RU2527640C1 - Air cushion vehicle - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: invention relates to air cushion vehicles (ACV) with the systems of damping of vertical vibrations and self-control by roll and pitch angles. ACV comprises the housing, power plant, air cushion skirt. The skirt is fitted with the airline located along the hull perimeter and sectioned in two isolated cavities, pneumatically connected with the skirt. The power plant comprises one drive, kinematically connected with a blower, connected by means of air line and butterfly valve with the relevant isolated cavity. ACV also comprises the bore connecting the air cushion camera with atmosphere by means of control valve. The control system comprises one vertical overload sensor and one horizontal overload sensor. Sensors are connected with the calculator responding to the signals from the named sensors with the signal to actuator to open the relevant butterfly valves and control valve. The actuator for opening of the butterfly valve and control valve actuator is electromechanical. The control system is made with a closed loop by angular position and by ACV speed.

EFFECT: provision of self-control by angular oscillations and damping of ACV vertical oscillations, that minimises amplitudes of angular shifts and ACV vertical overloads, caused by disturbing effect of the excited aqueous and rough ground surfaces.

5 cl, 10 dwg

Description

The invention relates to air-cushion devices, mainly to airplanes with an air-cushion landing gear, equipped with a stabilization system, in particular, a damping system for height oscillations, and an automatic control system for pitch and roll angles.

Air cushion devices (hereinafter referred to as WUAs) equipped with a stabilization system are known in the art. So, in the patent of the Russian Federation No. 2256570, IPC B60V 1/16, B60V 1/12, B60V 3/02, publ. May 20, 2005, [1], a WUA is presented, comprising a housing, an air cushion guard, provided with an air duct located along the perimeter of the WUA and divided into at least two isolated cavities, pneumatically connected to the guard, a power plant containing, according to at least one engine kinematically connected to at least one supercharger connected by means of an air duct and a throttle valve with a corresponding insulated cavity, at least one channel connecting the airbag chamber to the atmosphere by means of a controllable valve, a control system comprising at least one vertical overload sensor and at least one angular overload sensor, wherein said sensors are connected to a calculator that generates a signal to the opening actuator of the corresponding throttle valve from signals from said sensors controlled valve.

In the description of the invention [1], adopted as the closest analogue, the control system is made without feedback, which is a disadvantage of the invention [1], since it leads to an increase in the loads acting on the hovercraft when moving along agitated water and uneven ground surfaces.

The problem to be solved in the invention is to reduce the overloads acting on the WUA when moving along agitated water and uneven ground surfaces.

The technical result consists in providing automatic control of angular oscillations and damping of vertical oscillations of the WUAs by implementing a feedback control system.

The invention consists in the following.

The air cushion apparatus, as in the closest analogue, comprises a housing, an air cushion enclosure provided with an air duct located along the perimeter of the air cushion apparatus casing and divided into at least two isolated cavities pneumatically connected to the enclosure, a power plant, comprising at least one engine kinematically coupled to at least one supercharger connected via an air duct and a throttle valve with a corresponding insulated cavity of at least Here, one channel connecting the airbag chamber to the atmosphere by means of a controlled valve, a control system comprising at least one sensor of vertical overload and angular overload, while these sensors are connected to a computer that generates a signal to the drive from the signals from these sensors opening the corresponding throttle and controlled valve, but unlike the closest analogue, the opening drive of at least one throttle and at least one is controlled of the second valve is made electromechanical, and the control system is made with feedback on the angular position and speed of the hovercraft.

The hovercraft is characterized in that the electromechanical throttle actuator is made with a direct current electric motor, in which the output moment corresponds to the input signal supplied to the current circuit of the direct current electric motor.

In this case, the electric motor of the electromechanical throttle actuator is made with excitation from permanent magnets.

The hovercraft is characterized in that the feedback on the angular position contains an angle sensor, which is made in the form of a sine-cosine rotary transformer, the kinematic connection of the DC motor with the corresponding throttle valve contains a ball screw transmission, while the sine-cosine rotary transformer connected to a ball screw transmission via a rack and pinion mechanism.

An air cushion apparatus is characterized in that the controlled valve actuator comprises a direct current electric motor, and speed feedback is formed by isolating an electromotive force on the armature windings.

The presented features are essential to achieve a technical result and form a combination.

The implementation of the apparatus on an air cushion comprising a housing, an air cushion enclosure provided with an air duct located along the perimeter of the air cushion apparatus casing and divided into at least two insulated cavities pneumatically connected to the enclosure, a power plant comprising at least one an engine kinematically connected to at least one supercharger connected via an air duct and a throttle valve with a corresponding insulated cavity, at least one channel, with Dinh air cushion chamber from the atmosphere through the controlled valve, the control system containing sensors of vertical and angular accelerations associated with the calculator, generating on signals from said sensor signal to drive the throttle valve opening and the respective controlled valve formed electromechanically. The implementation of the control system with feedback on the angular position and speed of the hovercraft provides damping of the vertical vibrations of the hovercraft and automatic control of angular vibrations. This makes it possible to reduce the amplitudes of angular displacements and vertical overloads of the apparatus, caused by the disturbing effect of the excited water and roughnesses of the soil surfaces.

The implementation of an electromechanical throttle actuator with a direct current electric motor, in which the output moment corresponds to the input signal supplied to the current circuit of the direct current electric motor, provides automatic control of the angular oscillations and damping of the vertical oscillations of the WUA with feedback when controlling the deflection of the throttle and / or controlled valve.

The implementation of the electric motor of the electromechanical throttle actuator with excitation from permanent magnets reduces the overall dimensions of the electric motor and reduces the inductance of the motor armature, which reduces the deflection time of the throttle and the controlled valve and, therefore, reduces the amplitude of angular and vertical movements with automatic control of angular vibrations and damping of vertical vibrations WUA.

The inclusion in the feedback on the angular position of the sensor of the angular position, made in the form of a sine-cosine rotary transformer, the kinematic connection of the DC motor with the corresponding throttle valve containing a ball screw transmission, and the connection with it through the rack and pinion mechanism of the sine-cosine rotary transformer reduces energy losses and provides high accuracy of installation of throttle valves upon receipt of a signal for their deviation, which reduces nergozatraty and time deviations throttle and the controllable valve and reduces the amplitude of the angular and vertical displacements WUA in the automatic control and the angular oscillations damping vertical oscillations WUA.

The execution of a controlled valve actuator containing a DC motor and the formation of speed control feedback through the allocation of electromotive force on the armature windings reduces the overall dimensions of the automatic control system, and, therefore, the moment of inertia of the WUA as a whole, which ensures automatic control of angular oscillations and damping of vertical oscillations WUA and allows you to reduce the amplitude of the vertical overload of the hovercraft.

The invention is illustrated by drawings.

Figure 1 presents the WUA in plan view.

Figure 2 presents the WUA in front view.

Figure 3 presents a section aa of figure 1.

Figure 4 shows a diagram of the separation of the WUA fence into isolated cavities.

Figure 5 shows a section bB in figure 1.

Figure 6 shows the control circuit of the throttle valves.

Figure 7 shows the layout of the air pressure sensors in the fence elements of the WUA.

On Fig shows a block diagram of the management system of the WUA in the corners of the roll and pitch.

Figure 9 shows a functional diagram of an electromechanical DC drive.

Figure 10 shows a block diagram of an adaptive WUA damping system in roll and pitch angles. Disclosure of the invention.

The WUA contains a housing 1, a power plant, including at least one engine 2, kinematically connected, for example, by means of a transmission, to at least one supercharger, made, for example, in the form of an axial fan 3, the fence 4 of the chamber 5 of the air bag and control system (figures 1, 2, 3).

Along the perimeter of the housing 1, for example, along the fence 4, there are air ducts 6, separated, for example, by membranes 7, at least two, and in the preferred embodiment, into four isolated cavities: bow 8, aft 9, right 10 and left 11 sides (figure 4, 5, 6). Each of the isolated cavities 8, 9, 10, 11 is pneumatically connected to the guard 4 and to the supercharger, for example, an axial fan 3, by means of throttle valves 12, 13, 14 and 15, respectively. The airbag chamber 5 is connected to the atmosphere by a channel 16 with controlled valve 17 (figure 5).

The control system contains at least one vertical overload sensor and one angular overload, in a preferred embodiment, overload sensors in the bow 18 and aft 19 of the WUA, pitch angle sensors 20 and roll angle 21. In each of the isolated cavities 8, 9, 10, 11 installed pressure sensors 22, 23, 24, 25, respectively, in the bow, stern, starboard, port side of the isolated cavities (Fig.6, 7). All sensors 18-25 are connected to the calculator 26, which generates a signal to the opening drive by the electric motors 27, 28, 29, 30, respectively, of the throttle valves 12, 13, 14, 15, as well as the controlled valve 17 according to the signals from the sensors 18-25 (Fig. 6 , 7). The control system may also contain a control circuit for the operation of engines 2 of the power plant and blowers, for example, an axial fan 3. Moreover, the control system is made with feedback in angular position and speed.

In a preferred embodiment, the airbag chamber 5 with membranes 7 is divided into four isolated cavities 8, 9, 10, 11, each of which is equipped with its own supercharger (Fig. 8), for example, an axial fan 3. The angular position feedback of the control system contains sensors 20, 21 of the pitch and roll angular position (FIG. 6), which are made in the form of a sine-cosine rotating transformer (not shown in FIG.), The kinematic connection of the DC motor with the corresponding throttle valve soda INH ballscrews 31, wherein sine-cosine rotary transformer is connected to the ball screw gear 31 through the rack and pinion mechanism 32 (Figure 8). The drive of the controlled valve 17 contains a direct current electric motor 33 (Fig. 5), and Fig. 9 shows a speed feedback generated by isolating an electromotive force on the armature windings of a direct current electric motor 27-30 and 33.

When performing WUAs of small take-off weight, for example, up to 2 tons, of experimental WUAs and self-propelled models, it is advisable to use an electromechanical drive with electric motors 27, 28, 29, 30 DC, respectively, as the drive of the throttle valves 11-14 (Fig.6, 8 , 9), in each of which the output moment corresponds to the input signal supplied to their current circuit (Figs. 9, 10). Moreover, to reduce the overall dimensions of the electromechanical drive, the electric motors 27, 28, 29, 30 can be performed with excitation from permanent magnets.

The WUA control system for roll and pitch angles, as shown in Fig.6, contains:

- the executive subsystem (electric motors 27, 28, 29, 30 throttle rotation drives 12, 13, 14, 15);

- the regulatory subsystem (throttle system 12, 13 14, 15);

- energy subsystem (engines 2, superchargers, for example, axial fans 3, power supplies);

- logical computing subsystem (calculator 26, made, for example, in the form of a programmable controller);

- information subsystem (sensors 18, 19, 20, 21, 22, 23, 24, 25).

The implementation of the electromechanical drive with an Executive electric motor of direct current is presented on the example of the drive of the shutter 14 by a DC motor 29 (Fig. 8). The drive is made with torque control, i.e. the input signal of the current circuit corresponds to the developed moment of the electric motor 29 (Fig.8, 9, 10).

The electric motor 29 is made with excitation from permanent magnets in order to reduce overall dimensions. In this regard, the inductance of the armature windings is reduced. An LD power linear choke is included in the power circuit (Fig. 9), which allows to reduce the current rise rate and its switching frequency.

The electric motor 29 is kinematically connected to the throttle valve 14 using a power reducer made on the basis of a ball screw 31 with an intermediate gear and a link gear at the output (not shown in Fig.). As a sensor 20, 21 of the pitch and roll angular position in the main feedback circuit, a small-sized sine-cosine rotary transformer (not shown in Fig.) Is used, connected to a ball screw transmission 31 by means of a rack and pinion 32 (Fig. 8).

To form the corrective effect of the feedback of the speed control system, an electromotive force (EMF) of the electric motor 29 is used, which can be isolated on the armature windings by the circuit shown in Fig. 9.

The EMF extraction circuit, which includes three resistors r, r ₁ r ₂ , together with the armature winding r _{I of the} electric motor 29 forms a measuring bridge (Fig. 9). At the output of the measuring bridge (between points a and b), the voltage U _{ab is} approximately proportional to the motor EMF: U _ab = rЕ / (r + r _Я ), where Е is the EMF of the electric motor 29. In order to reduce the resistance power loss, r << r _I therefore, to obtain feedback of a given value at the output of the measuring bridge, an operational amplifier U ₁ with a large gain is included (Fig. 9).

The power amplifier is designed as a current regulator of the electric motor 29 to provide torque control of the drive. Its circuit contains a bridge on four power transistors T ₁ , T ₂ , T ₃ , T ₄ , with return current diodes D ₁ , D ₂ , D ₃ , D ₄ . OD limiting chokes with diodes D ₅ and D ₆ are included to limit the overlapping currents that occur in the bridge racks at the moments of switching transistors. Transistors T ₁ , T ₂ , T ₃ , T _{4 are} controlled by transistors T ₅ and T ₆ operating from a differential stage on transistors T ₇ and T ₈ . The power amplifier is covered deep feedback output current I _I anchor. As current sensors, non-inductive resistors R ₁ and R _{2 are used} in conjunction with a summing operational amplifier U ₂ . The current feedback circuit is closed through a hysteresis element, to the input of which a control signal δU is applied (Fig. 9).

The control of the armature current of 1% and, consequently, the torque of the drive motor leads to the fact that the mechanical characteristics of the current drive circuit become ideally “soft”, i.e. in the linear zone, the value of the developed moment does not depend on speed.

Similarly, the electromechanical actuators of the throttle valves 8, 9, 10, 11 are deflected by the direct current electric motors 27, 28, 29, 30, and the drive of the electric motor 33 of the controlled valve 17 can be performed (Fig. 5).

WUA operates as follows.

A WUA, as a control object, moving along an uneven supporting surface, transfers an array of data about the object to the information subsystem. The information subsystem collects all the data from the sensors 18-25 on the movement of WUAs, data on the energy subsystem, transfers the summing information to the calculator 26 of the logical-computational subsystem, which generates a control signal to the operational amplifier due to the introduced algorithms and programs. The amplifier of electrical signals compares the control signals and the signals from the feedback sensors of the position of the actuators. According to the mismatch signal, a signal is generated for the electric motors 27-30 and the necessary position of the throttle valves 12-15 is set by means of the drive. The throttles 12-15 change the redistribution of the mass flow of air supplied to the insulated cavity 8-11 of the fence 4 of the chamber 5 of the air cushion, thereby controlling the WUA in roll and pitch angles (Fig.6, 9).

When connecting the stator winding of an electric motor, for example, an electric motor 29, to the network, the excitation flux Ф _B will be equal to: Ф _B = k _B I _B , where k _B is the flow coefficient; I _B is the excitation current, which is determined from the equation of the stator circuit: U _B = r _C I _B + L _C (dI _B / dt) + C _B I _P , where U _B is the excitation voltage, r _C , L _C is the active resistance and inductance of the excitation circuit; C _B O _P is the voltage component characterizing the demagnetizing effect of the rotor; I _P - rotor current.

During rotation, there is a counter-EMF of the rotor: E _P = SEF _B , Ω _P , therefore, for the rotor circuit we have: U _B -E _P + r _P I _P + L _P (dI _P / dt), where r _P , L _P is the active resistance and the inductance of the rotor circuit; Ω _P - rotor speed; With _E - constant EMF. Then the torque of the electric motor 29 is equal to: M _EM = C _M F _B I _P , where C _M is the moment coefficient.

The equation of motion of the rotor takes the form: I (dΩ _P / dt) + hCΩ _P = M _EM -M _BH , where M _BH is the external moment on the motor shaft, determined by the forces and moment from the throttle valve 14; h is the interpolar distance in the rotor, h≈0; I is the moment of inertia of the shutter 14, reduced to a common rod.

A mathematical model of an electromechanical drive using an electric motor, for example, a DC motor 29, is presented in figure 10, contains the following parameters: k _U - gain; k = C _E - constant EMF, C _E = N _p / 60a; N is the total number of anchor conductors; p is the number of poles; a is the number of parallel branches, for the loop winding a = p; T = (L _P I) ^0.5 / (C _M C _E ); C _M = No / 2πa; ζ = 0.5r (I / L _P C _M C _E ) ^0.5 ; m = r _P / C _M C _E ; T _m = L _P / r _P ; k _DS ; where T; ζ; m; T _m ; k _DS - coefficients of the internal feedback sensor; k _OC is the coefficient of the main feedback.

Such control of electric motors 27-30, deflecting the throttle valves 12-15 in conditions of insufficient certainty of the external disturbance from the supporting surface to the control object, creates some "margin" in the management of full-scale WUAs, i.e. gives the rotary throttle actuator 12-15 the property of robustness (insensitivity) with respect to the changing parameters of external influences.

A control system that automatically adjusts to the desired control law by analyzing the behavior of an object under current control is called adaptive. The effect of adaptation to the operating conditions in adaptive systems is ensured by the accumulation and processing of information about the behavior of an object in the process of its movement. This allows you to significantly reduce the impact of uncertainty on the quality of management, compensating for the lack of a priori information at the design stage of the system.

The presented description of WUAs is sufficiently disclosed to develop the design and implement the invention at specialized enterprises.

LIST OF POSITIONS AND DESIGNATIONS

1 - housing;

2 - engine;

3 - axial fan;

4 - fencing;

5 - chamber air cushion;

6 - duct;

7 - membrane;

8 - nasal isolated cavity;

9 - a stern isolated cavity;

10 - starboard insulated cavity;

11 - port side insulated cavity;

12 - throttle valve connecting the duct 6 with the insulated nasal cavity 8;

13 - throttle valve connecting the duct 6 with the aft insulated cavity 9;

14 - throttle valve connecting the duct 6 to the starboard side with an isolated cavity 10;

15 - throttle valve connecting the duct 6 to the left side of the insulated cavity 11;

16 - channel;

17 - controlled valve;

18 - overload sensor in the bow of the WUA;

19 - overload sensor in the rear of the WUA;

20 - pitch angle sensor;

21 - roll angle sensor;

22 - pressure sensors in the nasal isolated cavity 8;

23 - pressure sensors in the aft isolated cavity 9;

24 - pressure sensors in the starboard side of an isolated cavity 10;

25 - pressure sensors in the port side of an isolated cavity 11;

26 - computer;

27 - electric motor of an electromechanical throttle actuator 12;

28 - an electric motor of an electromechanical throttle actuator 13;

29 - an electric motor of an electromechanical drive of a throttle valve 14;

30 - an electric motor of an electromechanical drive of a throttle valve 15;

31 - ball screw transmission;

32 is a rack and pinion mechanism connecting a sine-cosine rotating transformer with a ball screw transmission 31.

33 - electric motor of a controlled valve 17.

r, r ₁ r ₂ , r _I - resistors forming a measuring bridge;

r _I - the resistor of the armature winding of the motor;

U _ab is the output voltage (between points a and b) of the measuring bridge;

E - EMF of the electric motor;

U ₁ - operational amplifier to obtain feedback of a given value at the output of the measuring bridge;

T ₁ , T ₂ , T ₃ , T ₄ - power transistors forming a bridge;

D ₁ D ₂ , D ₃ , D ₄ - return current diodes;

OD - limiting chokes with diodes D ₅ and D ₆ ;

T ₅ and T ₆ - transistors control transistors T ₁ , T ₂ , T ₃ , T ₄ ;

T ₇ and T ₈ - transistors;

I _I - output current of the motor armature;

R ₁ and R ₂ are non-inductive resistors;

U ₂ - summing operational amplifier;

δU is the control signal;

Ф _B - flow of excitation;

k _B is the flow coefficient;

I _B is the excitation current;

U _B is the excitation voltage;

r _C , L _C - resistance and inductance of the excitation circuit;

C _B I _P is the voltage component characterizing the demagnetizing effect of the rotor;

I _P - rotor current.

E _P - counter-EMF of the rotor;

r _P , L _P - resistance and inductance of the rotor circuit;

Ω _P is the rotor speed;

With _E - constant EMF;

M _EM = torque of the electric motor;

C _M is the moment coefficient;

M _VN - external moment on the motor shaft;

h is the pole distance in the rotor;

I is the moment of inertia of the throttle valve, reduced to the common stock;

k _U - gain;

N is the total number of anchor conductors;

p is the number of poles;

a is the number of parallel branches;

T; ζ; m; T _m ; k _DS - coefficients of the internal feedback sensor;

k _OS - the main feedback coefficient.

Claims (5)

1. An air cushion apparatus comprising a housing, an air cushion enclosure provided with an air duct located along the perimeter of the air cushion apparatus housing and divided into at least two insulated cavities pneumatically connected to the enclosure, a power plant comprising at least , one engine kinematically connected to at least one supercharger connected by means of an air duct and a throttle valve with a corresponding insulated cavity, at least one channel connecting the measure of the air cushion with the atmosphere by means of a controlled valve, a control system comprising at least one sensor of vertical overload and angular overload, while these sensors are connected to a computer that generates a signal to the actuator for opening the corresponding throttle valves and controlled by signals from these sensors a valve, characterized in that the opening drive of the at least one throttle valve and the actuator of the at least one controlled valve are electromechanical, and the control system is made with feedback on the angular position and speed of the hovercraft. 2. The hovercraft according to claim 1, characterized in that the electromechanical throttle actuator is made with a direct current electric motor, in which the output moment corresponds to an input signal supplied to the current circuit of the direct current electric motor. 3. The hovercraft according to claim 2, characterized in that the DC motor is made with excitation from permanent magnets. 4. The hovercraft according to claim 1, characterized in that the feedback on the angular position contains an angular position sensor, which is made in the form of a sine-cosine rotary transformer, and the kinematic connection of the DC motor with the corresponding throttle valve contains a ball screw transmission while the sine-cosine rotary transformer is connected to the ball screw transmission via a rack and pinion mechanism. 5. The air cushion apparatus according to claim 1, characterized in that the controlled valve actuator comprises a direct current electric motor, and the speed feedback includes an electrical circuit forming an electromotive force release on the armature windings of said electric motor.

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