KR101749983B1 - Method for calculating landing gear deflection of air vehicle using position information - Google Patents

Method for calculating landing gear deflection of air vehicle using position information Download PDF

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KR101749983B1
KR101749983B1 KR1020150087646A KR20150087646A KR101749983B1 KR 101749983 B1 KR101749983 B1 KR 101749983B1 KR 1020150087646 A KR1020150087646 A KR 1020150087646A KR 20150087646 A KR20150087646 A KR 20150087646A KR 101749983 B1 KR101749983 B1 KR 101749983B1
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landing gear
aircraft
displacement amount
coordinate system
center
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KR20160149872A (en
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조성봉
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국방과학연구소
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
    • B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface  wheeled type, e.g. multi-wheeled bogies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D45/0005—Devices specially adapted to indicate the position of a movable element of the aircraft, e.g. landing gear
    • G06F17/5009—

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Testing Of Balance (AREA)

Abstract

The present invention relates to a method for calculating a displacement amount of a landing gear capable of measuring a displacement amount of an aircraft landing gear using position information of an unmanned airplane, Calculating a displacement amount; And calculating the displacement amount of the landing gear on the basis of the coordinate system of the moving body by performing coordinate transformation of the calculated displacement amount of the landing gear in the axial direction of the landing gear.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for calculating a displacement amount of an aircraft landing gear using position information,

The present invention relates to a method for calculating a displacement amount of a landing gear which can measure a displacement amount of an aircraft landing gear by using position information of an unmanned aerial vehicle.

Generally, it is necessary to develop a flight control law for unmanned aerial vehicle (UAV) flight control. To develop the law of flight control, a mathematical model of each unit of aircraft that can simulate the motion of an aircraft is needed. In other words, an aircraft landing gear model is needed to analyze movements during automatic takeoff and landing of an unmanned aerial vehicle and automatic sliding.

The aircraft landing gear model consists of three force components such as normal force, brake force and side force. In order to model the most basic normal force among them, the displacement amount (or bending) flection of the landing gear is required as the input value.

However, most UAVs do not have a strut of the landing gear and a means for measuring the displacement amount of the tire (length displacement measurement sensor).

Therefore, in mathematically modeling the landing gear of an unmanned aerial vehicle, the vertical force can not be calculated because the amount of displacement of the landing gear can not be known. Also, since the braking force and the lateral force of the landing gear model are calculated using the normal force, modeling of the landing gear itself is impossible unless the normal force can be calculated.

It is an object of the present invention to provide a method for calculating a displacement amount of a landing gear which can easily measure a displacement amount of a landing gear by using aircraft position information.

According to another aspect of the present invention, there is provided a method of calculating a displacement amount of a landing gear according to an embodiment of the present invention includes calculating a displacement amount of a landing gear based on a ground coordinate system, which is an inertial coordinate system, And calculating the displacement amount of the landing gear on the basis of the coordinate system of the moving body by performing coordinate transformation of the calculated displacement amount of the landing gear in the axial direction of the landing gear.

The unmanned airplane information may include position information of the unmanned airplane, attitude information, landing gear mounting information, and uncompressed landing gear length information.

The amount of displacement of the landing gear may include a displacement amount of the front wheel, the left main wheel and the space wheel landing gear.

In the step of calculating the displacement amount of the landing gear on the basis of the ground coordinate system, the displacement amounts of the front wheel, the left wheel and the space wheel landing gear based on the ground coordinate system are calculated .

The length displacement amount of the front wheel landing gear is obtained by coordinate transformation of the length including the strut and the tire of the front wheel landing gear not contracted with respect to the horizontal extension line of the center of gravity of the aircraft to a ground coordinate system, The altitude difference value of the front landing gear reference line is subtracted from the Z-axis position of the aircraft generated by the driver, and then the altitude value of the aircraft based on the center of gravity of the aircraft is subtracted from the subtracted conversion value.

Wherein the length displacement amount of the left-side landing gear is coordinate-converted into a ground-based coordinate system including a strut and a tire of a wheeled landing gear device not contracted with respect to a horizontal extension line of the center of gravity of the aircraft, And then subtracting the altitude difference of the landing gear reference line from the Z-axis position of the aircraft generated by the aircraft, and then subtracting the altitude difference of the aircraft from the center of gravity of the aircraft, Can be calculated by subtracting the height difference of the landing gear reference line from the Z-axis position of the aircraft center of gravity.

Wherein the length displacement amount of the space wheel landing device is obtained by coordinate transformation of a length including a strut and a tire of a main landing gear device which is not contracted with respect to a horizontal extension line of the center of gravity of the aircraft to a ground coordinate system, And the altitude value of the airplane based on the center of gravity of the aircraft is subtracted from the Z-axis position of the airplane weight center generated by the airplane, And the height difference value of the landing gear reference line from the Z-axis position of the center of gravity of the aircraft generated by the driver.

The present invention calculates the length displacement of the landing gear on the basis of the ground coordinate system using the position information, attitude information and landing gear basic information of the aircraft, and then transforms the coordinate to the axial direction of the landing gear, Even if there is no sensor for measuring the displacement amount of the landing gear, it is possible to know the displacement amount of the landing gear of the aircraft (the displacement amount of the strut and the tire) by obtaining the displacement amount.

In addition, the present invention has an advantage in that it can be utilized for constructing a simulation environment for control law design for automatic takeoff and landing of aircraft, automatic slide run, and the like by utilizing the calculated displacement amount of the landing gear as an input of landing apparatus vertical force modeling. That is, if only the information of the input aircraft is changed, it is possible to simulate the sliding characteristics of various aircraft in conjunction with the aircraft simulation program.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side view of an aircraft for calculating a displacement amount of a landing gear; FIG.
Fig. 2 is a rear view of the aircraft for calculating the amount of displacement of the landing gear; Fig.
3 is a flowchart showing a method for calculating a length displacement amount of a landing gear according to an embodiment of the present invention.
Fig. 4 shows the relationship between the displacement of the landing gear on the ground coordinate system and the fuselage coordinate system.

Generally, there are three forces acting on the aircraft landing gear. A vertical force generated by a load applied to a strut and a tire of the landing gear and acting perpendicularly to the landing gear and a braking force generated by a ground friction and a braking torque and acting in a direction opposite to the traveling direction of the landing gear , And lateral force generated by the steering command and tire cornering stiffness, acting at right angles to the direction of landing gear. Among them, the load applied to the screw and the tire is measured by Deflection, and the vertical force that is modeled as a spring-damper system (not shown) is required to calculate the remaining two forces (braking force and lateral force) It must be calculated first.

Therefore, the present invention proposes a method of calculating the displacement amount of the landing gear using the unmanned aerial vehicle information. The unmanned aerial vehicle information includes the center of gravity of the unmanned aerial vehicle, attitude information, landing gear mounting information, and uncompacted landing gear length information.

Generally, the amount of displacement of struts and tires of the landing gear is constantly changing according to the state of the aircraft. Accordingly, the present invention proposes a method of calculating the displacement amount of the strut and the tire in the axial direction of the landing gear for vertical force modeling of the landing gear based on the altitude value of the center of gravity of the aircraft.

FIG. 1 is a side structural view of an aircraft for calculating a displacement amount of a landing gear, and FIG. 2 is a rear structural view of an aircraft for calculating a displacement amount of the landing gear.

As shown in FIGS. 1 and 2, the present invention relates to an altitude value of an aircraft based on a center of gravity (CG) of a UAV

Figure 112015059672379-pat00001
) (100), the attitude angle in the pitch axis direction of the aircraft fuselage coordinate system with respect to the inertial coordinate system
Figure 112015059672379-pat00002
) 101 and the roll axis direction posture angle (
Figure 112015059672379-pat00003
) 102, and posture information such as posture information.

In addition, the present invention is also applicable to a length (including a strut) and a tire of a nose landing gear that is not contracted with respect to the horizontal extension line of the aircraft center of gravity (CG)

Figure 112015059672379-pat00004
) 200, a length including the strut and tire of the main landing gear which is not contracted with respect to the horizontal extension line of the center of gravity of the aircraft
Figure 112015059672379-pat00005
) 201, an angle (t) 202 in which the front landing gear is tilted toward the front of the vehicle body, an x-axis direction distance between the aircraft center of gravity CG and the front landing gear
Figure 112015059672379-pat00006
) 203, a distance between the center of gravity CG of the aircraft and the body of the landing gear in the x-axis direction
Figure 112015059672379-pat00007
) 204, a distance between the center of gravity CG of the aircraft and the yaw axis of the body of the landing gear
Figure 112015059672379-pat00008
) 205 may be available for the aircraft landing gear.

3 is a flowchart illustrating a method of calculating a displacement amount of a landing gear according to an embodiment of the present invention.

3, the present invention calculates a length displacement amount of the landing gear on the basis of the ground coordinate system, which is an inertia coordinate system (S100), and then coordinates the landing gear axis direction again to determine the length of the landing gear The displacement amount of the aircraft landing gear is calculated by obtaining the displacement amount (S110, S120). The calculated displacement amount of the aircraft landing gear is utilized as a vertical force modeling input of the landing gear (S130).

The operation will be described in more detail as follows.

FIG. 4 is a longitudinal displacement correlation diagram of the landing gear based on the ground coordinate system and the body coordinate system.

As shown in Fig. 4, the displacement amount of the front landing gear on the basis of the ground coordinate system is

Figure 112015059672379-pat00009
(400), the displacement amount of the left landing gear on the basis of the ground coordinate system is
Figure 112015059672379-pat00010
(401), the length displacement of the space wheel landing gear system based on the ground coordinate system
Figure 112015059672379-pat00011
(402), the displacement amount of the front landing gear on the basis of the body coordinate system is
Figure 112015059672379-pat00012
(403), the displacement amount of the left-hand landing gear based on the body coordinate system is
Figure 112015059672379-pat00013
(404), the length displacement amount of the space wheel landing apparatus based on the body coordinate system
Figure 112015059672379-pat00014
(405).

First, the displacement amount of the front landing gear relative to the ground coordinate system

Figure 112015059672379-pat00015
(400) includes a strut of the front landing gear and a tire including a tire which are not contracted with respect to the horizontal extension line (CG line) of the center of gravity of the aircraft in Fig. 1
Figure 112015059672379-pat00016
(200) to a ground coordinate system, and the coordinate conversion value
Figure 112015059672379-pat00017
(301), the pitch direction posture angle
Figure 112015059672379-pat00018
The height difference value of the front landing gear reference line from the Z-axis position of the center of gravity of the aircraft generated by the front-
Figure 112015059672379-pat00019
The altitude value of the aircraft, which is based on the center of gravity of the aircraft,
Figure 112015059672379-pat00020
(100). Here, the roll direction posture angle
Figure 112015059672379-pat00021
(102) should be considered further. Therefore, the length displacement amount of the front landing gear relative to the ground coordinate system
Figure 112015059672379-pat00022
(400) is rewritten as shown in Equation 1 below.

[Equation 1]

Figure 112015059672379-pat00023

here,

Figure 112015059672379-pat00024
(300)
Figure 112015059672379-pat00025
ego,
Figure 112015059672379-pat00026
(301)
Figure 112015059672379-pat00027
to be.

Then, the length displacement amount of the left-hand landing landing gear on the basis of the ground coordinate system

Figure 112017023773093-pat00028
(401) comprises a strut of a bare landing gear which is not contracted with respect to the horizontal extension line (CG line) of the center of gravity of the aircraft in Fig. 1
Figure 112017023773093-pat00029
(201) to the coordinate system of the ground coordinate system
Figure 112017023773093-pat00030
(302), the pitch direction posture angle
Figure 112017023773093-pat00031
The height difference value of the landing gear reference line from the Z-axis position of the center of gravity of the aircraft generated by the landing gear 101
Figure 112017023773093-pat00032
(304), the altitude value of the aircraft based on the center of gravity of the aircraft
Figure 112017023773093-pat00033
(100) and the roll direction posture angle of the aircraft body shown in Fig. 2
Figure 112017023773093-pat00034
The height difference value of the landing gear reference line from the Z-axis position of the center of gravity of the aircraft generated by the landing gear 102
Figure 112017023773093-pat00035
(305). Here, the roll direction posture angle
Figure 112017023773093-pat00036
(102) should be considered further. Length displacement of left-landing landing gear relative to ground coordinate system
Figure 112017023773093-pat00037
(401) is rewritten as shown in Equation (2) below.

&Quot; (2) "

Figure 112015059672379-pat00038

here,

Figure 112015059672379-pat00039
(302)
Figure 112015059672379-pat00040
to be.

Also, the length displacement amount of the space wheel landing gear based on the ground coordinate system

Figure 112017023773093-pat00041
(402) comprises a strut of a bicycle landing gear which is not contracted with respect to a horizontal extension line (CG line) of the center of gravity of the aircraft and a length
Figure 112017023773093-pat00042
(201) to the coordinate system of the ground coordinate system
Figure 112017023773093-pat00043
(302), the pitch direction posture angle
Figure 112017023773093-pat00044
The height difference value of the landing gear reference line from the Z-axis position of the center of gravity of the aircraft generated by the landing gear 101
Figure 112017023773093-pat00045
(304), the altitude value of the aircraft based on the center of gravity of the aircraft
Figure 112017023773093-pat00046
(100). Next, in Fig. 2, the roll direction posture angle
Figure 112017023773093-pat00047
The height difference value of the landing gear reference line from the Z-axis position of the center of gravity of the aircraft generated by the landing gear 102
Figure 112017023773093-pat00048
(305), the length displacement amount of the space wheel landing gear system based on the coordinate system
Figure 112017023773093-pat00049
(402) can be obtained. Here, the roll direction posture angle
Figure 112017023773093-pat00050
(102) should be considered further. Length displacement of the space wheel landing gear based on the ground coordinate system
Figure 112017023773093-pat00051
(402) is rewritten as shown in Equation (3) below.

&Quot; (3) "

Figure 112015059672379-pat00052

here,

Figure 112015059672379-pat00053
(302)
Figure 112015059672379-pat00054
to be.

Length displacement of the front landing gear obtained above

Figure 112015059672379-pat00055
(400), the length displacement amount of the left-hand wheel landing gear
Figure 112015059672379-pat00056
(401) and the length displacement amount of the space wheel landing gear
Figure 112015059672379-pat00057
(402) altitude value of the aircraft (based on ground coordinates) based on both ground plane
Figure 112015059672379-pat00058
(100). However, in order to model the vertical force of the landing gear, the displacement amount of the strut in the axial direction and the tire
Figure 112015059672379-pat00059
,
Figure 112015059672379-pat00060
,
Figure 112015059672379-pat00061
), It is necessary to change the axial direction of the landing gear. That is, the attitude angle of the body used in calculating the displacement amount of the ground coordinate system
Figure 112015059672379-pat00062
,
Figure 112015059672379-pat00063
) And slope (t) must be multiplied inversely. .

Therefore, the displacement amount of the front landing gear on the basis of the body coordinate system

Figure 112015059672379-pat00064
(403) is the length displacement amount of the front landing gear on the basis of the ground coordinate system obtained by the equation
Figure 112015059672379-pat00065
Can be obtained by using the coordinate conversion equation as shown in the following Equation (4) using the equation (400).

&Quot; (4) "

Figure 112015059672379-pat00066

Then, the displacement amount of the left landing gear of the left main landing gear based on the fuselage coordinate system

Figure 112015059672379-pat00067
(404) is the distance displacement amount of the left-hand landing landing gear on the basis of the ground coordinate system obtained by the equation (2)
Figure 112015059672379-pat00068
Can be obtained by using the coordinate conversion formula as shown in the following Equation (5) using the equation (401).

&Quot; (5) "

Figure 112015059672379-pat00069

In the same way, the displacement amount of the space wheel landing gear based on the fuselage coordinate system is

Figure 112015059672379-pat00070
(405), the length displacement amount of the space wheel landing apparatus based on the ground coordinate system obtained through the equation
Figure 112015059672379-pat00071
Can be obtained by using the same coordinate transformation formula as shown in Equation (6) below using the coordinate conversion equation (402).

&Quot; (6) "

Figure 112015059672379-pat00072

That is, according to the present invention, the displacement amount of the front landing gear on the basis of the ground coordinate system

Figure 112015059672379-pat00073
(400) is coordinate-transformed in the axial direction of the landing gear, and then the angle of the front landing gear inclined toward the forward direction of the moving body is taken into consideration,
Figure 112015059672379-pat00074
(403), and the length displacement amount of the left-hand landing landing apparatus on the basis of the ground coordinate system
Figure 112015059672379-pat00075
(401) in the axial direction of the landing gear so that the length displacement amount
Figure 112015059672379-pat00076
(404), and the length displacement amount of the space wheel landing apparatus based on the ground coordinate system
Figure 112015059672379-pat00077
(402) in the axial direction to calculate the length displacement amount
Figure 112015059672379-pat00078
(405) can be obtained.

Therefore, the present invention can measure the displacement amount for obtaining the vertical force of the landing gear even when there is no measurement sensor using the displacement amount of the strut and the tire in the axial direction of the landing gear.

As described above, according to the present invention, the displacement amount of the landing gear is calculated on the basis of the ground coordinate system by using the position information, attitude information and landing gear basic information of the airplane, and then the coordinates are converted into the axial direction of the landing gear. By measuring the displacement of the landing gear, it is possible to know the displacement of the aircraft landing gear even if there is no sensor for measuring the displacement of the landing gear.

The present invention is advantageous in that it can be utilized for constructing a simulation environment for control law design for automatic takeoff and landing of aircraft, and automatic slide run by utilizing the calculated displacement amount of landing gear as an input of landing gear vertical force modeling. That is, if only the information of the input aircraft is changed, it is possible to simulate the sliding motion characteristics of various aircraft in conjunction with the aircraft simulation program.

It will be appreciated that the configurations and methods of the embodiments described above are not to be limited and that the embodiments may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. Therefore, it should be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive.

100: altitude of the aircraft 101: pitch angle of the aircraft body
200: Length including the strut and tire of the front landing gear
201: length of the landing gear including struts and tires
400: Length displacement of the front landing gear relative to the ground coordinate system
401: Length displacement of left-landing landing gear relative to ground coordinate system
402: Length displacement of the space wheel landing gear based on the ground coordinate system
403: Length displacement of the left-hand landing gear based on the coaxial coordinate system
404: Length displacement of the space wheel landing gear based on coaxial coordinate system

Claims (8)

Transforming the lengths of the front wheel and the landing gear of the main landing gear, which are not contracted with respect to the horizontal extension line of the center of gravity of the aircraft, including the struts and the tires, to the ground coordinate system using the pitch direction attitude angle and the roll direction attitude angle of the aircraft body;
The height difference value of the front landing gear reference line from the Z-axis position of the center of gravity of the aircraft generated by the pitch direction attitude angle of the aircraft body in the length of the coordinate-converted front landing gear and the height of the aircraft based on the center of gravity of the aircraft Calculating a displacement amount of the front landing gear on the basis of the ground coordinate system;
The height difference value of the landing gear reference line from the Z-axis position of the aircraft center of gravity generated by the pitch direction orientation angle of the aircraft body is added to the length of the coordinate converted landing gear landing gear, The height difference value of the landing gear reference line from the Z-axis position of the aircraft center of gravity generated by the altitude value of the aircraft based on the standard of the aircraft and the roll orientation angle of the aircraft body, Calculating;
The height difference value of the landing gear reference line from the Z-axis position of the aircraft center of gravity generated by the pitch direction orientation angle of the aircraft body is added to the length of the coordinate converted landing gear landing gear, And the height difference of the landing gear reference line from the Z-axis position of the aircraft center of gravity caused by the roll orientation angle of the aircraft fuselage is added to calculate the height of the space wheel landing gear based on the ground coordinate system Calculating a length displacement amount; And
Calculating the length displacement amount of the front wheel, left main wheel, and space wheel landing gear based on the body coordinate system by performing coordinate transformation of the length displacement amount of the front wheel, left main wheel and space wheel landing gear based on the calculated ground coordinate system in the axial direction of the landing gear, And calculating a displacement amount of the landing gear including the landing gear.














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CN107957733A (en) * 2017-12-05 2018-04-24 深圳市道通智能航空技术有限公司 Flight control method, device, terminal and unmanned plane
CN109466792B (en) * 2018-10-29 2020-07-24 中航飞机起落架有限责任公司 Method for calculating operation ground load of multi-support landing gear aircraft
CN114184340A (en) * 2021-12-10 2022-03-15 凌云科技集团有限责任公司 Method and platform for measuring deflection of strut of landing gear of airplane

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KR101288898B1 (en) 2011-12-29 2013-07-23 김성남 Landing gear aircraft

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101288898B1 (en) 2011-12-29 2013-07-23 김성남 Landing gear aircraft

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