle setting device and a transmitter outside the machine body 1.
If comprised in this way, only the minimum structure regarding steering control will be mounted in an aircraft, and the weight reduction of an aircraft can further be aimed at.

  The present invention is preferably implemented mainly in small machines, and it is not necessary to provide a steering mechanism on the front wheels, so that the manufacturing cost can be reduced. The present invention can also be implemented in an aircraft that is automatically piloted without a pilot boarding.

1 is a system diagram of an aircraft ground steering apparatus embodying the present invention. (A), (b) is a top view which shows operation | movement of the wheel provided in the right and left of the aircraft body. It is a flowchart which shows the procedure which implements the ground steering apparatus of this invention. It is a flowchart which shows the procedure which implements the ground steering apparatus of this invention different from FIG. It is a signal system diagram which shows the ground steering mechanism and brake mechanism of the conventional aircraft.

DESCRIPTION OF SYMBOLS 1 Aircraft body 2 Ground steering device 3 Front wheel 4a Left main wheel 4b Right main wheel 5a Left brake 5b Right brake 6 Hydraulic source 7 Shut off valve 8a Left control valve 8b Right control valve 11 Control device 12 CPU
13 Memory 14 Receiver 15 Transmitter 16 Steering target angle setting device 17a, 17b Rotational speed detection sensor 18 Front wheel support

Claims (8)

Wheels equipped with brakes on the left and right sides of the airframe are provided, and in the aircraft ground steering device in which each of the brakes can be individually operated, target angle setting means for setting a steering target angle of the airframe that is running, The detection means for detecting the rotation speed of each wheel, and the difference between the rotation speeds of the left and right wheels detected by the detection means is the left and right necessary for steering based on the steering target angle set by the target angle setting means. And a control means for controlling each of the brakes so as to coincide with a difference in rotational speed of the wheels .   2. The aircraft ground steering apparatus according to claim 1, wherein the aircraft includes a front wheel and a main wheel, and the wheel is a main wheel.   The ground steering apparatus for an aircraft according to claim 2, wherein the direction of the front wheel during traveling is freely rotatable. Wheels equipped with brakes are provided on the left and right sides of the aircraft, respectively. In the aircraft ground steering method in which each brake can be operated individually, a steering target angle of the aircraft running is set, and each wheel rotates. Detecting the speed and calculating the rotational speed difference between the two wheels, the brake speed is adjusted so that the rotational speed difference matches the rotational speed difference between the left and right wheels necessary for steering based on the steering target angle. An aircraft ground steering method characterized by controlling.   5. The aircraft ground steering method according to claim 4, wherein the aircraft includes front wheels and main wheels, and the wheels are main wheels.   6. The aircraft ground steering method according to claim 5, wherein the direction of the traveling front wheel is freely rotatable. Storage means for storing the correlation between the control amount of each brake by the control means and the rotational speed difference between the left and right wheels, and computing means for calculating the rotational speed difference between the two wheels necessary for steering from the steering target angle 4. The method according to claim 1, wherein the calculation unit specifies a difference in control amount of each brake stored in the storage unit corresponding to the calculated rotation speed difference. An aircraft ground steering apparatus according to claim 1. Computation means for computing the rotational speed difference between the two wheels necessary for steering based on the steering target angle, the computing means comprising a control amount of each brake by the control means corresponding to the rotational speed difference between the two wheels. The aircraft ground steering apparatus according to any one of claims 1 to 3, wherein the difference is calculated.

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