Helicopter collective pitch channel control force trend sensing emergency system and control method

Abstract

The invention belongs to the field of helicopter flight control, and particularly relates to a helicopter collective pitch channel control force trend sensing emergency system and a control method, the system comprises a collective pitch rod force sensor (1), a data processing module box (3), a control force emergency control module (4) and a collective pitch steering engine (5); the collective distance rod force sensor (1) is installed on a collective distance rod and used for measuring the operating force of the collective distance rod and sending measured data to the data processing module box. The total pitch steering engine is connected with the total pitch rod in parallel through a connecting rod; the data processing module box processes the operating force data of the collective distance rod and then sends the operating force data to the operating force emergency control module; and the operating force emergency control module controls the collective pitch steering engine (5) to work according to the operating force data of the collective pitch rod.

Description

Technical Field

[0001] The invention belongs to the field of helicopter flight control, and in particular relates to a helicopter collective channel control force trend sensing emergency system and a control method. Background Art

[0002] As an important military and civilian equipment, most of the helicopters currently equipped in my country are single-rotor with tail rotor configuration. Single-rotor with tail rotor configuration is the most widely used and most mature configuration, accounting for about 70% of the total number of helicopters in the world. Most helicopter control systems adopt mechanical-hydraulic configuration, in which the driver controls the joystick and the collective pitch lever to transmit motion through the mechanical pull rod, and the hydraulic booster transmits motion through the connected input pull rod.

[0003] The helicopter collective lever is an important control component of the helicopter. The collective pitch controls the lift of the helicopter during helicopter operation. Manipulating the collective lever makes the helicopter rise and fall, which is directly related to flight safety. There are strict requirements on the collective control force in design and use. At present, there is a lack of necessary monitoring and auxiliary safety measures during flight. At the same time, serious incidents threatening flight safety such as collective control difficulties have occurred during operation. In view of the problems that may occur in collective control, a helicopter collective channel control force trend perception emergency system is very necessary. Summary of the invention

[0004] The purpose of the present invention is to solve the deficiencies of the prior art. The present invention discloses a helicopter collective channel control force trend sensing emergency system. The present invention adds a collective channel control force trend sensing emergency system to the helicopter, collects sensor force signals in real time, and is monitored by a control force emergency control program programmed into a flight control computer control module. When the collective channel control is abnormal, the collective servo and the tandem servo are driven, and finally the lift is changed to allow the helicopter to land safely.

[0005] The technical solution of the present invention:

[0006] A helicopter collective channel control force trend sensing emergency system comprises: a collective lever force sensor 1, a booster pull rod sensor 2, a data processing module box 3, a control force emergency control module 4, and a collective servo 5;

[0007] The collective pitch rod force sensor 1 is installed on the collective pitch rod to measure the control force of the collective pitch rod and send the measurement data to the data processing module box;

[0008] The collective pitch servo is connected in parallel with the collective pitch rod through a connecting rod;

[0009] The data processing module box processes the control force data of the collective pitch lever and sends it to the control force emergency control module;

[0010] The control force emergency control module controls the collective pitch steering gear 5 to work according to the control force data of the collective pitch lever.

[0011] Further, the system also includes: a booster pull rod force sensor 2, a booster pull rod servo 6;

[0012] The booster rod force sensor 2 is installed on the booster rod, and is used to measure the operating force of the booster rod, and send the measured data to the data processing module box 3;

[0013] The booster rod servo 6 is connected in series with the booster rod sensor 2 through a connecting rod;

[0014] The data processing module box 3 processes the control force data of the booster rod sensor 2 and sends it to the control force emergency control module;

[0015] The control force emergency control module controls the collective pitch steering gear 5 and the booster pull rod steering gear 6 to work according to the control force data of the collective pitch rod force sensor 1 and the booster pull rod sensor 2.

[0016] Furthermore, the data processing module box is used to filter, amplify, condition, convert analog to digital, scale and digitally filter the operating force data.

[0017] Further, the operating force emergency control module is used to determine whether the collective lever and the booster lever are stuck;

[0018] The judgment process is as follows:

[0019] When the collective pitch lever control force data exceeds the collective pitch lever threshold and the collective pitch lever displacement does not exceed the detection threshold D1, the collective pitch lever is determined to be stuck, and the collective pitch servo is controlled to try to release the jam;

[0020] When the booster rod operating force data exceeds the booster rod threshold and the booster rod displacement does not exceed the detection threshold D2, it is determined that the booster rod is stuck, and the booster rod servo is controlled to try to release the jam.

[0021] Further, when the collective lever operating force data exceeds the collective lever threshold and the collective lever displacement does not exceed the detection threshold D1, it is determined that the collective lever is stuck.

[0022] When the booster rod operating force data exceeds the booster rod threshold and the booster rod displacement does not exceed the detection threshold D2, it is determined that the booster rod is stuck.

[0023] A helicopter collective channel control force trend sensing emergency control method, the method is implemented by the system, and the method comprises the following steps:

[0024] S1: power supply and voltage supply for the whole machine;

[0025] S2: Collect the control force data of the collective lever and booster lever;

[0026] S3: Read the control force data of the collective lever and the booster rod. If the control force of the collective lever and the booster rod does not exceed the specified force value, return to S2; if the control force of the collective lever and / or the booster rod exceeds the specified force value, enter step S4;

[0027] S4: Determine the wheel switch state: if the result is ground, then end; if the result is airborne, then go to step S5;

[0028] S5: Determine whether the output length of the booster rod connected in series with the servo exceeds 30% of the total length of the booster rod connected in series with the servo: if it exceeds 30%, proceed to step S12; if it does not exceed 30%, proceed to step S6;

[0029] S6: judging the pilot's intention according to the existing collective lever control force data, if the intention is to press down the collective, proceed to step S8; if the intention is to raise the collective, proceed to step 7;

[0030] S7: The collective pitch rod parallel to the servo rotates clockwise by an angle θ, and the booster pull rod in series with the servo extends by a length S, and the process goes to step S9;

[0031] S8: The collective pitch rod parallel servo rotates counterclockwise by an angle θ, and the booster pull rod series servo retracts by a length S, and the process goes to step S9;

[0032] S9: Detect the displacement of the total distance rod. If the displacement of the total distance rod exceeds the detection threshold D1, proceed to step 10; if not, proceed to step S11;

[0033] S10: Detect the displacement of the booster rod. If the displacement of the booster rod exceeds the detection threshold D2, proceed to step 13; otherwise, proceed to step S12;

[0034] S11: Detect the displacement of the booster when there is no displacement. If the displacement of the booster rod exceeds the detection threshold D2, proceed to step S14; if there is no displacement and no movement occurs, proceed to step S12;

[0035] S12: “Total distance failure” alarm;

[0036] S13: "Total pitch lever force high" alarm;

[0037] S14: "Collective pitch rod stuck" alarm.

[0038] Furthermore, in step S2, the collected control force data is filtered, amplified, conditioned, analog-to-digital converted, scaled and digitally filtered.

[0039] Furthermore, in step S6, the specific judgment process is as follows: if the adjacent N consecutive collected values ​​of the collective pitch lever control force data are all positive, it is judged that the pilot intends to raise the collective pitch;

[0040] If N consecutive collected values ​​are all negative, it is judged that the pilot's intention is to press down the collective pitch.

[0041] Furthermore, in step S8, the motion amount θ and motion direction of the collective pitch lever servo, and the motion amount S and motion direction of the booster lever servo are calculated as follows:

[0042]

[0043] The collective pitch lever is lifted, and the collective pitch lever servo rotates clockwise, δ θ is positive; the collective pitch lever is pressed down, the collective pitch lever servo rotates counterclockwise, δ θ is negative.

[0044] Furthermore, the motion amount S and motion direction of the booster lever servo are calculated as follows:

[0045]

[0046] K is the transmission ratio of the collective pitch lever rotation angle to the pull rod servo movement;

[0047] The total pitch lever is lifted, the booster lever servo extends, δ S is positive; the total pitch lever is pressed down, the booster lever servo is retracted, δ S is negative.

[0048] Beneficial technical effects of the present invention:

[0049] Collective control is related to flight safety. Abnormal collective control seriously threatens the life of the pilot. The use of this system can improve the survivability of the helicopter when the collective force is abnormal or even the collective is stuck, greatly reduce the flight risk, and ensure the safety of helicopter property and the life of the pilot. The system is versatile and can be developed, designed and used for various models. The system is simple in composition, low in cost and has good economy. The system can record the control force and provide data support and basis for subsequent troubleshooting and analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 .Distribution diagram of a helicopter collective channel control force trend sensing emergency system of the present invention;

[0051] Figure 2 .Block diagram of a helicopter collective channel control force trend sensing emergency system of the present invention;

[0052] Figure 3 . A flow chart of a helicopter collective channel control force trend sensing emergency control method;

[0053] The specific description of the numbers in the accompanying drawings is as follows: 1 is the collective pitch rod force sensor, 2 is the booster pull rod force sensor, 3 is the data processing module box, 4 is the operating force emergency control module, 5 is the collective pitch steering gear, and 6 is the tandem steering gear. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] like Figure 1 As shown, a helicopter collective channel control force trend sensing emergency system includes: a collective lever force sensor, a booster rod force sensor, a data processing module box, a collective servo, a tandem servo and a control force emergency control module. Among them, the control force emergency control module belongs to an automatic flight advanced mode. The booster rod force sensor is mechanically connected to the booster input rod, and the collective lever force sensor is mechanically connected to the collective lever connected to the handle.

[0056] The control force emergency control module will be put into operation only when the triggering conditions are met according to the displacement of the total distance rod, the control force signal of the total distance rod and the signal of the booster rod force sensor.

[0057] The control force emergency control program is programmed into the flight control computer control module.

[0058] When the control force emergency control program is put into operation, it will calculate the flight control computer to output instructions based on the collective pitch rod displacement, booster extension, and main propeller pitch, thereby driving the collective pitch servo and tandem servo to move.

[0059] The operating force emergency control program can detect the operating force processed by the data processing module box in real time.

[0060] The booster pull rod force sensor is installed and mechanically connected to the booster input pull rod.

[0061] The collective pitch rod force sensor is mechanically connected to the collective pitch rod connected to the handle.

[0062] The collective pitch steering gear is installed in parallel on the collective pitch rod through a mechanical connecting rod, and the series steering gear is installed in series on the booster input rod through a mechanical connecting rod.

[0063] The tandem servo and booster force sensing rod may be integrated into the main blade control servo.

[0064] The collective distance rod force sensor can collect data signals when the collective distance rod is subjected to force, the booster pull rod force sensor can collect data signals when the booster input pull rod is subjected to force, the data processing module box collects the data signals of the sensors in real time and performs signal processing, and the control force emergency control program can detect changes in the collective distance control force in real time.

[0065] like Figure 2 As shown, the control force emergency control program is activated only when the collective pitch control force exceeds the threshold value and the collective pitch displacement does not exceed the detection threshold value D1. The flight control computer calculates and outputs the drive command according to the collective pitch rod displacement, the booster extension, and the main propeller pitch, drives the collective pitch servo and the tandem servo to move, drives the booster extension and the collective pitch rod displacement through mechanical connection, controls the main propeller blade pitch angle, and cooperates with the pilot to control the cyclic pitch change and pedal to adjust the current helicopter flight attitude.

[0066] like Figure 3 As shown, a helicopter collective channel control force trend sensing emergency control method comprises the following steps:

[0067] S1: power supply and voltage supply for the whole machine;

[0068] S2: Collect the control force data of the collective lever and booster lever;

[0069] S3: Read the control force data of the collective lever and the booster rod. If the control force of the collective lever and the booster rod does not exceed the specified force value, return to S2; if the control force of the collective lever and / or the booster rod exceeds the specified force value, enter step S4;

[0070] S4: Determine the wheel switch state: if the result is ground, then end; if the result is airborne, then go to step S5;

[0071] S5: Determine whether the output length of the booster rod connected in series with the servo exceeds 30% of the total length of the booster rod connected in series with the servo: if it exceeds 30%, proceed to step S12; if it does not exceed 30%, proceed to step S6;

[0072] S6: judging the pilot's intention according to the existing collective lever control force data, if the intention is to press down the collective, proceed to step S8; if the intention is to raise the collective, proceed to step 7;

[0073] S7: The collective pitch rod parallel to the servo rotates clockwise by an angle θ, and the booster pull rod in series with the servo extends by a length S, and the process goes to step S9;

[0074] S8: The collective pitch rod parallel servo rotates counterclockwise by an angle θ, and the booster pull rod series servo retracts by a length S, and the process goes to step S9;

[0075] S9: Detect the displacement of the total distance rod. If the displacement of the total distance rod exceeds the detection threshold D1, proceed to step 10; if not, proceed to step S11;

[0076] S10: Detect the displacement of the booster rod. If the displacement of the booster rod exceeds the detection threshold D2, proceed to step 13; otherwise, proceed to step S12;

[0077] S11: Detect the displacement of the booster when there is no displacement. If the displacement of the booster rod exceeds the detection threshold D2, proceed to step S14; if there is no displacement and no movement occurs, proceed to step S12;

[0078] S12: “Total distance failure” alarm;

[0079] S13: "Total pitch lever force high" alarm;

[0080] S14: "Collective pitch rod stuck" alarm.

[0081] The force trend perception judgment process is as follows: if N consecutive collected values ​​of the collective lever's control force data are all positive, it is judged that the pilot's intention is to raise the collective pitch; if N consecutive collected values ​​are all negative, it is judged that the pilot's intention is to press down the collective pitch.

[0082] The total length of 30% in the method can be increased or decreased according to design requirements.

[0083] The data processing module box is used for filtering, amplifying, conditioning, analog-to-digital conversion, scale conversion and digital filtering processing of the operating force data.

[0084] The helicopter collective channel control force trend sensing emergency system can be used to determine whether the collective lever and the booster lever are stuck:

[0085] When the collective pitch lever control force data exceeds the collective pitch lever threshold and the collective pitch lever displacement does not exceed the detection threshold D1, the collective pitch lever is determined to be stuck, and the collective pitch servo is controlled to try to release the jam;

[0086] When the booster rod operating force data exceeds the booster rod threshold and the booster rod displacement does not exceed the detection threshold D2, it is determined that the booster rod is stuck, and the booster rod servo is controlled to try to release the jam.

[0087] The calculation process of the movement amount θ and movement direction of the collective pitch lever steering gear and the movement amount S and movement direction of the booster lever steering gear in the emergency control method is as follows:

[0088]

[0089] K is the transmission ratio of the collective pitch lever rotation angle to the pull rod servo movement.

[0090]

[0091] The collective pitch lever is lifted, and the collective pitch lever servo rotates clockwise, δ θ is positive; the collective pitch lever is pressed down, the collective pitch lever servo rotates counterclockwise, δ θ is negative.

[0092]

[0093] The total pitch lever is lifted, the booster lever servo extends, δ S is positive; the total pitch lever is pressed down, the booster lever servo is retracted, δ S is negative.

[0094] The above calculation can be adjusted according to the actual operating parameters and is not limited to the form of the above segmented formula to achieve more accurate control.

[0095] The described emergency control method for collective channel control force trend perception of a helicopter, wherein the control trend judgment section judges the control of the pilot by means of deformation of the patch sensor.

[0096] The method for sensing the trend of helicopter collective pitch channel control force is described as follows: the tandem servo is connected to the input pull rod of the helicopter main propeller booster, and the tandem servo extends to increase the pitch, and retracts to decrease the pitch. The parallel servo is connected in parallel to the pilot's collective pitch lever, and the parallel servo rotates clockwise, and the collective pitch lever rotates to high pitch; the parallel servo rotates counterclockwise, and the collective pitch lever rotates to low pitch.

[0097] In summary, the present invention adds a collective channel control force trend sensing emergency system to the helicopter to ensure that when the pilot's collective control is abnormal, the control force emergency control program is entered to restore the helicopter to a stable heading state, thereby improving the helicopter's survivability when the collective force is abnormal or even the collective is stuck.

[0098] The above is only a specific embodiment of the present invention, and the present invention is described in detail. The unexplained part is a conventional technology. However, the protection scope of the present invention is not limited to this. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A helicopter collective channel control force trend sensing emergency system, characterized in that: The system comprises: a collective pitch lever force sensor (1), a data processing module box (3), an operating force emergency control module (4), and a collective pitch steering gear (5); The collective pitch rod force sensor (1) is installed on the collective pitch rod and is used to measure the control force of the collective pitch rod, and sends the measurement data to the data processing module box; The collective pitch servo is connected in parallel with the collective pitch rod through a connecting rod; The data processing module box processes the control force data of the collective pitch lever and sends it to the control force emergency control module; The control force emergency control module controls the collective pitch steering gear (5) to work according to the control force data of the collective pitch lever.

2. The system according to claim 1, characterized in that The system further comprises: a booster pull rod force sensor (2), a booster pull rod steering gear (6); The booster rod force sensor (2) is installed on the booster rod, and is used to measure the operating force of the booster rod, and send the measured data to the data processing module box (3); The booster pull rod servo (6) is connected in series with the booster pull rod sensor (2) via a connecting rod; The data processing module box (3) processes the control force data of the booster pull rod sensor (2) and sends it to the control force emergency control module; The control force emergency control module controls the operation of the collective pitch steering gear (5) and the booster pull rod steering gear (6) according to the control force data of the collective pitch rod force sensor (1) and the booster pull rod sensor (2).

3. The system according to claim 2, characterized in that: The data processing module box is used for filtering, amplifying, conditioning, analog-to-digital conversion, scale conversion and digital filtering of the operating force data.

4. The system according to claim 3, characterized in that: The operating force emergency control module is used to determine whether the collective lever and booster lever are stuck; the judgment process is as follows: When the collective pitch lever control force data exceeds the collective pitch lever threshold and the collective pitch lever displacement does not exceed the detection threshold D1, the collective pitch lever is determined to be stuck, and the collective pitch servo is controlled to try to release the jam; When the booster rod operating force data exceeds the booster rod threshold and the booster rod displacement does not exceed the detection threshold D2, it is determined that the booster rod is stuck, and the booster rod servo is controlled to try to release the jam.

5. A system according to claim 4, characterized in that: When the collective pitch lever control force data exceeds the collective pitch lever threshold and the collective pitch lever displacement does not exceed the detection threshold D1, it is determined that the collective pitch lever is stuck. When the booster rod operating force data exceeds the booster rod threshold and the booster rod displacement does not exceed the detection threshold D2, it is determined that the booster rod is stuck.

6. A helicopter collective channel control force trend sensing emergency control method, the method being implemented by the system according to any one of the preceding claims, characterized in that: The method comprises the following steps: S1: power supply and voltage supply for the whole machine; S2: Collect the control force data of the collective lever and booster lever; S3: Read the control force data of the collective lever and the booster rod. If the control force of the collective lever and the booster rod does not exceed the specified force value, return to S2; if the control force of the collective lever and / or the booster rod exceeds the specified force value, enter step S4; S4: Determine the wheel switch state: if the result is ground, then end; if the result is airborne, then go to step S5; S5: Determine whether the output length of the booster rod connected in series with the servo exceeds 30% of the total length of the booster rod connected in series with the servo: if it exceeds 30%, proceed to step S12; if it does not exceed 30%, proceed to step S6; S6: judging the pilot's intention according to the existing collective lever control force data, if the intention is to press down the collective, proceed to step S8; if the intention is to raise the collective, proceed to step 7; S7: The collective pitch rod parallel to the servo rotates clockwise by an angle θ, and the booster pull rod in series with the servo extends by a length S, and the process goes to step S9; S8: The collective pitch rod parallel servo rotates counterclockwise by an angle θ, and the booster pull rod series servo retracts by a length S, and the process goes to step S9; S9: Detect the displacement of the total distance rod. If the displacement of the total distance rod exceeds the detection threshold D1, proceed to step 10; if not, proceed to step S11; S10: Detect the displacement of the booster rod. If the displacement of the booster rod exceeds the detection threshold D2, proceed to step 13; otherwise, proceed to step S12; S11: Detect the displacement of the booster when there is no displacement. If the displacement of the booster rod exceeds the detection threshold D2, proceed to step S14; if there is no displacement and no movement occurs, proceed to step S12; S12: "Total distance failure" alarm; S13: "Total pitch lever force is high" alarm; S14: "Collective pitch rod stuck" alarm.

7. The method according to claim 6, characterized in that In the step S2, the collected operating force data is further subjected to filtering, amplification, conditioning, analog-to-digital conversion, scale conversion and digital filtering processing.

8. The method according to claim 7, characterized in that In step S6, the specific judgment process is as follows: if the adjacent N consecutive collected values ​​of the collective pitch lever control force data are all positive, it is judged that the pilot intends to raise the collective pitch; If N consecutive collected values ​​are all negative, it is judged that the pilot's intention is to press down the collective pitch.

9. The method according to claim 8, characterized in that In step S8, the motion amount θ and motion direction of the collective pitch lever servo, and the motion amount S and motion direction of the booster lever servo are calculated as follows: The collective pitch lever is lifted, and the collective pitch lever servo rotates clockwise, δ θ is positive; the collective pitch lever is pressed down, the collective pitch lever servo rotates counterclockwise, δ θ is negative. Furthermore, the motion amount S and motion direction of the booster lever servo are calculated as follows: K is the transmission ratio of the collective pitch lever rotation angle to the pull rod servo movement; When the collective lever is lifted, the booster lever servo extends and δs is positive; when the collective lever is pressed down, the booster lever servo retracts and δs is negative.

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