JP5340072B2 - Aircraft steering apparatus and aircraft equipped with the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a steering device of an aircraft capable of providing further superior maneuverability. <P>SOLUTION: This steering device 1 has a hydraulic cylinder 10, a pressure oil supply part 20, a maneuvering part 30 for outputting a target angle position of a steered wheel 51, a detecting sensor 35 for detecting an actual angle position of the steered wheel 51, and a control part 40 for moving a driving rod 13 of the hydraulic cylinder 10 so that the actual angle position falls within a specific range including the target angle position by opening any one of ON/OFF valves 23 and 24 of the pressure oil supply part 20 when the actual angle position is dislocated from the inside of the specific range including the target angle position, and moving the driving rod 13 by opening any one of the ON/OFF valves 23 and 24 for a preset time when determining as exceeding by confirming whether or not this variation exceeds a specific reference value by calculating the variation in the target angle position at a preset time interval when the actual angle position falls within the specific range. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a steering apparatus that changes the traveling direction by changing the angular position of steering wheels of an aircraft during traveling on the ground, and an aircraft including the steering apparatus.

  Conventionally, for example, a steering device disclosed in Japanese Patent Application Laid-Open No. 2004-255910 is known as the steering device. This steering device includes a hydraulic cylinder that drives a steering wheel and changes its angular position, and a hydraulic cylinder. A pressure oil supply unit that supplies pressure oil, a steering unit that outputs a target angular position of a steered wheel (an angular position that is a target for rotating the steered wheel) by an operation of a pilot, and an actual angular position of a steered wheel ( (Actual angular position) and a control device for controlling the pressure oil supply unit based on the target angular position output from the control unit and the actual angular position detected by the detection sensor.

  The hydraulic cylinder includes a drive rod connected to a steered wheel, a piston fixed to the drive rod, a cylinder body in which the piston is movably accommodated in an axial direction of the drive rod, and an interior of the cylinder body The first hydraulic chamber and the second hydraulic chamber formed on both sides of the piston, respectively, and when the pressurized oil is supplied to the first hydraulic chamber, the piston moves to the second hydraulic chamber side and the drive rod Move in the same direction, and when pressure oil is supplied into the second hydraulic chamber, the piston moves to the first hydraulic chamber side and the drive rod moves in the same direction.

  The pressure oil supply unit includes a first supply pipe and a second supply pipe connected to the first hydraulic chamber and the second hydraulic chamber, respectively, a first on / off valve provided in each of the first supply pipe and the second supply pipe, A second on / off valve is provided, and pressure oil is supplied to each hydraulic chamber via each supply pipe.

  The control device changes the angular position of the steered wheel by moving the drive rod by controlling the supply of pressure oil to each hydraulic chamber by opening and closing each on-off valve, but the actual angular position detected by the detection sensor is When the target angular position output from the control unit is out of a certain range including the target angular position, one of the on / off valves is opened, and the actual angular position falls within the certain range including the target angular position. Move the drive rod as follows.

  In such a steering device, the piston and the drive rod are moved by the opening / closing control of each on / off valve to adjust the angular position of the steered wheels, and thereby the aircraft moves in a desired traveling direction. At this time, the angular position of the steered wheels is changed so that the actual angular position is within a certain range including the target angular position.

JP 2004-255910 A

  By the way, as described above, when the pressure oil supply to the hydraulic chamber is controlled by the on / off valve, it is very difficult to finely control the stroke amount of the drive rod (the angular position of the steering wheel). For this reason, as described above, if the target angular position is wide and the angular position of the steered wheels is not controlled so that the actual angular position falls within a certain range including the target angular position, the occurrence of hunting is effective. Cannot be prevented.

  However, when the width range (the predetermined range) is small, the prevention of hunting is insufficient. On the other hand, as long as the actual angular position is within a certain range including the target angular position, the aircraft travel direction does not change even if the operator operates the control unit. If it is large, the problem arises that the maneuverability decreases.

  Therefore, although the predetermined range is set in consideration of the balance between the two, the conventional steering device has a certain limit in improving the maneuverability.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a steering device that can obtain better maneuverability and an aircraft including the steering device.

To achieve the above object, the present invention provides:
A steering device that changes the traveling direction by changing the angular position of the steering wheel of an aircraft when traveling on the ground,
A drive rod connected to the steering wheel; a piston fixed to the drive rod; a cylinder body in which the piston is movably accommodated in an axial direction of the drive rod; and an interior of the cylinder body A hydraulic cylinder that has a first hydraulic chamber and a second hydraulic chamber formed on both sides of the piston, and drives the steering wheel by the drive rod;
A first supply pipe and a second supply pipe connected to the first hydraulic chamber and the second hydraulic chamber, respectively, and a first on / off valve and a second on / off valve respectively provided in the first supply pipe and the second supply pipe; Pressure oil supply means for supplying pressure oil to the hydraulic chambers via the supply pipes,
Steering means for outputting a target angular position of the steered wheel by the operation of the pilot;
Detecting means for detecting an actual angular position of the steered wheel;
Control means for controlling the supply of pressure oil to each of the hydraulic chambers to move the drive rod to change the angular position of the steered wheel, the actual angular position detected by the detection means, and the steering means Compared with the output target angular position, an angular position comparison unit that confirms whether or not the actual angular position is within a certain range including the target angular position; If it is judged by the unit, one of the first and second on / off valves is opened, and the drive rod is moved so that the actual angular position is within a certain range including the target angular position. And a control means having a valve control unit to be
When it is determined by the angular position comparison unit that the valve control unit falls, the valve control unit calculates a change amount of the target angular position at a preset time interval and determines whether or not it exceeds a certain reference value. If it is confirmed that it has been exceeded, it is determined which of the first and second on / off valves should be opened based on the calculated change amount, and the corresponding valve is set in advance. The aircraft steering apparatus is configured to be opened for a predetermined time.

The present invention also provides:
Steering wheels for changing the direction of travel when traveling on the ground,
The aircraft steering apparatus according to claim 1, which changes an angular position of the steering wheel.

  According to these steering devices and aircraft, the actual angular position detected by the detecting means and the target angular position output from the steering means are compared by the angular position comparison unit, and the actual angular position is determined as the target angular position. It is confirmed whether or not it is within a certain range including the angular position.

  When it is determined that the hydraulic pressure chamber is disconnected, the hydraulic chamber to which the pressure oil is supplied is controlled by the opening / closing control of each on / off valve by the valve control unit, and when the pressure oil is supplied to the first hydraulic chamber, the piston is controlled. When the drive rod moves to the second hydraulic chamber side and pressure oil is supplied to the second hydraulic chamber, the piston and the drive rod move to the first hydraulic chamber side, and the angular position of the steered wheels changes. At this time, the supply of pressure oil to each hydraulic chamber is controlled so that the actual angular position is within a certain range including the target angular position.

  Therefore, for example, when the operator greatly operates the control means and there is a large opening between the target angle position and the actual angle position, the control as described above is executed to change the traveling direction of the aircraft. change.

  On the other hand, if it is determined that it is within the range, the valve control unit calculates whether or not the amount of change in the target angular position is calculated at a preset time interval and exceeds a certain reference value. When it is determined that the ON / OFF valve is to be opened, it is determined based on the calculated change amount which valve should be opened, and the corresponding valve is opened for a preset time.

  Thus, when the first on / off valve is opened, pressure oil is supplied to the first hydraulic chamber, the piston and the drive rod move to the second hydraulic chamber side, and when the second on / off valve is opened, the pressure is applied to the second hydraulic chamber. Oil is supplied, the piston and the drive rod move to the first hydraulic chamber side, and the angular position of the steered wheels changes. Therefore, for example, even if the operation amount of the operator is small and there is not much opening between the target angle position and the actual angle position, the traveling direction of the aircraft changes.

  The preset time interval for obtaining the change amount of the target angle position and the preset time for opening the valve can be set empirically, for example. Further, the preset time interval for obtaining the change amount of the target angular position and the preset time for opening the valve may be the same or different. Further, which valve is to be opened can be specified by, for example, whether the calculated change amount is a change amount having a positive sign or a change amount having a negative sign.

  Thus, according to the steering device and the aircraft according to the present invention, even if the actual angular position is within a certain range including the target angular position, the angular position of the steered wheel is not changed conventionally. Since the angle position of the steered wheel can be changed when the amount of change in the target angle position exceeds a certain reference value, the responsiveness to the operator's operation can be improved compared to the conventional case. Thereby, maneuverability can be improved more.

1 is a schematic diagram illustrating a schematic configuration of a steering device and the like according to an embodiment of the present invention. It is the flowchart which showed a series of processes in the control apparatus of this embodiment. It is the flowchart which showed a series of processes in the control apparatus of this embodiment.

  Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a schematic diagram showing a schematic configuration of a steering device and the like according to an embodiment of the present invention.

  As shown in FIG. 1, the aircraft of this example includes a front leg 50 and a steering device 1 that changes the traveling direction by changing the angular position of the steered wheels 51 of the front leg 50 according to the operation of the operator during traveling on the ground. The front leg 50 includes the steering wheel 51 and a leg column 52 that rotatably supports the steering wheel 51 about its axis.

  The steering apparatus 1 includes a hydraulic cylinder 10 that drives the steering wheel 51 to change its angular position, a pressure oil supply unit 20 that supplies pressure oil to the hydraulic cylinder 10, and a steering wheel that is operated by a driver. 51, a control unit 30 that outputs a target angular position 51 (an angular position that is a target when the steering wheel 51 is rotated), and a detection sensor that detects an actual angular position (actual angular position) of the steering wheel 51 (stroke amount detection). Sensor) 35 and a control device 40 that controls the pressure oil supply unit 20 based on the target angle position output from the control unit 30 and the actual angle position detected by the stroke amount detection sensor 35.

  The hydraulic cylinder 10 includes a cylinder body 11 having a constant internal volume, a piston 12 accommodated in the cylinder body 11, and a drive rod 13 fixed to the piston 12. 12 and the drive rod 13 are provided so as to be movable in the axial direction (arrow A direction and B direction) of the drive rod 13.

  A first hydraulic chamber 14 is formed between the inside of the cylinder body 11 and one end surface of the piston 12, and a second hydraulic chamber 15 is formed between the inside of the cylinder body 11 and the other end surface of the piston 12. When the pressure oil is supplied into the first hydraulic chamber 14, the piston 12 and the drive rod 13 move in the direction of arrow A, and the pressure oil is supplied into the second hydraulic chamber 15. The piston 12 and the drive rod 13 move in the arrow B direction.

  One end of the drive rod 13 is connected to the pedestal 52 via the connecting member 16, and when the drive rod 13 moves in the axial direction, the pedestal 52 rotates about the axis, thereby The direction of the steering wheel 51 (the angular position of the steering wheel 51) is changed.

  The pressure oil supply unit 20 includes a supply source 21 and a supply pipe 22 having one end connected to the supply source 21 and the other end branched and connected to the first hydraulic chamber 14 and the second hydraulic chamber 15, respectively. The supply pipe 22 includes a first on / off valve 23 and a second on / off valve 24 provided on the other end side of the branch portion.

  In the pressure oil supply unit 20, when the first on / off valve 23 is open, pressure oil is supplied from the supply source 21 into the first hydraulic chamber 14 via the supply pipe 22, and the second on / off valve 24 is When open, the pressure oil is supplied from the supply source 21 into the second hydraulic chamber 15 through the supply pipe 22. Each of the on / off valves 23 and 24 is constituted by a solenoid valve, for example.

  The steering unit 30 includes a ladder pedal 31 including two pedals 32 and 33, and a depression amount detection sensor 34 that detects a depression amount of the ladder pedal 31 (a depression amount of one pedal 32 and a depression amount of the other pedal 33). It consists of.

  The depression amount detection sensor 34 is constituted by, for example, a differential transformer type sensor. When the one pedal 32 is depressed, the depression amount is detected as a positive displacement amount, and the other pedal 33 is depressed. When it is detected, the amount of depression is detected as a negative displacement amount. Then, the detected depression amount (displacement amount) is output to the control device 40 as the target angular position of the steered wheels 51.

  The stroke amount detection sensor 35 detects the stroke amount of the drive rod 13 as the actual angular position of the steering wheel 51.

  The control device 40 compares the target angular position of the steered wheel 51 detected by the depression amount detection sensor 34 with the actual angular position of the steered wheel 51 detected by the stroke amount detection sensor 35. And a bubble control unit 42 for controlling the on / off valves 23 and 24 based on the comparison result of the angular position comparison unit 41. The hydraulic chambers 14 are opened and closed by opening and closing the on / off valves 23 and 24. , 15 is controlled to move the drive rod 13 to change the angular position of the steered wheels 51.

  Specifically, the control device 40 executes a series of processes as shown in FIGS. 2 and 3 to change the angular position of the steered wheels 51. The angular position comparison unit 41 performs steps S1 to S4 described below, and the valve control unit 42 performs steps S5 and subsequent steps described below.

  That is, first, the target angular position of the steering wheel 51 detected by the depression amount detection sensor 34 is received (step S1), and the actual angular position of the steering wheel 51 detected by the stroke amount detection sensor 35 is received (step S1). S2) A difference (deviation) between the target angular position and the actual angular position is calculated (step S3). Here, if the deviation is A, the target angular position is B, and the actual angular position is C, the deviation is obtained by A = B−C.

  Next, it is confirmed whether or not the actual angular position is within a certain range including the target angular position (step S4). Here, if the target angle position is B, the width set to the target angle position is ± D, and the actual angle position is C, when the relationship of (BD) ≦ C ≦ (B + D) is satisfied, It is determined that the actual angular position is within a certain range including the target angular position.

  If it is determined that the distance is within the certain range, a change amount of the target angle position is calculated (step S5). For example, the target angle position received this time is B, the target angle position received immediately before this is B-ΔB, the time when the current target angle position B was received is T, and the target angle position B-ΔB is one time before this. If the time when T is received is T−ΔT, the amount of change E can be obtained by E = (B− (B−ΔB)) / (T− (T−ΔT)) = ΔB / ΔT.

  Next, it is confirmed whether or not the calculated change amount exceeds a certain reference value (step S6). For example, if the calculated change amount is E and the fixed reference value is F, the calculated change amount exceeds the fixed reference value when the relationship E> F or | E |> F is satisfied. It is judged. When the calculated change amount is −E, it is determined that the calculated change amount exceeds a certain reference value when the relationship −E <−F is satisfied instead of the expression | E |> F. You may do it.

  When it is determined that the predetermined reference value is exceeded, it is recognized which of the on / off valves 23 and 24 should be opened (step S7). For example, when the calculated change amount is a positive value, the valve to be opened is recognized as the first on / off valve 23, and when the calculated change amount is a negative value, the valve to be opened is the second on / off valve 24. Recognize that On the other hand, if it is determined that the predetermined reference value is not exceeded, the processing after step S20 described later is performed.

  Thereafter, the recognized valve (the first on / off valve 23 or the second on / off valve 24) is opened for a predetermined time, and the drive rod 13 is moved to change the angular position of the steered wheels 51 (step S8). The time for opening the valve (predetermined time) can be set empirically. For example, the time required for the drive rod 13 to actually move after the valve opens (for example, 10 milliseconds) However, it is not limited to this.

  On the other hand, if it is determined in step S4 that it is not within the certain range, | A | based on the deviation A calculated in step S3 and the first reference value G set in advance. <Check whether the relationship of G is satisfied (step S9), and if it is satisfied, recognize which of the on-off valves 23, 24 should be opened (step S10) and recognize The valve is opened intermittently and the drive rod 13 is moved to change the angular position of the steered wheels 51 (step S11).

  Note that the valve to be opened is recognized as the first on / off valve 23 when the calculated deviation is a positive value, and the second on / off valve 24 when the calculated deviation is a negative value, for example. Recognize that there is. In controlling the recognized valve, the valve is controlled with the first duty ratio so that the open state and the closed state of the valve are alternately repeated. Here, the duty ratio DR is expressed as DR = TO / (TO + TC), where TO is the time when the valve is open and TC is the time when the valve is closed. In this first duty ratio, for example, The valve opening time TO is set to 10 milliseconds, and the valve closing time TC is set to 40 milliseconds.

  On the other hand, if it is determined in step S9 that the relationship is not satisfied, whether the relationship | A | <H is satisfied based on the calculated deviation A and the second reference value H set in advance. (Step S12), if it is satisfied, it recognizes which of the on / off valves 23 and 24 should be opened as described above (step S13), and intermittently recognizes the recognized valve. Then, the drive rod 13 is moved to change the angular position of the steered wheels 51 (step S14).

  In controlling the recognized valve, the valve is controlled by the second duty ratio so that the open state and the closed state of the valve are alternately repeated. With this second duty ratio, for example, the valve is opened. Time TO is set to 10 milliseconds, and valve closing time TC is set to 30 milliseconds.

  If it is determined in step S12 that the relationship is not satisfied, whether the relationship | A | <J is satisfied based on the calculated deviation A and the preset third reference value J. (Step S15), if it is satisfied, it recognizes which of the on / off valves 23 and 24 should be opened as described above (step S16), and intermittently recognizes the recognized valve. Then, the drive rod 13 is moved to change the angular position of the steering wheel 51 (step S17).

  In controlling the recognized valve, the valve is controlled by the third duty ratio so that the valve open state and the valve closed state are alternately repeated. With this third duty ratio, for example, the valve open state is controlled. Time TO is set to 10 milliseconds, and valve closing time TC is set to 20 milliseconds.

  Further, when it is determined in step S15 that the valve is not satisfied, it is recognized as described above which of the on / off valves 23 and 24 is to be opened (step S18), and the recognized valve is detected. Is continuously opened and the drive rod 13 is moved to change the angular position of the steered wheels 51 (step S19).

  When it is determined in step S6 that it has not exceeded, and when the processes in steps S8, S11, S14, S17, and S19 are completed, it is confirmed that a predetermined time has elapsed (step S20), and then a series of processes is performed. It is confirmed whether or not to end (step S21), and if it is not ended, the processes after step S1 are repeated. The predetermined time can be set empirically, for example, 10 milliseconds, but is not limited thereto.

  As described above in detail, according to the aircraft (steering device 1) of this example, the actual angular position of the steering wheel 51 detected by the stroke amount detection sensor 35 is detected by the steering amount detection sensor 34. When the target angle position deviates from a certain range including the target angle position, the on / off valves 23 and 24 are controlled according to the difference between the target angle position and the actual angle position, and intermittently enter the first hydraulic chamber 14 or the second hydraulic chamber 15. Alternatively, the pressure oil is continuously supplied. Thereby, the angular position of the steered wheels 51 is changed so that the actual angular position is within a certain range including the target angular position.

  Therefore, for example, such a control is executed when the operator greatly depresses the ladder pedal 31 and there is a large opening between the target angular position and the actual angular position.

  On the other hand, if the actual angular position is within a certain range including the target angular position, the amount of change in the target angular position is calculated at a predetermined time interval and it is confirmed whether or not it exceeds a certain reference value. When it is determined that the pressure has exceeded, one of the on / off valves 23 and 24 is opened for a predetermined time, and pressure oil is supplied to the first hydraulic chamber 14 or the second hydraulic chamber 15. Then, the drive rod 13 moves.

  Even if the actual angular position is within a certain range including the target angular position due to the movement of the drive rod 13 in this manner, depending on the amount of change in the target angular position, the steering wheel 51 The angular position changes. Therefore, for example, when the amount of depression of the operator's ladder pedal 31 is small and there is not much opening between the target angle position and the actual angle position, such control is executed.

  Thus, according to the aircraft (steering device 1) of the present example, even if the actual angular position is within a certain range including the target angular position, the angular position of the steered wheels 51 is not changed conventionally. When the change amount of the target angular position exceeds a certain reference value, the angular position of the steered wheels 51 can be changed, so that the responsiveness to the operator's operation can be improved compared to the conventional case. Thereby, maneuverability can be improved more.

  As mentioned above, although one Embodiment of this invention was described, the specific aspect which this invention can take is not limited to this at all.

DESCRIPTION OF SYMBOLS 1 Aircraft steering apparatus 10 Hydraulic cylinder 13 Drive rod 14 1st hydraulic chamber 15 2nd hydraulic chamber 20 Pressure oil supply part 22 Supply pipe 23 1st on-off valve 24 2nd on-off valve 30 Steering part 31 Ladder pedal 34 Depression amount detection sensor 35 Stroke amount detection sensor 40 Control device 41 Angular position comparison unit 42 Valve control unit 51 Steering wheel

Claims (2)

A steering device that changes the traveling direction by changing the angular position of the steering wheel of an aircraft when traveling on the ground,
A drive rod connected to the steering wheel; a piston fixed to the drive rod; a cylinder body in which the piston is movably accommodated in an axial direction of the drive rod; and an interior of the cylinder body A hydraulic cylinder that has a first hydraulic chamber and a second hydraulic chamber formed on both sides of the piston, and drives the steering wheel by the drive rod;
A first supply pipe and a second supply pipe connected to the first hydraulic chamber and the second hydraulic chamber, respectively, and a first on / off valve and a second on / off valve respectively provided in the first supply pipe and the second supply pipe; Pressure oil supply means for supplying pressure oil to the hydraulic chambers via the supply pipes,
Steering means for outputting a target angular position of the steered wheel by the operation of the pilot;
Detecting means for detecting an actual angular position of the steered wheel;
Control means for controlling the supply of pressure oil to each of the hydraulic chambers to move the drive rod to change the angular position of the steered wheel, the actual angular position detected by the detection means, and the steering means Compared with the output target angular position, an angular position comparison unit that confirms whether or not the actual angular position is within a certain range including the target angular position; If it is judged by the unit, one of the first and second on / off valves is opened, and the drive rod is moved so that the actual angular position is within a certain range including the target angular position. And a control means having a valve control unit to be
When it is determined by the angular position comparison unit that the valve control unit falls, the valve control unit calculates a change amount of the target angular position at a preset time interval and determines whether or not it exceeds a certain reference value. If it is confirmed that it has been exceeded, it is determined which of the first and second on / off valves should be opened based on the calculated change amount, and the corresponding valve is set in advance. An aircraft steering apparatus configured to open for a specified time. Steering wheels for changing the direction of travel when traveling on the ground,
An aircraft comprising the aircraft steering device according to claim 1, wherein the aircraft steering device changes the angular position of the steering wheel.

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