Automatic brake control system of passive electric control brake valve

Abstract

An automatic brake control system of a passive electric control brake valve comprises an upper computer, a power distribution power device, the passive electric control brake valve, a speed sensor and a main machine wheel, the power distribution power device is connected with the upper computer, the power distribution power device receives a power-on instruction of the upper computer and then powers on the control system, the passive electric control brake valve is connected with the upper computer, and the speed sensor is connected with the main machine wheel. The upper computer collects the brake pressure of the passive electric control brake valve, controls the passive electric control brake valve to brake and conducts closed-loop control over the brake pressure, and the passive electric control brake valve is connected with a brake device of the main engine wheel through a hydraulic pipeline. The passive electric control brake valve outputs hydraulic pressure to the main engine wheel to provide brake pressure for braking and feed back the brake pressure to the upper computer, a speed sensor is arranged at the main engine wheel to detect the rotating speed of the main engine wheel, and the speed sensor is connected with the upper computer and transmits the rotating speed of the main engine wheel to the upper computer. Automatic braking and deviation rectifying braking functions of the unmanned aerial vehicle can be achieved, and the landing braking efficiency and safety of the unmanned aerial vehicle are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of UAV braking, and particularly to a passive electro-controlled brake valve automatic braking control system. Background Art

[0002] The aircraft braking system plays a crucial role in the take-off and landing processes of an aircraft, reducing the aircraft speed. As a part of the braking system, the automatic braking system is widely used in aircraft, reducing the workload of pilots and improving the safety of aircraft take-off and landing; the passive electro-controlled brake valve has the advantages of simple structure, light weight and good economy, and has now been widely used in the braking systems of small and medium-sized UAVs. However, most of them control the operation of the brake valve through remote commands and do not have the function of automatic braking, resulting in low braking efficiency and safety. Summary of the Invention

[0003] To solve the problems mentioned in the above background art, the present invention provides a passive electro-controlled brake valve automatic braking control system.

[0004] The present invention discloses the following technical solutions: A passive electro-controlled brake valve automatic braking control system includes a host computer, a power distribution power device, a passive electro-controlled brake valve, a speed sensor and a main wheel. The power distribution power device is connected to the host computer. After receiving the power-on command from the host computer, the power distribution power device powers on the control system. The passive electro-controlled brake valve is connected to the host computer. The host computer collects the braking pressure of the passive electro-controlled brake valve and controls the braking of the passive electro-controlled brake valve, performing closed-loop control on the braking pressure. The passive electro-controlled brake valve is connected to the braking device of the main wheel through a hydraulic pipeline. The passive electro-controlled brake valve outputs hydraulic pressure to provide braking pressure for the main wheel to brake and feeds back the braking pressure to the host computer. A speed sensor is provided at the main wheel to detect the rotation speed of the main wheel. The speed sensor is connected to the host computer, and the speed sensor transmits the rotation speed of the main wheel to the host computer. The power distribution power device supplies power to the passive electro-controlled brake valve and the speed sensor.

[0005] Further, there are two passive electro-controlled brake valves, which respectively control the braking of the left and right main wheels.

[0006] Further, there are two speed sensors, which respectively detect the rotation speeds of the left and right main wheels and transmit them to the host computer.

[0007] Advantageous Effects: Compared with the prior art, in the passive electro-controlled brake valve automatic braking control system of the present invention, the host computer adjusts and determines the braking strategy according to the real-time braking pressure and the main wheel speed after the UAV lands, and sends the braking amount to the passive electro-controlled brake valve, realizing the functions of automatic braking and corrective braking of the UAV, avoiding the situations of wheel slip and wheel lock of the main wheel, and improving the braking efficiency and safety of the UAV landing braking. Brief Description of the Drawings

[0008] Figure 1 Schematic diagram of the control system connection for the present invention; Figure 2 Schematic diagram of the braking strategy for the present invention. Detailed implementation manners

[0009] As Figure 1 shown, a passive electro - controlled brake valve automatic braking control system includes a host computer, a power distribution device, passive electro - controlled brake valves, speed sensors, and main wheels. The power distribution device is connected to the host computer. After receiving the power - on instruction from the host computer, the power distribution device powers on the control system. The passive electro - controlled brake valves are connected to the host computer. The host computer collects the braking pressure of the passive electro - controlled brake valves and controls the braking of the passive electro - controlled brake valves, performing closed - loop control on the braking pressure. The passive electro - controlled brake valves are connected to the braking devices of the main wheels through hydraulic pipelines. The passive electro - controlled brake valves output hydraulic pressure to provide braking pressure for the main wheels to brake and feedback the braking pressure to the host computer. Speed sensors are provided at the main wheels to detect the rotational speed of the main wheels, and the speed sensors are connected to the host computer. The speed sensors transmit the rotational speed of the main wheels to the host computer. The power distribution device supplies power to the passive electro - controlled brake valves and speed sensors to ensure the normal operation of the control system. There are two passive electro - controlled brake valves, which respectively control the braking of the left and right main wheels, and achieve deviation correction by respectively controlling the braking amounts of the left and right passive electro - controlled brake valves. There are two speed sensors, which respectively detect the rotational speeds of the left and right main wheels and transmit them to the host computer. The host computer automatically adjusts the braking strategy according to the rotational speeds of the left and right main wheels.

[0010] The host computer determines the braking strategy based on the braking pressure of the passive electro - controlled brake valves and the speed of the main wheels, and controls the passive electro - controlled brake valves to output hydraulic pressure to perform automatic braking and deviation - correction braking on the main wheels. Before the aircraft lands, the host computer sends a preset pressure signal to the electro - controlled brake valve. After the aircraft touches down, according to the collected speed of the main wheels, it sends a braking amount and then maintains it. When the speed of the main wheels collected by the host computer drops to the braking instruction switching judgment value, the host computer automatically changes the braking amount sent to the electro - controlled brake valve. Among them, there are multiple main wheel speed judgment values, and different braking amounts are sent according to different judgment values until the unmanned aerial vehicle is braked to a stop. During the braking process, when the host computer collects that the yaw angle of the unmanned aerial vehicle reaches a certain threshold, it finely adjusts the left and right braking amounts, increasing or decreasing the braking amount to achieve deviation - correction braking.

[0011] As Figure 2Schematic diagram of the shown braking strategy. In this braking strategy, before the aircraft lands, the host computer sends the preset braking amount P0 to the electro-control braking valve and then maintains it. When the aircraft lands, the host computer automatically switches the braking amount of the electro-control braking valve to P1 according to the ground contact speed V0 of the main wheels; when the main wheel speed drops to V1, the host computer automatically switches the braking amount of the electro-control braking valve to P2. The host computer automatically switches different braking amounts according to different main wheel speeds during the braking process until the drone is braked to a stop. During the braking process, if the yaw angle of the drone exceeds a certain threshold, the corrective braking is activated to automatically increase or decrease the left and right braking amounts. If the drone yaws to the left, the right braking pressure is increased, the left braking pressure is decreased, and the drone corrects to the right; if the drone yaws to the right, the left braking pressure is increased, the right braking pressure is decreased, and the drone corrects to the left.

[0012] Since the ground contact speed of the main wheels of the drone is affected by the environment and usage conditions, the ground contact speed may fall within any interval of V0-0. Therefore, it is necessary for the host computer to directly switch the braking amount from P0 to the braking amount corresponding to the speed in the braking strategy according to the ground contact speed of the main wheels for braking. In addition, the specific braking amount PN in the braking strategy can be adjusted according to the different weights and usage conditions of the drones.

[0013] As described above, it is only the preferred specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent replacements or changes, and all should be covered within the protection scope of the present invention.

Claims

1. A passive electro-control brake valve automatic braking control system, comprising a host computer, a power distribution power device, a passive electro-control brake valve, a speed sensor and a main wheel, characterized in that: The distribution power device is connected to the host computer. After receiving the power-on instruction from the host computer, the distribution power device powers on the control system. The passive electro-control brake valve is connected to the host computer. The host computer collects the brake pressure of the passive electro-control brake valve and controls the braking of the passive electro-control brake valve, performing closed-loop control on the brake pressure. The passive electro-control brake valve is connected to the brake device of the main wheel through a hydraulic pipeline. The passive electro-control brake valve outputs hydraulic pressure to provide brake pressure for the main wheel to brake and feeds back the brake pressure to the host computer. A speed sensor is provided at the main wheel to detect the rotational speed of the main wheel. The speed sensor is connected to the host computer, and the speed sensor transmits the rotational speed of the main wheel to the host computer. The distribution power device supplies power to the passive electro-control brake valve and the speed sensor.

2. The automatic braking control system of the passive electro-control brake valve according to claim 1, wherein: There are two passive electro-control brake valves, which respectively control the braking of the left and right main wheels.

3. The automatic braking control system of the passive electro-control brake valve according to claim 1, characterized in that: There are two speed sensors, which respectively detect the rotational speeds of the left and right main wheels and transmit them to the host computer.

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