RU2634660C2 - Device for damping of longitudinal vibrations of ekranoplan on tangage angle - Google Patents

Abstract

FIELD: aviation.

SUBSTANCE: damping device contains a steering column with a loading mechanism, control wiring with a push-pull rod and walking beam system, an actuator, a pitch angular velocity sensor, an amplifier and control unit. Wherein, the actuator is connected by means of a differential walking beam, kinematically connected with a parallelogram mechanism, kinematically connected to the steering column and diving-plane. The signal coming from the amplifier and control unit to the actuator provides additional deviation of diving-planes by an angle equal to the product of the differential walking beam gear ratio, the pitch damper gear ratio, the actuator gear ratio and the angular rate of change of the pitch angle.

EFFECT: improving the stability and controllability characteristics of the ekranoplan, providing controllability of ekranoplan on the pitch angle in the event of actuator failure, improving the control ergonomics by reducing the frequency and amplitude of steering column deflection when controlling the ekranoplan.

4 cl, 9 dwg

Description

The invention relates to ekranoplan transport, and in particular to damping systems of longitudinal vibrations of the ekranoplan by pitch angle.

The prior art systems for damping oscillations of aircraft (aircraft, ekranoplanes, etc.) in pitch angle.

So, in the book of G.S. Buesgens, R.V. Studen “Aerodynamics of an airplane. Dynamics of longitudinal and lateral movement ”, p. 245, Moscow, Mashinostroenie publishing house, 1979 [1], a device for damping longitudinal oscillations of an aircraft by pitch angle containing a helm column (SC) with a loading mechanism (ZM), control wiring with a rocking system, steering unit, pitch angular velocity sensor, gain and control unit (control unit (Kω _Z )). A feature of the known device, the block diagram of which is shown in FIG. 1, is the presence of a power drive (booster) to reject the control.

When the device is known from the book [1], the signal from the strain gauge (TD), proportional to the movement of the helm column, is electronically summed in the on-board computer (BV) with the signal coming from the angular velocity sensor (DLS) and amplified in the amplification and control unit (Control unit (Kω _Z )), after which the total control signal is supplied to the power booster (SB), where it is converted into the displacement of the hydrostock of this booster. As a result, the deviation of the governing body - elevator (RV) is realized according to the law of control in the form of the total impact from the pilot X _L = K _TD × (X _ШК ) and from the pitch damper Kω _Z × ω _Z

δ _PB = K _DT × (X _SK) + Kω _Z × ω _Z,

Where:

δ _PB is the angle of deviation of the elevator;

K _TD - signal from the strain gauge;

X _ShK - the course of the steering column, mm;

Kω _Z is the gear ratio of the pitch damper, Kω _Z > 0, sec;

ω _Z - the angular velocity of the pitch angle of the aircraft (in this case, the aircraft).

Such a control of the elevator has a disadvantage, since when the power booster (SB) itself and (or) the power supply system (hydraulic or electric) fail, the control wiring from the control column to the elevator is disconnected. To eliminate this drawback, the elevator drive system from the on-board computer (BV) to the elevator via the power booster (SB) has to be duplicated many times, which increases the mass of the aircraft control system.

In the book of V.B. Diomidov “Automatic control of the movement of ekranoplanes”, p. 82, 83, St. Petersburg, publishing house SPb SSC RF Central Research Institute “Elektropribor”, 1996, (ISNB 5-900780-06-6) [2], a device for damping longitudinal oscillations is known ekranoplan on the pitch angle, containing a steering column (ShK) with a loading mechanism (ZM), control wiring with a rocking system, steering control unit (RA) in the form of "sliding thrust", pitch angular velocity sensor (TLS), amplification and control unit ( Control unit (Kω _Z )). A feature of the device, the block diagram of which is shown in FIG. 2, is the presence of a power booster (SB), deflecting elevator (RV) ekranoplan, and a feedback sensor.

During operation of a control device for a steering column (HQ) known from the book [2] from a pilot X _{L, it is} mechanically summed up with additional mechanical movement of the steering control unit (RA), made in the form of a “sliding rod” X _RA = Kω _Z × ω _Z , after which through the subsequent elements of the control wiring (traction and rocking) reject the control element of the power booster (SB). As a result of this, the movement of the working hydrostock of the power booster (SB) deflects the elevator (RV) of the ekranoplan according to the control law:

δ _PB = K _W × (X _SK + Kω _Z × ω _Z),

Where:

δ _РВ - angle of deviation of the elevator;

K _Ш - gear ratio of manual steering elevator wiring, Кш <0, city / mm;

X _ShK - the course of the steering column, mm;

Kω _Z is the gear ratio of the pitch damper, Kω _Z > 0, sec;

ω _Z - the angular velocity of the pitch angle of the ekranoplan, rad / sec.

A disadvantage of the device known from the book [2] is the inclusion of a power booster (SB) in the elevator control system (WB), because when the power booster (SB) itself and (or) the power supply system (hydraulic or electrical) fail, the wiring connection is broken control from the control column to the elevator. To eliminate this drawback, the elevator control system from the control column to the elevator is duplicated many times, which increases the weight of the ekranoplan control system.

The damping device of longitudinal oscillations of the ekranoplan by pitch angle [2] is adopted as the closest analogue of the invention.

Solved technical problem is to increase the safety of the operation of the ekranoplan.

The technical result of the invention consists in improving the stability and controllability characteristics of an ekranoplane, as well as in ensuring the controllability of an ekranoplan by pitch angle in case of failure of the steering unit. In addition, the technical result consists in improving the ergonomics of control by reducing the frequency and amplitude of the deviation of the steering column when controlling the winged aircraft.

The invention consists in the following.

The damping device of the longitudinal oscillations of the ekranoplan by pitch angle, as in the closest analogue [2], contains a steering column with a loading mechanism, control wiring with a rocking system, a steering unit, a pitch angular velocity sensor, a gain and control unit, but unlike the most a close analogue [2] the steering unit is connected by means of a differential rocker kinematically connected to a parallelogram mechanism kinematically connected to the steering column and elevator, while the signal s with block and control gain to the steering unit, providing additional deflection of the elevators by an angle equal to the product of the values of the transmission ratio of the differential rocking pitch transfer coefficient of the damper, the gear ratio of the steering unit and the angular rate of change of pitch angle.

Damping device for longitudinal oscillations of the ekranoplane by pitch angle, characterized in that the parallelogram mechanism of the differential rocking device contains a pair of rockers pivotally connected to a support and pivotally connected to each other by a jumper, the first rocker is kinematically connected to the steering column, the second rocker is connected to the rocker by a hinge, rocker arm with a jumper, one end of the rocker is kinematically connected with the elevator, and the second end of the rocker is pivotally connected to the elastic element and that the steering rod unit, the other end of the elastic member is pivotally connected to the support by a hinge connecting the first rocker arm with the support.

The damping device of the longitudinal oscillations of the ekranoplan according to the pitch angle is characterized in that the steering unit comprises a hydraulic cylinder.

The damping device of the longitudinal oscillations of the ekranoplan by pitch angle is characterized in that the steering unit contains a power electric drive.

Signs characterizing the essence of the invention are essential, form the totality and ensure the achievement of a technical result.

Indeed, the implementation of the damping device of longitudinal oscillations of the ekranoplan by pitch angle containing a steering column with a loading mechanism, control wiring with a system of rods and rockers, a steering unit, a pitch angular velocity sensor, a gain and control unit, as well as connecting the steering unit to a control system using differential rocking chair, kinematically connected with the parallelogram mechanism, kinematically connected with the helm column and elevator, provides control of the ekranoplan pitch angle. In case of failure of the powertrain system, due to the connection of the powertrain by means of a parallelogram mechanism in parallel with the control wiring from the control column to the elevator, manual control of the ekranoplan from the pilot’s side is maintained, which, in comparison with the analogous devices considered earlier, increases the safety of the operation of the ekranoplan. At the same time, the signal from the amplification and control unit to the steering unit provides an additional deviation of the elevator by an angle equal to the product of the gear ratio of the differential rocking gear, gear ratio of the pitch damper, gear ratio of the steering unit and the angular rate of change of pitch angle, which as a result increases characteristics of stability and controllability of the ekranoplan according to pitch angle and improves control ergonomics by reducing the frequency and amplitude of deviation I have a helm column when controlling an ekranoplane.

Performing a parallelogram mechanism of a differential rocker containing a pair of rockers pivotally connected to a support and pivotally connected by a jumper, the kinematic connection of the first rocker with a steering column, connecting the second rocker with a rocker by means of a hinge connecting the second rocker with a jumper, the kinematic connection of one height of the rocker with a jumper , swivel of the second end of the rocking chair with an elastic element and the rod of the steering unit, as well as the connection of the other end of the elastic element The one with the support by means of a hinge connecting the first beam to the support provides independent deviation of the rudder by the steering column and steering unit, provides ekranoplan controllability by pitch angle in case of failure of the steering unit, and also improves control ergonomics by reducing frequency and the amplitude of the deviation of the steering column when controlling the ekranoplane.

The implementation of the steering unit containing the hydraulic cylinder increases the speed of the damping device of the longitudinal vibrations of the ekranoplane by the pitch angle and thereby increases the stability and controllability of the ekranoplane.

The execution of the steering unit containing a power electric drive increases the accuracy of the movement of the rod of the steering unit, which improves stability and controllability of the ekranoplan.

The invention is illustrated by drawings.

In FIG. 1 shows a block diagram of the damping of longitudinal vibrations of an aircraft by pitch angle, presented in the book [1].

In FIG. 2 shows a block diagram of the damping of longitudinal vibrations of an ekranoplan by pitch angle presented in the book [2].

In FIG. 3 presents a block diagram of the claimed device for damping longitudinal vibrations of an ekranoplan by pitch angle.

In FIG. 4 shows an ekranoplan equipped with a damping device for longitudinal vibrations of an ekranoplan by pitch angle.

In FIG. 5 shows the extension element A in FIG. four.

In FIG. 6 shows an example of the differential rocking in side view.

In FIG. 7 shows a section BB in FIG. 6.

In FIG. 8 shows a section B-B in FIG. 6.

In FIG. Figure 9 shows a comparison of transients of the perturbed movement of an ekranoplan equipped with a pitch damping system for pitch oscillations, and without such a device.

The damping device of the longitudinal vibrations of the ekranoplan in pitch angle is as follows.

The pitchfork longitudinal vibration damping device according to pitch angle contains a steering column 1, which can be equipped with a loading mechanism 2, control wiring including thrusts 3 and rockers 4, pitch angular velocity sensor (TLS) 5, amplification and control unit 6 (BUK), steering unit 7 (RA) and a differential rocker 8, kinematically connected with a parallelogram mechanism, which in turn is kinematically connected by a control wiring including rods 3 and rockers 4, with the steering column 1 and elevator 9 (Fig. 3, 4, 5).

The parallelogram of the differential rocking mechanism 8 shown in FIG. 5-8, contains a pair of rockers 10 and 11 connected to a support 12, for example, by an ekranoplane structure, by means of hinges 13 and 14, and interconnected by a jumper 15 by means of hinges 16 and 17. The first beam 10 is kinematically connected by a control wiring including rods 3 and rocker 4, with the steering column 1. The second rocker 11 is connected to the rocker 18 by means of a hinge 14 connecting the second rocker 11 to the jumper 15. One end of the rocker 18 is kinematically connected by a control wiring including rods 3 and rocker 4, with the elevator 9, and second end to Chalki 18 by a hinge 19 coupled to the elastic member 20 and the extendable rod 21 of the steering unit 7. The other end of the elastic member 20 is connected to support 12, e.g. WIG structure by a hinge 13 connecting the first rocker arm 10 with a support 12, for example, design WIG.

The steering unit 7 (RA) can be performed in the form of a hydraulic cylinder, a power electric drive (not shown in Fig.), And in another way, providing for the movement of the differential rocker 8.

A device for damping longitudinal oscillations of an ekranoplan by pitch angle works as follows.

Moving the steering column 1 by the pilot through the control wiring, including rods 3 and rockers 4, due to the differential rocker 8 kinematically connected with the parallelogram mechanism, directly deflects the elevator 9 of the winged craft (Fig. 4, 5) in manual control mode:

δ _PB = K _W × X _HK .

In this case, the pitch angle angular velocity sensor (DLS) 5 generates a signal U proportional to the pitch angular velocity ω _{Z of} the pitch angle change (Uω _Z ), which is supplied to the amplification and control unit 6 (BPC), where it is converted into a control signal U = Kω _Z × ω _Z entering the steering control unit 7 (RA). When moving the rod 21 of the steering control unit 7 (RA) by means of a differential rocker 8 kinematically connected with a parallelogram mechanism, it is combined with the movement of the elevator 9 from the movement of the steering column 1.

As a result, the combined deviation of the elevator 9 of the ekranoplan (EP) is implemented according to the control law:

δ _PB = K _W × X _WK + K _DK × X _RA = K _W × X _WK + K _DK × K _RA × (Kω _Z × ω _Z ).

Mechanical addition of the angle of deviation of the elevator 9 from the movement of the steering column 1 and the sliding rod 21 of the steering control unit 7 occurs as follows.

When the steering column 1 is moved by means of rods 3 and rockers 4, the first beam 10 of the parallelogram mechanism rotates around the axis of the hinge 13 connecting the first beam 10 to the support 12, which is the winged wing structure. The first rocker 10 moves the jumper 15 connected to it by the hinge 16. The jumper 15, by means of the hinge 17 connected to the second rocker 11 and the rocker 18, rotates the second rocker 11 relative to the hinge 14 mounted on the support 12. At the same time, the rocker 18 is rotated relative to the axis of the hinge 19, connecting the rocker 18 with the sliding rod 21 of the steering control unit 7 and the elastic element 20, which is connected to the hinge at the other end 13. As a result, the rocker 18 moves the rod 3 by the required amount kinematically connected with the steering wheel m height 9.

When combining the axes of hinges 14 and 19, the deviation of the elevator 9 is equal to the product of the transmission coefficient K _W from the steering column 1 to the elevator 9 to move the X _SK steering column 1: δ _PB = K _W × X _CC.

When moving the sliding rod 21 of the steering control unit 7, the axis of the hinge 19, also connected to the elastic element 20 and the rocker 18, moves. The rocker 18 is rotated relative to the axis of the hinge 17 connecting the rocker 18 with the second beam 11 and the jumper 15. The rocker 18 moves the rod 3 kinematically associated with the elevator 9, by the value of X _RA . The amount of movement X _RA is equal to the product of the values of the gear ratio K _{RA of the} steering control unit 7, the gear coefficient Kω _{Z of the} pitch damper and the angular velocity ω _{Z of} the pitch angle change: X _RA . = K _RA × (Kω _Z × ω _Z ).

In case of failure of the steering control unit 7 due to the elastic forces of the elastic element 20, the axis of the hinge 19 is aligned with the axis of the hinge 14, and the rocker 18 moves as a whole with the second beam 11 of the parallelogram mechanism.

Thus, in case of failure of the steering unit 7 control (RA), due to the parallel inclusion of the steering unit 7 in the wiring of the elevator 9 control by means of a differential rocker 8, kinematically connected with the parallelogram mechanism, kinematically connected with the steering column and elevator 9, manual steering height 9 through the control wiring, including rods 3 and rockers 4, according to the control law: δ _РВ = K _Ш × Х _ШК . In known devices for damping an airplane and an ekranoplan by pitch angle [1, 2], the steering unit is included in series in the control wiring from the steering column to the elevator, which in case of failure of the steering unit does not provide manual pilot control.

At the aerobatic test bench PSPK-102 TsAGI, the claimed device for damping oscillations by pitch angle was studied on the mathematical model of the ekranoplan shown in FIG. 4. In FIG. In the graphs, the transient processes of an ekranoplan without a device for damping longitudinal vibrations along the pitch angle are designated as “without a damper”, with a damping device are indicated as “with a damper”, and with an automatic control system, are designated as “with self-propelled guns”.

Studies have shown that when the claimed damping device is included in the control system, transients during perturbed longitudinal motion as compared to manual control without a damping device have better characteristics both in pitch angle ϑ and height H, due to some increase in flight height, which is especially important for ekranoplan. Also significantly improves controllability WIG, resulting in reduction of stroke X _SK steering column 1, the amount of travel X _SK steering column 1 becomes comparable to the travel X _SK steering column 1 in the management ekranoplan equipped with automatic control system.

The degree of disclosure in the description of the invention is sufficient for the development and manufacture of a damping device for longitudinal vibrations of an ekranoplan by pitch angle at a specialized enterprise. The invention meets the condition of patentability "industrial applicability".

Achievement of the above technical results during the operation of the entire set of essential features specified in the claims allows us to state that the proposal meets the patentability criterion of "inventive step".

List of positions and designations

1 - helm column (HQ);

2 - loading mechanism (ZM);

3 - thrust control wiring;

4 - rocking control wiring;

5 - pitch angular velocity sensor (TLS);

6 - amplification and control unit (BUK);

7 - steering unit (RA);

8 - differential rocking;

9 - elevator;

10 - the first beam of the parallelogram mechanism;

11 - the second beam of the parallelogram mechanism;

12 - support;

13 is a hinge connecting the first beam 10 to the support 12;

14 - hinge connecting the second beam 11 with the support 12;

15 - jumper;

16 - hinge connecting the jumper 15 with the first beam 10;

17 - hinge connecting the jumper 15 with the second beam 11;

18 - a rocking chair;

19 is a hinge connecting the rocker 18 with the elastic element 20;

20 - an elastic element;

21 - a sliding rod of the steering unit 7;

δ _РВ - angle of deviation of the elevator;

K _Ш - gear ratio from the steering column 1 to the elevator 9, K _Ш <0 deg / mm;

X _HK - the course of the steering column 1, mm;

K _DK - gear ratio of the differential rocking 8, K _DK > 0, dimensionless quantity;

K _RA - gear ratio of the steering unit 7;

Kω _Z is the gear ratio of the pitch damper, Kω _Z > 0, sec;

ω _Z is the angular velocity of the pitch angle;

K _TD - signal from the strain gauge;

ϑ - pitch angle of the ekranoplan;

H - ekranoplan flight altitude;

V - the speed of ekranoplan;

Xe - the course of the steering column 1 ekranoplan.

Claims (4)

1. A device for damping longitudinal vibrations of an ekranoplan by pitch angle, comprising a steering column with a loading mechanism, control wiring with a system of rods and rockers, a steering unit, a pitch angular velocity sensor, a gain and control unit, characterized in that the steering unit is connected via a differential rocking chair, kinematically connected with a parallelogram mechanism kinematically connected with the steering column and elevator, while the signal from the amplification and control unit to the steering unit, provides an additional deviation of the elevators by an angle equal to the product of the gear ratios of the differential rocking gear, gear ratio of the pitch damper, gear ratio of the steering unit and the angular velocity of the pitch angle. 2. The device for damping longitudinal oscillations of the ekranoplan according to the pitch angle according to claim 1, characterized in that the parallelogram mechanism of the differential rocking device comprises a pair of rockers pivotally connected to a support and pivotally connected to each other by a jumper, the first beam is kinematically connected to the steering column, the second beam is connected to with a rocker by means of a hinge connecting the second beam with a jumper, one end of the rocker is kinematically connected with the elevator, and the second end of the rocker is pivotally connected with an elastic element entente and retractable rod of the steering unit, while the other end of the elastic element is pivotally connected to the support by means of a hinge connecting the first beam to the support. 3. The damping device of longitudinal vibrations of the ekranoplan according to the pitch angle according to claim 1 or 2, characterized in that the steering unit comprises a hydraulic cylinder. 4. The damping device for longitudinal vibrations of the ekranoplan according to the pitch angle according to claim 1 or 2, characterized in that the steering unit comprises a power electric drive.

Images