WO2018173765A1 - 制御装置及びランディングギア昇降装置 - Google Patents

制御装置及びランディングギア昇降装置 Download PDF

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Publication number
WO2018173765A1
WO2018173765A1 PCT/JP2018/008903 JP2018008903W WO2018173765A1 WO 2018173765 A1 WO2018173765 A1 WO 2018173765A1 JP 2018008903 W JP2018008903 W JP 2018008903W WO 2018173765 A1 WO2018173765 A1 WO 2018173765A1
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WO
WIPO (PCT)
Prior art keywords
landing gear
linear actuator
control device
displacement
stroke
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PCT/JP2018/008903
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English (en)
French (fr)
Japanese (ja)
Inventor
佐藤　浩介
義之 小川
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Ｋｙｂ株式会社
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Filing date
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Application filed by Ｋｙｂ株式会社 filed Critical Ｋｙｂ株式会社
Publication of WO2018173765A1 publication Critical patent/WO2018173765A1/ja

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  • the present invention relates to a control device that controls a linear actuator that raises and lowers a landing gear of an aircraft to store and deploy, and an improvement of a landing gear lifting device including the control device.
  • landing gears also referred to as front legs or main legs
  • the landing gear When retracting the landing gear, the landing gear is raised to the retracted position by an actuator such as a linear actuator, and the landing gear is held by the latch device, and the landing gear is securely locked.
  • an actuator such as a linear actuator
  • the landing gear is held by the latch device, and the landing gear is securely locked.
  • the fact that the landing gear is locked by the latch device is detected by a sensor provided in the latch device.
  • Aircraft devices are required to have high reliability, and in the case of automatic control using sensors, it is common to provide redundant sensors. For this reason, if the stroke sensors are increased and each sensor is provided redundantly as described above, the number of sensors increases, the structure becomes complicated, and the cost increases. Therefore, when a stroke sensor is provided, it is preferable to reduce other sensors such as sensors in the latch device.
  • the present invention provides a control device and a landing gear lifting device that can reduce the number of sensors, simplify the structure, and reduce the cost even when controlling the linear actuator based on the stroke displacement of the linear actuator. Objective.
  • the landing gear when the landing gear is stored by controlling the linear actuator based on the stroke displacement, the landing gear is moved downward when the landing gear reaches the storage position held by the latch device.
  • the linear actuator is driven, and it is determined whether or not the landing gear is held by the latch device based on the stroke displacement detected thereafter.
  • FIG. 1 is a conceptual diagram showing a landing gear lifting device provided with a control device according to an embodiment of the present invention.
  • FIG. 2 is a flowchart showing a control flow of the linear actuator by the control device according to the embodiment of the present invention in the landing gear storing step.
  • a control device C according to an embodiment of the present invention shown in FIG. 1 is used in a landing gear lifting device A for lifting and lowering a retractable landing gear L in an aircraft to store and deploy it.
  • the landing gear lifting device A includes a linear actuator 1 that drives the landing gear L, a stroke sensor 10 that detects the stroke displacement of the linear actuator 1, and the linear actuator 1 based on the stroke displacement detected by the stroke sensor 10. And the above-mentioned control device C for controlling.
  • the landing gear L includes a wheel W and a shock absorber D that holds the wheel W at the tip to reduce an impact at the time of landing.
  • the end of the shock absorber D is pin-bonded to the airframe, and the landing gear L can be swung up and down with respect to the airframe to be stored and deployed in the airframe.
  • FIG. 1 shows a state where the landing gear L in the retracted position is held by the latch device R.
  • the linear actuator 1 that drives the landing gear L is an electric hydraulic actuator.
  • the linear actuator 1 includes a cylinder device 2, a pump 3 that supplies liquid such as hydraulic oil into the cylinder device 2 to expand and contract the cylinder device 2, and a reservoir 4.
  • passages such as a circulation passage 5a and a reservoir passage 5b which will be described in detail later, and these constitute a hydraulic circuit.
  • the cylinder device 2 includes a cylinder 20, a piston 21 slidably inserted into the cylinder 20, and a rod 22 having one end connected to the piston 21 and the other end protruding outside the cylinder 20. It is a type. When the rod 22 enters and exits the cylinder 20, the cylinder device 2 expands and contracts, and the linear actuator 1 expands and contracts.
  • the cylinder 20 is divided into a rod side chamber 23 and a piston side chamber 24 by a piston 21, and the rod side chamber 23 and the piston side chamber 24 are filled with liquid, respectively.
  • the rod side chamber 23 and the piston side chamber 24 are communicated with each other by a circulation passage 5a, and the pump 3 is provided in the middle of the circulation passage 5a.
  • the pump 3 is a bi-directional discharge hydraulic pump that can rotate forward and reverse, and is driven by an electric motor 30. Then, the discharge direction of the pump 3 can be switched by forward / reverse rotation of the motor 30, and the liquid can be sent from the piston side chamber 24 to the rod side chamber 23, or the liquid can be sent from the rod side chamber 23 to the piston side chamber 24.
  • a reservoir passage 5b communicating with the reservoir 4 is connected to both sides of the pump 3 in the circulation passage 5a.
  • a low pressure priority shuttle valve 6 is provided in the middle of the reservoir passage 5 b, and the low pressure priority shuttle valve 6 communicates the low pressure side chamber of the rod side chamber 23 and the piston side chamber 24 to the reservoir 4.
  • the reservoir 4 is filled with liquid and compressed gas. The reservoir 4 compensates the volume of the rod 22 entering and exiting the cylinder 20 and can pressurize the hydraulic circuit.
  • the cylinder 20 is pin-bonded to the airframe and the rod 22 is pin-bonded to the landing gear L.
  • the linear actuator 1 When the linear actuator 1 is extended, the landing gear L is lowered and the linear actuator 1 is contracted. As a result, the landing gear L is raised.
  • the configuration of the linear actuator 1 can be changed as appropriate.
  • the linear actuator is an electro-hydraulic actuator as in the present embodiment
  • the cylinder device 2 may be a double rod type
  • the pump 3 is a one-way discharge type and receives hydraulic pressure supply from the pump.
  • the room may be switched by a switching valve.
  • the linear actuator 1 may be an electric actuator.
  • the electric actuator may use a feed screw mechanism, or may move the field and the armature relative to each other in the axial direction.
  • the stroke sensor 10 attached to the linear actuator 1 can detect the movement amount of the rod 22 with respect to the cylinder 20 in this embodiment, and can detect the stroke displacement (shrinkage amount) from the maximum extension of the linear actuator 1. .
  • the position of the landing gear L and the stroke displacement of the linear actuator 1 have a one-to-one relationship. Therefore, when it is desired to move the landing gear L to a certain position, the linear actuator 1 may be stroked so that the stroke displacement of the linear actuator 1 corresponding to that position becomes the target displacement. Therefore, the stroke sensor 10 may detect the position of the landing gear L in addition to the one that directly detects the stroke displacement of the linear actuator 1.
  • control device C that controls the linear actuator 1 based on the stroke displacement detected by the stroke sensor 10 is a controller that controls the rotation speed and rotation direction of the motor 30 that drives the pump 3.
  • control device C rotates the motor 30 forward and backward to switch the discharge direction of the pump 3 to contract the linear actuator 1 and raise the landing gear L, or extend the linear actuator 1 and extend the landing gear L. Can be lowered. Further, when the number of rotations of the motor 30 is increased or decreased by the control device C, the expansion / contraction speed of the linear actuator can be changed, and the rising / lowering speed of the landing gear L can be changed.
  • the linear actuator 1 supports the weight of the landing gear L that is about to descend due to gravity. And the load from the landing gear L side acts in the direction which extends the linear actuator 1, and the rod side chamber 23 is pressurized by the said load.
  • the motor 30 When deploying the landing gear L, the motor 30 is rotated by the pressure of the rod side chamber 23 to which a load from the landing gear L side is applied, and the liquid is supplied from the rod side chamber 23 to the piston side chamber 24. Then, the pressure in the rod side chamber 23 becomes lower than the holding pressure of the landing gear L, and the piston side chamber 24 on the low pressure side is communicated with the reservoir 4 by the low pressure priority shuttle valve 6. Therefore, the pressure of the piston side chamber 24 is maintained at the pressure of the reservoir 4 (hereinafter referred to as the reservoir pressure). On the other hand, the pressure in the rod side chamber 23 to which a load from the landing gear L side is applied is maintained near the holding pressure of the landing gear L and is higher than the reservoir pressure.
  • the load from the landing gear L side acts to move the piston 21 to the left in FIG. 1, pull the rod 22 out of the cylinder 20, and extend the linear actuator 1.
  • the pump 3 when the motor 30 is rotated by the pressure of the liquid from the rod side chamber 23 toward the piston side chamber 24, the pump 3 functions as a hydraulic motor, and the motor 30 functions as a generator to regenerate energy. Do. That is, as described above, when liquid is supplied to the piston side chamber 24, thrust in a direction (shrinkage direction) that prevents extension by the linear actuator 1 is generated, and the linear actuator 1 extends while braking the landing gear L. The gear L is lowered.
  • the linear actuator 1 when the linear actuator 1 is extended, the liquid of the volume of the rod 22 that has retreated from the cylinder 20 moves from the reservoir 4 to the circulation passage 5a through the reservoir passage 5b. Therefore, the volume of the rod 22 entering the cylinder 20 is compensated by the reservoir 4.
  • the linear actuator 1 is extended to lower the landing gear L to a predetermined position (deployment position).
  • the motor 30 when retracting the landing gear L, the motor 30 is rotated forward by energizing the motor 30 and the pump 3 is driven so as to supply the liquid to the rod side chamber 23. Then, the pressure in the rod side chamber 23 becomes higher than the holding pressure of the landing gear L, and the piston side chamber 24 on the low pressure side is communicated with the reservoir 4 by the low pressure priority shuttle valve 6. Therefore, the pressure in the piston side chamber 24 is maintained at the reservoir pressure.
  • the pressure in the rod side chamber 23 that receives the liquid supply from the pump 3 rises and becomes higher than the reservoir pressure.
  • the pressure in the rod side chamber 23 acts to move the piston 21 to the right side in FIG. 1, pull the rod 22 into the cylinder 20, and contract the linear actuator 1. For this reason, even when the pump 3 is driven so as to supply the liquid to the rod side chamber 23 by the motor 30, thrust in the contraction direction is generated by the linear actuator 1, and the linear actuator 1 contracts while pulling up the landing gear L.
  • the linear actuator 1 moves the landing gear L to the normal speed. Raise with. However, when the landing gear L is in the vicinity of the retracted position, the rotational speed of the motor 30 is reduced and the rising speed of the landing gear L by the linear actuator 1 is reduced.
  • the motor 30 When the landing gear L reaches the retracted position, the motor 30 is rotated in the reverse direction, and the linear actuator 1 is driven in a direction in which the landing gear L is once lowered. Even if the linear actuator 1 is driven in this way, if the landing gear L is held by the latch device R and is normally locked, the lowering of the landing gear L should be prevented by the latch device R.
  • the landing gear L when the position of the landing gear L after driving the linear actuator 1 in the lowering direction of the landing gear L is in the retracted position, the landing gear L is held by the latch device R and is normally locked. That's what it means.
  • the landing gear L when the position of the landing gear L after driving the linear actuator 1 in the direction to lower the landing gear L is lowered from the storage position, the landing gear L is not held by the latch device R and is not locked. That's what it means. Therefore, in this case, the landing gear L is raised again by the linear actuator 1, and the operations after the landing gear L reaches the storage position are repeated.
  • the landing gear L can be held by the latch device R and it can be confirmed that it has been securely locked. Further, as described above, when the landing gear L is in the vicinity of the retracted position, the rising speed of the landing gear L by the linear actuator 1 is reduced, so that the landing gear L reaches the retracted position and is held by the latch device R. The landing gear L can be prevented from colliding with the latch device R vigorously.
  • step S1 the control device C determines whether or not the landing gear L is near the retracted position from the stroke displacement of the linear actuator 1 detected by the stroke sensor 10, and determines that the landing gear L is near the retracted position. If so, the process proceeds to step S2, and if not, the process proceeds to step S3.
  • the stroke displacement of the linear actuator 1 detected by the stroke sensor 10 is the displacement X1, and when the landing gear L reaches a predetermined region where the landing gear L near the storage position should be decelerated, it corresponds to the position.
  • the stroke displacement of the linear actuator 1 is set as the target displacement E1.
  • the displacement X1 is equal to or greater than the target displacement E1 (X1 ⁇ E1), it is determined that the landing gear L is in the vicinity of the storage position.
  • the displacement X1 is less than the target displacement E1 (X1 ⁇ E1), it is determined that the landing gear L is not near the retracted position.
  • a predetermined region in the vicinity of the storage position where the landing gear L is decelerated that is, a region to be determined to be in the vicinity of the storage position, can be appropriately set according to the inertial mass of the landing gear L and the like. By setting the area, it is only necessary to prevent the landing gear L from strikingly colliding with the latch device R when being held by the latch device R and sufficiently reducing the impact when being held by the latch device R.
  • step S2 and S3 the control device C drives the pump 3 so as to forwardly rotate the motor 30 by energization and supply the liquid to the rod side chamber 23, and contracts the linear actuator 1 to make the landing gear. Increase L.
  • step S ⁇ b> 2 the control device C decreases the rotational speed of the motor 30 to reduce the contraction speed of the linear actuator 1 and decelerates the rising speed of the landing gear L.
  • step S3 the control device C maintains the rotation speed of the motor 30 at a normal rotation speed, contracts the linear actuator 1 at a normal speed, and quickly raises the landing gear L.
  • step S4 the control device C determines whether the landing gear L is in the storage position from the stroke displacement of the linear actuator 1 detected by the stroke sensor 10, and the landing gear L is in the storage position. If it is determined that there is, the process proceeds to step S5, and if not, the process returns to step S1.
  • the stroke displacement of the linear actuator 1 corresponding to the position is set as the target displacement E2.
  • the displacement X1 which is the stroke displacement of the linear actuator 1
  • the displacement X1 is equal to or greater than the target displacement E2 (X1 ⁇ E2)
  • the displacement X1 is less than the target displacement E2 (X1 ⁇ E2)
  • the landing gear L has not reached the storage position.
  • step S5 the control device C energizes the motor 30 for a predetermined time so as to supply the liquid from the pump 3 to the piston side chamber 24 by reversing the motor 30, and the process proceeds to step S6.
  • step S5 when the liquid is discharged from the rod side chamber 23 to the piston side chamber 24 via the pump 3, the pressure in the rod side chamber 23 falls below the holding pressure of the landing gear L.
  • the pressure drop in the rod side chamber 23 moves the piston 21 to the left side in FIG. 1 and moves the rod 22 out of the cylinder 20 so as to extend the linear actuator 1.
  • the linear actuator 1 extends while maintaining the thrust in the contraction direction by the linear actuator 1.
  • the linear actuator 1 when the linear actuator 1 is driven in the extending direction (the direction in which the landing gear L is lowered) by the control device C, the landing gear L is held by the latch device R, and the landing gear L is normally locked. Therefore, even if the landing gear L is lowered by the backlash of the latch device R, the movement amount is small. However, if the landing gear L is not held by the latch device R, the amount of movement of the landing gear L when the linear actuator 1 is driven in the extending direction by the control device C increases.
  • the amount of current supplied to the motor 30 and the energization time in step S5 are equal to or greater than the rattling of the latch device R, and the landing gear L can be driven in the downward direction by the linear actuator 1, and the landing gear L is held by the latch device R. Even if the linear actuator 1 is driven in this state, consideration is given so that the load applied to each member does not become excessive.
  • the energization time to the motor 30 of the linear actuator 1 in the step S5 is about 0.5 to 2 seconds, and the energization gradually increases the amount of current supplied to the motor 30 (for example, a ramp shape). To increase).
  • the thrust of the linear actuator 1 at the time of energization is set to be about 10 to 20% of the rated thrust.
  • the energization time to the linear actuator 1 and the thrust of the linear actuator 1 in step S5 can be appropriately changed according to the strength of each member, the backlash of the latch device R, and the like.
  • step S6 the control device C determines whether or not the landing gear L is in the storage position from the current stroke displacement of the linear actuator 1 detected by the stroke sensor 10, and the landing gear L is in the storage position. If it is determined that there is, the process proceeds to step S7, and if it is determined that the storage position has been lowered, the process returns to step S1.
  • the stroke displacement after step S5 detected by the stroke sensor 10 in step S6 is defined as displacement X2. If the displacement X2 is equal to or greater than the target displacement E2 (X2 ⁇ E2), it is determined that the landing gear L is in the retracted position. On the other hand, when the displacement X2 is less than the target displacement E2 (X2 ⁇ E2), it is determined that the landing gear L is lowered from the storage position and is not in the storage position.
  • the stroke displacement of the linear actuator 1 is the displacement X1 before step S5 and the displacement X2 after that. Even if the values are slightly different from each other, the difference is within the range of rattling of the latch device R.
  • the displacement X2 in step S6 does not fall below the target displacement E2 when the landing gear L is held by the latch device R. If so, it can be confirmed that the landing gear L is held by the latch device R.
  • step S6 when the displacement X2 in step S6 is less than the target displacement E2 (X2 ⁇ E2), the landing gear L is not held by the latch device R. Therefore, returning to step S1, the subsequent operation of the linear actuator 1 can be repeated, and the landing gear L can be reliably held by the latch device R. Further, when the number of repetitions increases, it can be detected as a failure of the latch device R.
  • the target displacement E2 in the previous step S4 is a value for determining whether or not the landing gear L has been raised to the position where it should be held by the latch device R, and the target displacement E2 in step S6 is the landing This is a value for confirming whether or not the gear L is held by the latch device R. For this reason, the target displacement E2 in step S4 and the target displacement E2 in step S6 may be different values depending on the degree of rattling of the latch device R.
  • step S7 the control device C stops energization of the motor 30, stops the driving of the linear actuator 1, and stops the driving of the landing gear L.
  • control device C Accordingly, the function and effect of the control device C according to the present embodiment will be described.
  • the control device C when the control device C controls the linear actuator 1 to store the landing gear L, the control device C lowers the landing gear L when the landing gear L reaches the storage position held by the latch device R.
  • the linear actuator 1 is driven to determine whether the landing gear L is held by the latch device R based on the stroke displacement of the linear actuator 1 detected thereafter.
  • control device C it is possible to determine whether the landing gear L is held by the latch device R using the stroke sensor 10. Therefore, a sensor is provided in the latch device R, and it is not necessary to directly determine whether the latch device R holds the landing gear L with the sensor, and the sensor can be eliminated.
  • the control device C since the stroke displacement of the linear actuator 1 can be detected by the stroke sensor 10, the control device C controls the linear actuator 1 so that the landing gear L reaches a predetermined region near the storage position. In this case, the rising speed of the landing gear L can be reduced, and the landing gear L can be prevented from colliding with the latch device R vigorously.
  • the control device C even if the linear actuator 1 is controlled based on the stroke displacement of the linear actuator 1 so that the rising speed of the landing gear L near the storage position can be reduced, the latch Since the sensors in the device R can be made unnecessary, the number of sensors can be reduced, the structure can be simplified, and the cost can be reduced.
  • the landing gear L is lowered from the retracted position by the displacement X2 that is the stroke displacement of the linear actuator 1 detected after the linear actuator 1 is driven in the direction in which the landing gear L is lowered. If it is determined, the landing gear L is raised again by the linear actuator 1.
  • the landing gear L is in the retracted position by the displacement X2 that is the stroke displacement of the linear actuator 1 detected after driving the linear actuator 1 in the direction in which the landing gear L is lowered. If it is determined, the driving of the linear actuator 1 is stopped.
  • the thrust of the linear actuator 1 when driving the linear actuator 1 in the direction of lowering the landing gear L (step S5) in the landing gear retracting process is smaller than the rated thrust. .
  • the load concerning the latch apparatus R, the landing gear L, and the linear actuator 1 can be reduced.
  • the thrust of the linear actuator 1 in step S5 is 20% or less of a rated thrust,
  • the said thrust can be changed suitably.
  • the landing gear L when the landing gear L reaches a predetermined region near the storage position, the rising speed of the landing gear L by the linear actuator 1 is reduced, and steps S1 and S2 are performed. , S3 is performed.
  • the process for decelerating the rising speed of the landing gear L in the vicinity of the storage position can be changed as appropriate.
  • control of the linear actuator 1 for decelerating the rising speed of the landing gear L in the vicinity of the retracted position (steps S1, S2, S3), and the landing gear L is lifted to the retracted position so that the landing gear L is latched.
  • the control (steps S4, S5, S6, S7) of the linear actuator 1 for confirming whether or not it is held by the device R may be performed by a separate control device.
  • the control device C includes a linear actuator 1 that is driven by the control device C to raise and lower the landing gear L, a stroke sensor 10 that detects a stroke displacement of the linear actuator 1, and a landing gear lifting device. A is configured.
  • the control device C and the stroke sensor 10 may be part of the linear actuator 1, and the control device C may be incorporated in a main control device that controls the airframe.
  • the pump 3 when the landing gear L is deployed, the pump 3 functions as a hydraulic motor, and the motor 30 functions as a generator to perform energy regeneration.
  • the linear actuator 1 is extended. That is, since the landing gear L is lowered while the motor 30 is regenerated, power can be saved. Further, the kinetic energy of the landing gear L can be converted into electric energy for braking, and the collected electric energy can be used effectively.
  • the motor 30 is energized to positively activate the linear actuator 1. To stretch. For this reason, even if the energization time is short, it is possible to determine whether or not the device is locked.
  • the landing gear lifting apparatus A when the linear actuator 1 is contracted, the landing gear L is raised, and when the linear actuator 1 is extended, the landing gear L is lowered.
  • the landing gear L is raised when the linear actuator 1 is extended, and the landing gear L is lowered when the linear actuator 1 is contracted. May be.

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PCT/JP2018/008903 2017-03-21 2018-03-08 制御装置及びランディングギア昇降装置 WO2018173765A1 (ja)

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JP2017054057A JP2018154278A (ja) 2017-03-21 2017-03-21 制御装置及びランディングギア昇降装置

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2635408A (en) * 2023-11-13 2025-05-14 Airbus Operations Ltd Landing gear controller

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US11130563B2 (en) * 2018-11-07 2021-09-28 The Boeing Company Monolithic outboard gear beam support fitting
JP2024134899A (ja) * 2023-03-22 2024-10-04 住友精密工業株式会社 航空機の降着装置

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Publication number Priority date Publication date Assignee Title
JPH05213279A (ja) * 1991-11-26 1993-08-24 Messier Bugatti 航空機の着陸装置の駆動アクチュエータの付勢用の装置
JP2003252296A (ja) * 2002-03-04 2003-09-10 Messier Bugatti ラッチ装置及びその操作方法
JP2007239974A (ja) * 2006-03-13 2007-09-20 Sumitomo Precision Prod Co Ltd スナビング機能に優れるアクチュエータ
US20110278394A1 (en) * 2010-05-11 2011-11-17 Goodrich Corporation Electrically powered downlock actuation system
US20130105624A1 (en) * 2011-10-26 2013-05-02 Eurocopter Landing gear, an aircraft, and a method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05213279A (ja) * 1991-11-26 1993-08-24 Messier Bugatti 航空機の着陸装置の駆動アクチュエータの付勢用の装置
JP2003252296A (ja) * 2002-03-04 2003-09-10 Messier Bugatti ラッチ装置及びその操作方法
JP2007239974A (ja) * 2006-03-13 2007-09-20 Sumitomo Precision Prod Co Ltd スナビング機能に優れるアクチュエータ
US20110278394A1 (en) * 2010-05-11 2011-11-17 Goodrich Corporation Electrically powered downlock actuation system
US20130105624A1 (en) * 2011-10-26 2013-05-02 Eurocopter Landing gear, an aircraft, and a method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2635408A (en) * 2023-11-13 2025-05-14 Airbus Operations Ltd Landing gear controller
EP4552975A1 (en) * 2023-11-13 2025-05-14 Airbus Operations Limited Landing gear controller

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