Force-sensitive braking devices, braking systems, braking control methods, and aircraft

Abstract

This invention relates to the field of braking control technology, and discloses a force-sensing braking device, a braking system, a braking control method, and an aircraft. The force-sensing braking device includes a force-sensing braking mechanism, a force-sensing braking sensor, and a force-sensing elastic element. The force-sensing braking mechanism is used to link with a first braking mechanism of a first braking device and a second braking mechanism of a second braking device, which are in a linked state. The force-sensing elastic element is connected to the force-sensing braking mechanism to provide the braking force felt by the force-sensing braking mechanism. The force-sensing braking sensor is configured to detect the braking action of the force-sensing braking mechanism to obtain a force-sensing braking signal and send the force-sensing braking signal to a controller. Even when the braking capacity of some braking mechanisms in the braking system is reduced or lost, the force-sensing braking device still ensures the availability and integrity of the braking capacity and braking force felt by the braking system, reducing the probability of complete loss of braking force felt and braking control failure by several orders of magnitude, thereby improving the reliability and safety of braking control.

Description

Technical Field

[0001] This invention relates to the field of braking control technology, and in particular to a force-sensitive braking device, a braking system, a braking control method, and an aircraft. Background Technology

[0002] The aircraft's fly-by-wire flight control system uses the rudder and brake pedal assembly as the pilot's input for braking and yaw control commands. The rudder and brake pedal assembly uses a rudder displacement sensor to convert the mechanical displacement of the rudder control linkage into an electrical signal, which is then output to the flight control computer to achieve yaw control. Similarly, a brake displacement sensor converts the mechanical displacement of the pedals into an electrical signal, which is then output to the brake computer to achieve braking control.

[0003] Aircraft foot pedal assembly includes a brake-linked foot pedal device. For example, the A320 / A330 / A340 uses a crank mechanism and brake coupling linkage to link the pilot's and co-pilot's foot pedals. Each pilot's and co-pilot's foot pedal unit is equipped with a brake sensor and a spring. This way, when one pilot applies the brakes, the other pilot can sense it due to the mechanical linkage, resulting in good human-machine interface efficiency and safety. Regarding signal input, the brake sensor takes the average output of the left (or right) brake sensor from both the pilot and co-pilot.

[0004] However, when one brake sensor fails or the brake coupling link breaks, the brake signal output value will be half of the actual input, failing to reach the expected value. When one sensor malfunctions and generates an erroneous signal, the brake signal output value will deviate from the expected value. Furthermore, if a threshold is set between the driver and passenger brake sensors, if one brake sensor fails, generates an erroneous signal, or the brake coupling link breaks, the difference between the two brake sensors exceeding the threshold will result in an invalid brake signal. Summary of the Invention

[0005] In view of the problems existing in the prior art, the first aspect of the present invention provides a force-sensitive braking device. When the braking capacity of some braking mechanisms of the braking system is reduced or lost, the force-sensitive braking device can still ensure the availability and integrity of the braking capacity and braking force of the braking system, thereby reducing the probability of complete loss of braking force and braking control failure by several orders of magnitude and improving the reliability and safety of braking control.

[0006] To achieve the above objectives, the present invention provides a force-sensitive braking device, comprising a force-sensitive braking mechanism, a force-sensitive braking sensor, and a force-sensitive elastic element. The force-sensitive braking mechanism is configured to be linked with a first braking mechanism of a first braking device and a second braking mechanism of a second braking device, such that when the linkage between either the first or second braking mechanism and the force-sensitive braking mechanism is broken, the other of the first or second braking mechanism can maintain linkage with the force-sensitive braking mechanism. The force-sensitive elastic element is connected to the force-sensitive braking mechanism to provide a braking force sensation. The force-sensitive braking sensor is configured to detect the braking action of the force-sensitive braking mechanism to obtain a force-sensitive braking signal and send the force-sensitive braking signal to a controller.

[0007] In this technical solution, because the force-sensing braking mechanism can be linked with the first and second braking mechanisms in a coordinated state, the force-sensing elastic element can provide the braking force of the force-sensing braking mechanism, and the force-sensing brake sensor can detect the braking action of the force-sensing braking mechanism to obtain a force-sensing braking signal, which is then sent to the controller. Thus, after this force-sensing braking device is applied to the braking system, the force-sensing braking mechanism is linked with the first braking mechanism of the first braking device and the second braking mechanism of the second braking device in a coordinated state. When the first braking mechanism and / or the second braking mechanism actuates, it will activate the force-sensing braking mechanism. At this time, the force-sensing elastic element provides the braking force, and the force-sensing brake sensor sends the force-sensing braking signal to the controller. The controller then outputs a braking command based on the signal voting value of the first brake sensor signal of the first braking mechanism, the second brake sensor signal of the second braking mechanism, and the force-sensing braking signal. The brake sensor signal can be of various types, such as brake movement position signal, brake pressure signal, or brake angle position signal, etc. Thus, in practical use, when the linkage between the first braking mechanism, the force-sensing braking mechanism, and the second braking mechanism is not disengaged, all three constitute a braking mechanism. When the linkage between the first braking mechanism and the force-sensing braking mechanism is disengaged, the second braking mechanism and the force-sensing braking mechanism remain linked, and both constitute a braking mechanism. Similarly, when the linkage between the second braking mechanism and the force-sensing braking mechanism is disengaged, the first braking mechanism and the force-sensing braking mechanism remain linked, and both also constitute a braking mechanism. Therefore, when the braking capacity of some braking mechanisms in the braking system, such as the first or second braking mechanism, is reduced or lost, this force-sensing braking device can play a braking compensation role, ensuring the availability and integrity of the braking capacity and braking feel of the braking system. This reduces the probability of complete loss of braking feel and braking control failure by several orders of magnitude, improving the reliability and safety of braking control. For example, when applied to the brake-linked pedal system of an aircraft, it will greatly improve the availability and integrity of the pedal brake voting command and brake feel. For instance, even if the pedal coupling link breaks, the voting capability and feel of the brake signal can still be guaranteed, reducing the probability of complete loss of pedal brake feel and loss of pedal brake control by several orders of magnitude, thus improving aircraft safety.

[0008] Furthermore, the force-sensitive braking device includes multiple force-sensitive braking assemblies, each of which includes a force-sensitive braking mechanism, a force-sensitive braking sensor, and a force-sensitive elastic element; wherein, the force-sensitive braking mechanism of each force-sensitive braking assembly is used to coordinate with the first braking mechanism and the second braking mechanism, which have the same braking characteristics.

[0009] Furthermore, each of the force-sensing braking mechanisms is used to engage with the first and second braking mechanisms, which are in the same braking position.

[0010] Furthermore, the force-sensing brake mechanism includes a first brake power connection end and a second brake power connection end arranged coaxially opposite each other. The first brake power connection end is used to transmit power to the first brake mechanism of the first brake device, and the second brake power connection end is used to transmit power to the second brake mechanism of the second brake device, so that the first brake mechanism is linked with the second brake mechanism through the force-sensing brake mechanism.

[0011] Furthermore, the force-sensitive brake sensor includes a rotary variable differential sensor, a linear variable differential sensor, or a potentiometer sensor; and / or, the force-sensitive elastic element includes a force-sensitive spring.

[0012] Furthermore, the force-sensitive braking device is used in the aircraft's brake-linked pedal system.

[0013] Secondly, the present invention provides a braking system comprising a first braking device having a first braking mechanism, a second braking device having a second braking mechanism, and any of the force-sensing braking devices described in the first aspect above. The force-sensing braking mechanism is linked with the first and second braking mechanisms in a linked state, and when the linkage between the first and second braking mechanisms and the force-sensing braking mechanism is disengaged, the other of the first and second braking mechanisms can maintain linkage with the force-sensing braking mechanism. Under the linked drive of the first and / or second braking mechanisms, the force-sensing elastic element can provide a braking force, and the force-sensing braking sensor can detect the braking action of the force-sensing braking mechanism to obtain a force-sensing braking signal and send the force-sensing braking signal to a controller. The force-sensing braking signal can be a braking displacement signal, a braking pressure signal, or a braking angle position signal.

[0014] As described above, when the first braking mechanism and / or the second braking mechanism actuates, it will activate the force-sensing braking mechanism. At this time, the force-sensing elastic element provides the braking force, and the force-sensing brake sensor sends a force-sensing brake signal to the controller. The controller then outputs a braking command based on the signal values ​​of the first brake sensor signal from the first braking mechanism, the second brake sensor signal from the second braking mechanism, and the force-sensing brake signal. Thus, when the linkage between the first braking mechanism, the force-sensing brake mechanism, and the second braking mechanism is not broken, all three constitute a braking mechanism. When the linkage between the first braking mechanism and the force-sensing brake mechanism is broken, the second braking mechanism and the force-sensing brake mechanism remain linked, and both constitute a braking mechanism. Similarly, when the linkage between the second braking mechanism and the force-sensing brake mechanism is broken, the first braking mechanism and the force-sensing brake mechanism remain linked, and both also constitute a braking mechanism. Therefore, when the braking capacity of a portion of the braking system, such as the first or second braking mechanism, is reduced or lost, this force-sensitive braking device can provide braking compensation, ensuring the availability and integrity of the braking capacity and braking feel of the braking system. This reduces the probability of complete loss of braking feel and control by several orders of magnitude, improving the reliability and safety of braking control. For example, when this braking system is used as an aircraft's brake-linked pedal system, it greatly improves the availability and integrity of the pedal brake command and braking feel. For instance, even if the pedal coupling link breaks, it can still guarantee the braking signal's command capability and feel, reducing the probability of complete loss of pedal brake feel and control by several orders of magnitude, thus improving aircraft safety.

[0015] Furthermore, the first braking mechanism is linked with the second braking mechanism through the force-sensing braking mechanism.

[0016] Furthermore, when the force-sensitive braking device includes multiple force-sensitive braking groups, the number of the first braking mechanism and the second braking mechanism are the same as the number of force-sensitive braking groups, wherein the force-sensitive braking mechanism of each force-sensitive braking group is linked with the first braking mechanism and the second braking mechanism having the same braking characteristics.

[0017] Furthermore, the force-sensing brake mechanism of each of the force-sensing brake groups is linked with the first brake mechanism and the second brake mechanism, which are in the same braking position.

[0018] Furthermore, the force-sensing braking mechanism is connected to the first braking mechanism via a first coupling link for linkage, and the force-sensing braking mechanism is connected to the second braking mechanism via a second coupling link for linkage.

[0019] Furthermore, the first braking device includes a first braking elastic element and a first braking sensor. The first braking elastic element can provide braking force to the first braking force receiver, and the first braking sensor can detect the first braking signal of the first braking mechanism and send the first braking signal to the controller. The second braking device includes a second braking elastic element and a second braking sensor. The second braking elastic element can provide braking force to the second braking force receiver, and the second braking sensor can detect the second braking signal of the second braking mechanism and send the second braking signal to the controller.

[0020] Furthermore, the first braking device includes a plurality of first brake groups, each first brake group including a first braking mechanism, a first braking elastic element and a first braking sensor; the second braking device includes a plurality of second brake groups, each second brake group including a second braking mechanism, a second braking elastic element and a second braking sensor.

[0021] Furthermore, the first brake sensor includes a rotary variable differential sensor, a linear variable differential sensor, or a potentiometer sensor, and the first brake elastic element includes a force-sensing spring; the second brake sensor includes a rotary variable differential sensor, a linear variable differential sensor, or a potentiometer sensor, and the second brake elastic element includes a force-sensing spring.

[0022] In addition, the braking system also includes a controller, which is communicatively connected to the force-sensing brake sensor. The controller is capable of outputting braking commands based on the signal voting value of the first brake sensor signal of the first braking mechanism, the second brake sensor signal of the second braking mechanism, and the force-sensing brake signal.

[0023] Furthermore, when the first braking device includes a first brake sensor capable of detecting a first brake signal of the first braking mechanism and the second braking device includes a second brake sensor capable of detecting a second brake signal of the second braking mechanism, the controller can compare the received first brake signal, second brake signal, and force-sensing brake signal in pairs. When the difference between two brake signals in a brake signal combination is greater than a predetermined threshold, the brake signal combination is determined to be invalid. When the difference between two brake signals in a brake signal combination is less than the predetermined threshold, the brake signal combination is determined to be valid, and the calculated values ​​of the two brake signals are output. Specifically, when all three brake signal combinations are valid, the controller takes the calculated values ​​of the three brake signal combinations to output a braking command. When one brake signal combination is invalid and the other two brake signal combinations are valid, the controller takes the calculated values ​​of the other two brake signal combinations to output a braking command. When two or three brake signal combinations are invalid, the controller suppresses the braking command.

[0024] In addition, when the force-sensitive braking device is used in the aircraft's brake linkage pedal system, one of the first braking device and the second braking device is the pilot's brake pedal unit and the other is the co-pilot's brake pedal unit, so that the braking system serves as the aircraft's brake linkage pedal system.

[0025] Thirdly, the present invention provides a braking control method, the braking control method comprising: providing a force-sensitive braking device, wherein the force-sensitive braking mechanism of the force-sensitive braking device is capable of being linked with a first braking mechanism and a second braking mechanism in a linked state, such that when the linkage between either the first braking mechanism and the second braking mechanism and the force-sensitive braking mechanism is disengaged, the other of the first braking mechanism and the second braking mechanism can maintain linkage with the force-sensitive braking mechanism; the force-sensitive elastic element of the force-sensitive braking device is connected to the force-sensitive braking mechanism to provide a braking force of the force-sensitive braking mechanism; the force-sensitive braking sensor of the force-sensitive braking device detects the braking action of the force-sensitive braking mechanism to obtain a force-sensitive braking signal and sends the force-sensitive braking signal to a controller; the controller is capable of outputting a braking command based on the first braking sensor signal of the first braking mechanism, the second braking sensor signal of the second braking mechanism, and the signal voting value of the force-sensitive braking signal.

[0026] In this technical solution, when the first braking mechanism and / or the second braking mechanism actuates, the force-sensing braking mechanism is activated in conjunction. At this time, the force-sensing braking sensor sends a force-sensing braking signal to the controller, which then outputs a braking command based on the signal values ​​of the first brake sensor signal from the first braking mechanism, the second brake sensor signal from the second braking mechanism, and the force-sensing braking signal. When the linkage between the first braking mechanism, the force-sensing braking mechanism, and the second braking mechanism is not disengaged, all three constitute a braking mechanism. When the linkage between the first braking mechanism and the force-sensing braking mechanism is disengaged, the second braking mechanism and the force-sensing braking mechanism remain linked, and both constitute a braking mechanism. Similarly, when the linkage between the second braking mechanism and the force-sensing braking mechanism is disengaged, the first braking mechanism and the force-sensing braking mechanism remain linked, and both also constitute a braking mechanism. Thus, when the braking capacity of some braking mechanisms, such as the first or second braking mechanism, decreases or disappears, this force-sensing braking device can provide braking compensation, ensuring the availability and integrity of braking capacity and braking force feedback. This reduces the probability of complete loss of braking force feedback and braking control by several orders of magnitude, improving the reliability and safety of braking control. For example, when this braking control method is applied to the brake-linked pedal system of an aircraft, it will greatly improve the availability and integrity of the pedal brake voting command and the brake feel. For instance, even if the pedal coupling link breaks, the voting capability and feel of the brake signal can still be guaranteed, reducing the probability of complete loss of pedal brake feel and loss of pedal brake control by several orders of magnitude, thus improving the safety of the aircraft.

[0027] Furthermore, the first brake signal of the first braking mechanism is sent to the controller via the first brake sensor; the second brake signal of the second braking mechanism is sent to the controller via the second brake sensor; the controller can compare the received first brake signal, second brake signal, and force-sensing brake signal in pairs; when the difference between two brake signals in a brake signal combination is greater than a predetermined threshold, the brake signal combination is determined to be invalid; when the difference between two brake signals in a brake signal combination is less than the predetermined threshold, the brake signal combination is determined to be valid and the calculated values ​​of the two brake signals are output; wherein, when all three brake signal combinations are valid, the controller takes the calculated values ​​of the three brake signal combinations to output a braking command; when one brake signal combination is invalid and the other two brake signal combinations are valid, the controller takes the calculated values ​​of the other two brake signal combinations to output a braking command; when two or three brake signal combinations are invalid, the controller suppresses the braking command.

[0028] Fourthly, the present invention provides an aircraft comprising any of the braking systems described in the second aspect above, or the aircraft being capable of implementing any of the braking control methods described in the third aspect above. Thus, as described above, the braking safety and reliability of the aircraft are significantly improved.

[0029] It is obvious that the elements or features described in the above individual embodiments can be used alone or in combination in other embodiments. Attached Figure Description

[0030] The dimensions and scales in the accompanying drawings do not represent the dimensions and scales of the actual product. The drawings are for illustrative purposes only, and some non-essential elements or features have been omitted for clarity.

[0031] Figure 1 This is a schematic diagram illustrating a braking system according to an embodiment of the present invention, showing an exemplary force-sensitive braking device according to the present invention.

[0032] Figure 2 This is a schematic diagram illustrating a braking system according to another embodiment of the present invention, wherein, Figure 2 The image shows another exemplary force-sensitive braking device according to the present invention, and shows a steering linkage mechanism and a pedal force-sensitive trim unit connected to the braking system in one application of the braking system.

[0033] Figure 3 This is an exemplary schematic diagram illustrating the flow of brake signal control in a braking system according to an embodiment of the present invention.

[0034] Explanation of reference numerals in the attached figures

[0035] 1-Force-sensing brake mechanism, 2-Force-sensing brake sensor, 3-Force-sensing elastic element, 4-First brake device, 5-First brake mechanism, 6-Second brake device, 7-Second brake mechanism, 8-Force-sensing brake assembly, 9-First brake power connection end, 10-Second brake power connection end, 11-Force-sensing brake device, 12-First coupling link, 13-Second coupling link, 14-First brake elastic element, 15-First brake sensor, 16-First brake force receiver, 17-Second brake elastic element, 18-Second brake sensor, 19-Second brake force receiver, 20-Brake system, 21-First brake assembly, 22-Second brake assembly. Detailed Implementation

[0036] The present invention will now be described in detail with reference to the accompanying drawings. The embodiments described herein are merely preferred embodiments of the invention; those skilled in the art can conceive of other ways to implement the invention based on these preferred embodiments, and such other ways also fall within the scope of the invention.

[0037] refer to Figure 1 and Figure 2 The force-sensing braking device 11 provided by the present invention includes a force-sensing braking mechanism 1, a force-sensing braking sensor 2, and a force-sensing elastic element 3. The force-sensing braking mechanism 1 is used to link with the first braking mechanism 5 of the first braking device 4 and the second braking mechanism 7 of the second braking device 6, which are in a linked state, so that when the linkage between the first braking mechanism 5 and the second braking mechanism 7 and the force-sensing braking mechanism 1 is broken, the other one of the first braking mechanism 5 and the second braking mechanism 7 can maintain linkage with the force-sensing braking mechanism 1. The force-sensing elastic element 3 is connected to the force-sensing braking mechanism 1 to provide the braking force of the force-sensing braking mechanism 1. The force-sensing braking sensor 2 is configured to detect the braking action of the force-sensing braking mechanism 1 to obtain a force-sensing braking signal and send the force-sensing braking signal to the controller.

[0038] In this technical solution, because the force-sensing braking mechanism can be linked with the first and second braking mechanisms in a coordinated state, the force-sensing elastic element can provide braking force, and the force-sensing braking sensor can detect the braking linkage of the force-sensing braking mechanism to obtain a force-sensing braking signal and send the force-sensing braking signal to the controller. Thus, after the force-sensing braking device is applied to the braking system, the force-sensing braking mechanism is linked with the first braking mechanism of the first braking device and the second braking mechanism of the second braking device in a coordinated state. When the first braking mechanism and / or the second braking mechanism actuates, it will activate the force-sensing braking mechanism. At this time, the force-sensing elastic element provides braking force, and the force-sensing braking sensor sends the force-sensing braking signal to the controller. The controller then outputs a braking command based on the signal voting value of the first braking sensor signal of the first braking mechanism, the second braking sensor signal of the second braking mechanism, and the force-sensing braking signal. Thus, in actual use, when the linkage between the first braking mechanism 5, the force-sensing braking mechanism 1, and the second braking mechanism 7 is not disconnected, all three constitute a braking mechanism. When the linkage between the first braking mechanism 5 and the force-sensing braking mechanism 1 is disconnected, the second braking mechanism 7 and the force-sensing braking mechanism 1 remain linked, and both constitute a braking mechanism. Similarly, when the linkage between the second braking mechanism 7 and the force-sensing braking mechanism 1 is disconnected, the first braking mechanism 5 and the force-sensing braking mechanism 1 remain linked, and both also constitute a braking mechanism. Therefore, when the braking capacity of some braking mechanisms in the braking system, such as the first or second braking mechanism, is reduced or lost, this force-sensing braking device can play a braking compensation role, ensuring the availability and integrity of the braking capacity and braking feel of the braking system. This reduces the probability of complete loss of braking feel and braking control failure by several orders of magnitude, improving the reliability and safety of braking control. For example, when applied to the brake-linked pedal system of an aircraft, it will greatly improve the availability and integrity of the pedal brake voting command and brake feel. For instance, even if the pedal coupling link breaks, the voting capability and feel of the brake signal can still be guaranteed, reducing the probability of complete loss of pedal brake feel and loss of pedal brake control by several orders of magnitude, thus improving aircraft safety.

[0039] In this force-sensitive braking device 11, the number of force-sensitive braking mechanism 1, force-sensitive braking sensor 2, and force-sensitive elastic element 3 can each be one. That is, the force-sensitive braking device 11 can include a force-sensitive braking assembly 8, which can include a force-sensitive braking mechanism 1, a force-sensitive braking sensor 2, and a force-sensitive elastic element 3. In this way, a force-sensitive braking assembly 8 can be linked with a first braking mechanism 5 and a second braking mechanism 7.

[0040] In other alternative embodiments, the number of the first braking mechanism 5 and the second braking mechanism 7 can each be multiple, for example, in Figure 1In the middle, there are two first braking mechanisms 5 on the left and two second braking mechanisms 7 on the right. At this time, refer to... Figure 1 and Figure 2 The force-sensitive braking device 11 may include multiple force-sensitive braking assemblies 8, and each force-sensitive braking assembly 8 includes a force-sensitive braking mechanism 1, a force-sensitive braking sensor 2, and a force-sensitive elastic element 3. The force-sensitive braking mechanism 1 of each force-sensitive braking assembly 8 is used to link with a first braking mechanism 5 and a second braking mechanism 7 that have the same braking characteristics (e.g., both are in right-foot position, both are in left-foot position, both are in left-hand position, or both are in right-hand position). Thus, in practical applications, such as when applied to an aircraft, each force-sensitive braking mechanism 11 can link the first braking mechanism 5 and the second braking mechanism 7 with the same braking characteristics in the pilot's and co-pilot's positions.

[0041] Furthermore, in various possible applications, the same braking characteristics can be multiple, such as the same braking pressure, the same braking displacement angle, or the same braking position (e.g., all right foot positions or all left foot positions). For example, in Figure 1 and Figure 2 In the illustrated embodiment, each force-sensitive braking mechanism 1 is used in conjunction with a first braking mechanism 5 and a second braking mechanism 7 that are in the same braking position. For example, Figure 1 and Figure 2 The illustrated implementation can serve as the pilot's seat (e.g., the first braking device 4) and the co-pilot's seat (e.g., the second braking device 6) of an aircraft. In this implementation, one force-sensitive braking mechanism 1 links the first braking mechanism 5 of the pilot's left foot and the second braking mechanism 7 of the co-pilot's left foot, and another force-sensitive braking mechanism 1 links the first braking mechanism 5 of the pilot's right foot and the second braking mechanism 7 of the co-pilot's right foot.

[0042] Furthermore, in this force-sensitive braking device 11, the force-sensitive braking mechanism 1 can have various arrangements, but regardless of the arrangement, it only needs to be able to link the corresponding first braking mechanism 5 and second braking mechanism 7. For example, in one embodiment, refer to Figure 1 The force-sensing brake mechanism 1 includes a first brake power connection end 9 and a second brake power connection end 10 arranged coaxially opposite each other. For example, the force-sensing brake mechanism 1 includes a central shaft, with its two ends serving as the first brake power connection end 9 and the second brake power connection end 10, respectively. The first brake power connection end 9 is used for power transmission connection with the first brake mechanism 5 of the first brake device 4, and the second brake power connection end 10 is used for power transmission connection with the second brake mechanism 7 of the second brake device 6, so that the first brake mechanism 5 is linked with the second brake mechanism 7 through the force-sensing brake mechanism 1. Additionally, in other embodiments, refer to... Figure 2The first braking mechanism 5 and the second braking mechanism 7 are connected and linked through an intermediate transmission shaft, while the input end of the force-sensing braking mechanism 1 is connected to the intermediate transmission shaft.

[0043] Additionally, the force-sensitive brake sensor 2 may include a rotary variable differential sensor, a linear variable differential sensor, or a potentiometer sensor, which can be selected according to actual needs. And / or, the force-sensitive elastic element 3 may include a force-sensitive spring or a force-sensitive elastic column, such as a rubber column having predetermined elasticity requirements.

[0044] In addition, the force-sensitive brake device 11 can be used in various applications. For example, it can be used in aircraft entertainment devices that simulate aircraft operation to allow the public to experience the feeling of piloting an aircraft, or it can be used in flight training devices, or it can be used in the brake-linked pedal system of an aircraft. It can also be used in the brake-linked pedal system of an actual aircraft. As mentioned above, the lever brake device 11 will greatly improve the availability and integrity of the pedal brake voting command and the brake feel force. For example, even if the pedal coupling link breaks, it can still ensure the voting ability and feel force of the brake signal, reducing the probability of complete loss of pedal brake feel force and loss of pedal brake control by several orders of magnitude, thus improving the safety of the aircraft.

[0045] Secondly, the present invention provides a braking system 20, with reference to... Figure 1 and Figure 2 The braking system 20 includes a first braking device 4 with a first braking mechanism 5, a second braking device 6 with a second braking mechanism 7, and a force-sensing braking device 11 as described in any of the first aspects above. The force-sensing braking device 1 is linked with the first braking mechanism 5 and the second braking mechanism 7, and when the linkage between the first braking mechanism 5 and the second braking mechanism 7 and the force-sensing braking device 1 is disconnected, the other of the first braking mechanism 5 and the second braking mechanism 7 can maintain linkage with the force-sensing braking device 1. Under the linkage drive of the first braking mechanism 5 and / or the second braking mechanism 7, the force-sensing elastic element 3 can provide the braking force of the force-sensing braking device 1, and the force-sensing braking sensor 2 can detect the braking action of the force-sensing braking device 1 to obtain a force-sensing braking signal and send the force-sensing braking signal to the controller.

[0046] As described above, when the first braking mechanism and / or the second braking mechanism actuates, the force-sensing braking mechanism is activated. At this time, the force-sensing elastic element provides the braking force, and the force-sensing brake sensor sends a force-sensing brake signal to the controller. The controller then outputs a braking command based on the signal values ​​of the first brake sensor signal from the first braking mechanism, the second brake sensor signal from the second braking mechanism, and the force-sensing brake signal. Thus, when the linkage between the first braking mechanism 5, the force-sensing brake mechanism 1, and the second braking mechanism 7 is not disengaged, all three constitute a braking mechanism. When the linkage between the first braking mechanism 5 and the force-sensing brake mechanism 1 is disengaged, the second braking mechanism 7 and the force-sensing brake mechanism 1 remain linked, and both constitute a braking mechanism. Similarly, when the linkage between the second braking mechanism 7 and the force-sensing brake mechanism 1 is disengaged, the first braking mechanism 5 and the force-sensing brake mechanism 1 remain linked, and both also constitute a braking mechanism. Therefore, when the braking capacity of a portion of the braking system, such as the first or second braking mechanism, is reduced or lost, this force-sensing braking device can provide braking compensation, ensuring the availability and integrity of the braking capacity and braking feel of the braking system. This reduces the probability of complete loss of braking feel and control by several orders of magnitude, improving the reliability and safety of braking control. For example, when this braking system is used as an aircraft's brake-linked pedal system, it greatly improves the availability and integrity of the pedal brake command and braking feel. For instance, even if the pedal coupling link breaks, it can still guarantee the braking signal's command capability and feel, reducing the probability of complete loss of pedal brake feel and control by several orders of magnitude, thus improving aircraft safety.

[0047] In addition, in this braking system, reference Figure 2 The first braking mechanism 5 and the second braking mechanism 7 are connected and linked via an intermediate transmission shaft, while the input end of the force-sensing braking mechanism 1 is connected to the intermediate transmission shaft. Alternatively, the first braking mechanism 5 is linked to the second braking mechanism 7 via the force-sensing braking mechanism 1, for example, in... Figure 1 In this design, the force-sensing brake mechanism 1 includes a first brake power connection end 9 and a second brake power connection end 10 arranged coaxially opposite each other. For example, the force-sensing brake mechanism 1 includes a central shaft, with its two ends serving as the first brake power connection end 9 and the second brake power connection end 10, respectively. The first brake power connection end 9 is used for power transmission connection with the first brake mechanism 5 of the first brake device 4, and the second brake power connection end 10 is used for power transmission connection with the second brake mechanism 7 of the second brake device 6, so that the first brake mechanism 5 is linked with the second brake mechanism 7 through the force-sensing brake mechanism 1. Of course, in an alternative configuration, the first brake power connection end 9 and the second brake power connection end 10 can be arranged non-coaxially.

[0048] In this braking system, the force-sensitive braking device may include a force-sensitive braking assembly 8, which may include a force-sensitive braking mechanism 1, a force-sensitive braking sensor 2, and a force-sensitive elastic element 3. Alternatively, when the force-sensitive braking device includes multiple force-sensitive braking assemblies 8, the number of first braking mechanisms 5 and second braking mechanisms 7 are the same as the number of force-sensitive braking assemblies 8, wherein the force-sensitive braking mechanism 1 of each force-sensitive braking assembly 8 is linked with the first braking mechanism 5 and the second braking mechanism 7, which have the same braking characteristics, for example in... Figure 1 In the middle, there are two first braking mechanisms 5 on the left and two second braking mechanisms 7 on the right. At this time, the two force-sensing braking mechanisms 1 can respectively link the first braking mechanism 5 and the second braking mechanism 7, which have the same braking characteristics.

[0049] Additionally, the same braking characteristics can be achieved at the same braking position, for reference. Figure 1 and Figure 2 Each force-sensitive brake assembly 8 has a force-sensitive brake mechanism 1 that is linked to a first brake mechanism 5 and a second brake mechanism 7 located in the same braking position. For example, Figure 1 and Figure 2 The illustrated implementation can serve as the pilot's seat (e.g., the first braking device 4) and the co-pilot's seat (e.g., the second braking device 6) of an aircraft. In this implementation, one force-sensitive braking mechanism 1 links the first braking mechanism 5 of the pilot's left foot and the second braking mechanism 7 of the co-pilot's left foot, and another force-sensitive braking mechanism 1 links the first braking mechanism 5 of the pilot's right foot and the second braking mechanism 7 of the co-pilot's right foot.

[0050] Additionally, the force-sensitive braking mechanism 1 can be directly connected to the first braking mechanism 5 for linkage, and the force-sensitive braking mechanism 1 can be directly connected to the second braking mechanism 7 for linkage. Alternatively, refer to... Figure 1 and Figure 2 The force-sensing braking mechanism 1 is connected to the first braking mechanism 5 via the first coupling link 12 for linkage, and to the second braking mechanism 7 via the second coupling link 13 for linkage. This allows for a more flexible arrangement of the coupling links between the first braking device 4 and the second braking device 6 at a preset distance. Furthermore, even if the coupling link breaks, the braking system can still guarantee signal input capability and tactile feedback, reducing the probability of complete loss of pedal brake tactile feedback and control by several orders of magnitude.

[0051] Furthermore, the first braking device 4 and the second braking device 6 can have various structures, but regardless of the structure, they only need to be able to transmit braking force to achieve braking. For example, see reference... Figure 1 and Figure 2The first braking device 4 includes a first braking elastic element 14 and a first braking sensor 15. The first braking elastic element 14 provides braking force to a first braking force receiver 16, which can be a foot pedal or a handbrake. The first braking sensor 15 detects a first braking signal from the first braking mechanism 5 and sends the first braking signal to the controller. The second braking device 6 includes a second braking elastic element 17 and a second braking sensor 18. The second braking elastic element 17 provides braking force to a second braking force receiver 19, which can be a foot pedal or a handbrake. The second braking sensor 18 detects a second braking signal from the second braking mechanism 7 and sends the second braking signal to the controller. Thus, the controller can determine and control the braking system based on the received braking signals to send a final braking command to a device using the braking system, such as an aircraft.

[0052] For example, in normal linkage mode, when the first braking mechanism 5, the force-sensing braking mechanism 1, and the second braking mechanism 7 can be linked normally, the braking force felt by the first braking force receiver 16 or the second braking force receiver 19 is obtained by adding the first braking elastic element 14, the force-sensing elastic element 3, and the second braking elastic element 17. When the linkage between the first braking mechanism 5 and the second braking mechanism 7 and the force-sensing braking mechanism 1 fails, the braking force felt by the braking force receiver of the other braking mechanism 5 and the second braking mechanism 7 is obtained by adding the corresponding braking elastic element and the force-sensing elastic element 3.

[0053] Additionally, refer to Figure 1 and Figure 2 The first braking device 4 includes multiple first brake assemblies 21, each first brake assembly 21 including a first braking mechanism 5, a first braking elastic element 14, and a first braking sensor 15; the second braking device 6 includes multiple second brake assemblies 22, each second brake assembly 22 including a second braking mechanism 7, a second braking elastic element 17, and a second braking sensor 18. For example, Figure 1 and Figure 2 In this design, the first braking device 4 includes two first braking groups 21, and the second braking device 6 includes two second braking groups 22, thus enabling braking by using the left or right hand or foot. Alternatively, the first braking device 4 may include one first braking group 21, and the second braking device 6 may include one second braking group 22.

[0054] In addition, in this braking system, the first brake sensor 15 includes a rotary variable differential sensor, a linear variable differential sensor, or a potentiometer sensor, which can be selected according to actual needs. The first brake elastic element 14 includes a force-sensing spring or a force-sensing elastic column, such as a rubber column that meets predetermined elasticity requirements. The second brake sensor 18 includes a rotary variable differential sensor, a linear variable differential sensor, or a potentiometer sensor. The second brake elastic element 17 includes a force-sensing spring or a force-sensing elastic column, such as a rubber column that meets predetermined elasticity requirements.

[0055] In addition, the braking system also includes a controller, which is communicatively connected to the force-sensing brake sensor 2. The controller can output a braking command based on the signal voting value of the first brake sensor signal of the first braking mechanism 5, the second brake sensor signal of the second braking mechanism 7, and the force-sensing brake signal. In this way, by judging the signal voting value of the brake sensor signals of the first braking mechanism 5 and the second braking mechanism 7 during braking, the controller can output a braking command more accurately and in a more timely manner, thereby improving the reliability of braking.

[0056] Additionally, refer to Figure 3 When the first braking device 4 includes a first brake sensor 15 capable of detecting the first brake signal of the first braking mechanism 5, and the second braking device 6 includes a second brake sensor 18 capable of detecting the second brake signal of the second braking mechanism 7, the controller can compare the received first brake signal, second brake signal, and force-sensing brake signal in pairs. If the difference between two brake signals in a combination is greater than a predetermined threshold, the combination is deemed invalid. If the difference between two brake signals in a combination is less than the predetermined threshold, the combination is deemed valid, and the calculated values ​​of the two brake signals are output. Specifically, when all three brake signal combinations are valid, the controller takes the calculated values ​​of the three brake signal combinations to output a braking command. When one brake signal combination is invalid, and the other two are valid, the controller takes the calculated values ​​of the remaining two brake signal combinations to output a braking command. When two or three brake signal combinations are invalid, the controller suppresses the braking command. Thus, by monitoring and voting on the three brake signals, the availability and integrity of the brake signals are significantly improved.

[0057] Furthermore, when the force-sensitive braking device is used in the aircraft's brake-linked pedal system, one of the first braking device 4 and the second braking device 6 serves as the pilot's brake pedal unit and the other as the co-pilot's pedal unit, thus making the braking system function as the aircraft's brake-linked pedal system. Additionally, refer to... Figure 2The braking system also includes a pedal force-sensing trim unit for the rudder linkage mechanism. This pedal force-sensing trim unit is different from the aforementioned force-sensing braking device 11. The pedal force-sensing trim unit may include a force-sensing spring, one or more position sensors, and the trim unit itself. The force-sensing spring and trim unit are connected. Under the trimming action of the trim unit, the force-sensing spring can provide damping force to the linked main and auxiliary pedals. Especially when the linkage between the linked main and auxiliary pedal assemblies breaks, it can provide damping force to pedal assemblies without damping elements such as springs (e.g., the first braking device 4 or the second braking device 6), allowing the pilot to still receive pedal feedback force and preventing the pedals from being in a free-moving state, thus avoiding excessive footwork for the pilot. The position sensors can detect the movement of the main and auxiliary pedals, particularly the movement of pedals without sensors (e.g., the first braking device 4 or the second braking device 6).

[0058] Thirdly, the present invention provides a braking control method, comprising: providing a force-sensing braking device, wherein the force-sensing braking mechanism of the force-sensing braking device is capable of being linked with a first braking mechanism and a second braking mechanism in a linked state, such that when the linkage between either the first braking mechanism and the second braking mechanism and the force-sensing braking mechanism is disengaged, the other of the first braking mechanism and the second braking mechanism can maintain linkage with the force-sensing braking mechanism; the force-sensing elastic element of the force-sensing braking device is connected to the force-sensing braking mechanism to provide a braking force of the force-sensing braking mechanism; the force-sensing braking sensor of the force-sensing braking device detects the braking action of the force-sensing braking mechanism to obtain a force-sensing braking signal and sends the force-sensing braking signal to a controller; and the controller is capable of outputting a braking command based on the signal voting value of the first braking sensor signal of the first braking mechanism, the second braking sensor signal of the second braking mechanism, and the force-sensing braking signal.

[0059] In this technical solution, when the first braking mechanism and / or the second braking mechanism actuates, the force-sensing braking mechanism is activated in conjunction. At this time, the force-sensing braking sensor sends a force-sensing braking signal to the controller, which then outputs a braking command based on the signal values ​​of the first brake sensor signal from the first braking mechanism, the second brake sensor signal from the second braking mechanism, and the force-sensing braking signal. When the linkage between the first braking mechanism, the force-sensing braking mechanism, and the second braking mechanism is not disengaged, all three constitute a braking mechanism. When the linkage between the first braking mechanism and the force-sensing braking mechanism is disengaged, the second braking mechanism and the force-sensing braking mechanism remain linked, and both constitute a braking mechanism. Similarly, when the linkage between the second braking mechanism and the force-sensing braking mechanism is disengaged, the first braking mechanism and the force-sensing braking mechanism remain linked, and both also constitute a braking mechanism. Thus, when the braking capacity of some braking mechanisms, such as the first or second braking mechanism, decreases or disappears, this force-sensing braking device can provide braking compensation, ensuring the availability and integrity of braking capacity and braking force feedback. This reduces the probability of complete loss of braking force feedback and braking control by several orders of magnitude, improving the reliability and safety of braking control. For example, when this braking control method is applied to the aircraft's brake-linked pedal system, it will greatly improve the availability and integrity of the pedal brake voting command and brake feel. For instance, even if the pedal coupling link breaks, it will not lead to a loss of brake control and brake feel, but will still ensure the voting capability and feel of the brake signal. This reduces the probability of complete loss of pedal brake feel and loss of pedal brake control by several orders of magnitude, thus improving aircraft safety.

[0060] Furthermore, a first brake signal from the first braking mechanism is sent to the controller via a first brake sensor; a second brake signal from the second braking mechanism is sent to the controller via a second brake sensor. The controller can compare the received first brake signal, second brake signal, and force-sensing brake signal in pairs. If the difference between two brake signals in a combination is greater than a predetermined threshold, the combination is deemed invalid; if the difference is less than the predetermined threshold, the combination is deemed valid, and the calculated values ​​of the two brake signals are output. Specifically, when all three brake signal combinations are valid, the controller uses the calculated values ​​of the three combinations to output a braking command; when one brake signal combination is invalid, but the other two are valid, the controller uses the calculated values ​​of the remaining two combinations to output a braking command; when two or three brake signal combinations are invalid, the controller suppresses the braking command. Thus, by monitoring and voting on the three brake signals, the availability and integrity of the brake signals are significantly improved.

[0061] Fourthly, the present invention provides an aircraft comprising any of the braking systems described in the second aspect above, or the aircraft being capable of implementing any of the braking control methods described in the third aspect above. Thus, as described above, the braking safety and reliability of the aircraft are significantly improved.

[0062] For example, refer to Figure 1 and Figure 2 In one embodiment of the aircraft, a distributed brake-linked pedal system is employed. In this system, the breakage or disengagement of any coupling link only results in the loss of one brake sensor, without causing a loss of braking function on the left (or right) side of the pedals. Furthermore, when the coupling link on the left (or right) side of the pilot's (or co-pilot's) pedals disengages or breaks, the two force-sensing springs in the force-sensing brake mechanism on the left (or right) side of the co-pilot's (or pilot's) left (or right) pedals and the force-sensing brake mechanism can still provide the pilot with tactile feedback, reducing the impact of partial loss of tactile feedback on brake operation. Meanwhile, one force-sensing spring in the pilot's (or co-pilot's) left (or right) pedals maintains the left (or right) brake pedal in its original position, preventing brake pedal oscillation, and a noticeable loss of tactile feedback alerts the pilot to a failure of the left (or right) brake function. The force-sensing springs can be tension or compression springs, and the tactile feedback of the force-sensing springs in the pilot's (or co-pilot's) pedals and the force-sensing brake mechanism can be distributed proportionally as needed.

[0063] Additionally, when the pilot depresses the left (or right) foot pedal to apply the left (or right) brake, the three brake position signals from the driver's brake pedal unit, the force-sensitive brake device, and the co-pilot's brake pedal unit are input into the controller's voting unit and compared in pairs. For example, referencing... Figure 3 The controller monitors and votes on the three braking signals generated by the braking system, comparing each pair of signals. If the difference between the two signals is greater than a threshold, the combined signal is deemed invalid; if the difference is less than the threshold, the combined signal is deemed valid, and the average value (or a value calculated using another specific method) is output. Therefore, when all three braking signals are valid, the average value (or a value calculated using another specific method) of the three combinations is output; when one combination of braking signals is invalid, but the other two combinations are valid, the average value (or a value calculated using another specific method) of the two valid combinations is output; when two or three combinations of braking signals are invalid, the foot brake command is suppressed. By monitoring and voting on the three braking signals, the availability and integrity of the braking signals are significantly improved.

[0064] The scope of protection of this invention is defined only by the claims. Thanks to the teachings of this invention, those skilled in the art will readily recognize that alternative structures to the structures disclosed herein can be used as feasible alternative implementations, and that the implementations disclosed herein can be combined to produce new implementations, which also fall within the scope of the appended claims.

Claims

1. A force-sensitive braking device, characterized in that, It includes multiple independent force-sensitive brake assemblies (8), each of which includes a force-sensitive brake mechanism (1), a force-sensitive brake sensor (2), and a force-sensitive elastic element (3), wherein, Each force-sensitive brake assembly (8) has a force-sensitive brake mechanism (1) that is used to link with the first brake mechanism (5) and the second brake mechanism (7) of the first brake device (4) and the second brake device (6) of the braking system, which have the same braking characteristics and are in an independent linkage state. This is so that when the linkage between the first brake mechanism (5), the force-sensitive brake mechanism (1), and the second brake mechanism (7) is not broken, all three constitute a brake mechanism. When the linkage between the first brake mechanism (5), the force-sensitive brake mechanism (1), and the second brake mechanism (7) is not broken, all three constitute a brake mechanism. When the linkage between any of (7) and the force-sensing brake mechanism (1) is disconnected, the other of the first brake mechanism (5) and the second brake mechanism (7) can continue to be linked with the force-sensing brake mechanism (1) so that both of them constitute a brake mechanism; the force-sensing elastic element (3) is connected to the force-sensing brake mechanism (1) to provide the braking force of the force-sensing brake mechanism (1), and the force-sensing brake sensor (2) is configured to detect the braking action of the force-sensing brake mechanism (1) to obtain the force-sensing brake signal of the force-sensing brake mechanism (1) and send the force-sensing brake signal to the controller.

2. The force-sensitive braking device according to claim 1, characterized in that, Each of the force-sensing brake mechanisms (1) is used to engage with the first brake mechanism (5) and the second brake mechanism (7) which are in the same braking position.

3. The force-sensitive braking device according to claim 1, characterized in that, The force-sensing brake mechanism (1) includes a first brake power connection end (9) and a second brake power connection end (10) arranged coaxially opposite each other. The first brake power connection end (9) is used to power transmit and connect with the first brake mechanism (5) of the first brake device (4), and the second brake power connection end (10) is used to power transmit and connect with the second brake mechanism (7) of the second brake device (6), so that the first brake mechanism (5) is linked with the second brake mechanism (7) through the force-sensing brake mechanism (1).

4. The force-sensitive braking device according to claim 1, characterized in that, The force-sensing brake sensor (2) includes a rotary variable differential sensor, a linear variable differential sensor, or a potentiometer sensor; And / or, the force-sensitive elastic element (3) includes a force-sensitive spring.

5. The force-sensitive braking device according to any one of claims 1-4, characterized in that, The force-sensitive braking device is used in the aircraft's brake-linked pedal system.

6. A braking system, characterized in that, The device includes a first braking device (4) having multiple independent first braking mechanisms (5), a second braking device (6) having multiple independent second braking mechanisms (7), and a force-sensitive braking device (11) according to any one of claims 1-5, wherein, Each of the force-sensitive brake groups (8) has a force-sensitive brake mechanism (1) that is linked with the first brake mechanism (5) and the second brake mechanism (7) which have the same braking characteristics and are in an independent linkage state. When the linkage between the first brake mechanism (5), the force-sensitive brake mechanism (1) and the second brake mechanism (7) is not disconnected, all three constitute a brake mechanism. When the linkage between either the first brake mechanism (5) or the second brake mechanism (7) and the force-sensitive brake mechanism (1) is disconnected, the other one of the first brake mechanism (5) and the second brake mechanism (7) can continue to maintain linkage with the force-sensitive brake mechanism (1) so that both of them also constitute a brake mechanism. In this system, under the linkage drive of the first brake mechanism (5) and / or the second brake mechanism (7), the force-sensing brake mechanism (1) is driven by the force-sensing elastic element (3), which can provide the braking force of the force-sensing brake mechanism (1), and the force-sensing brake sensor (2) can detect the braking action of the force-sensing brake mechanism (1) to obtain the force-sensing brake signal and send the force-sensing brake signal to the controller.

7. The braking system according to claim 6, characterized in that, The first braking mechanism (5) is linked with the second braking mechanism (7) through the force-sensing braking mechanism (1).

8. The braking system according to claim 6, characterized in that, The number of the first braking mechanism (5) and the second braking mechanism (7) are the same as the number of the force-sensitive brake assembly (8).

9. The braking system according to claim 6, characterized in that, The force-sensing brake mechanism (1) of each of the force-sensing brake groups (8) is linked with the first brake mechanism (5) and the second brake mechanism (7) which are in the same braking position.

10. The braking system according to claim 6, characterized in that, The force-sensing brake mechanism (1) is connected to the first brake mechanism (5) via the first coupling link (12) for linkage, and the force-sensing brake mechanism (1) is connected to the second brake mechanism (7) via the second coupling link (13) for linkage.

11. The braking system according to claim 6, characterized in that, The first braking device (4) includes multiple independent first braking groups (21). Each first braking group (21) includes a first braking mechanism (5), a first braking elastic element (14), and a first braking sensor (15). The first braking elastic element (14) can provide braking force to the first braking force receiver (16). The first braking sensor (15) can detect the first braking signal of the first braking mechanism (5) and send the first braking signal to the controller. The second braking device (6) includes a plurality of independent second braking groups (22). Each second braking group (22) includes a second braking mechanism (7), a second braking elastic element (17), and a second braking sensor (18). The second braking elastic element (17) can provide braking force to the second braking force receiver (19). The second braking sensor (18) can detect the second braking signal of the second braking mechanism (7) and send the second braking signal to the controller.

12. The braking system according to claim 11, characterized in that, The first brake sensor (15) includes a rotary variable differential sensor, a linear variable differential sensor or a potentiometer sensor, and the first brake elastic element (14) includes a force-sensing spring. The second brake sensor (18) includes a rotary variable differential sensor, a linear variable differential sensor or a potentiometer sensor, and the second brake elastic element (17) includes a force-sensing spring.

13. The braking system according to any one of claims 6-12, characterized in that, The braking system also includes a controller, which is communicatively connected to the force-sensing brake sensor (2). The controller is capable of outputting a braking command based on the signal voting value of the first brake sensor signal of the first braking mechanism (5), the second brake sensor signal of the second braking mechanism (7), and the force-sensing brake signal.

14. The braking system according to claim 13, characterized in that, When the first braking device (4) includes a first braking sensor (15) capable of detecting the first braking signal of the first braking mechanism (5) and the second braking device (6) includes a second braking sensor (18) capable of detecting the second braking signal of the second braking mechanism (7), the controller can compare the received first braking signal, second braking signal and force-sensing braking signal in pairs. When the difference between the two braking signals in the braking signal combination is greater than a predetermined threshold, the braking signal combination is determined to be invalid. When the difference between the two braking signals in the braking signal combination is less than the predetermined threshold, the braking signal combination is determined to be valid and the calculated values ​​of the two braking signals are output. When all three brake signal combinations are valid, the controller takes the calculated value of the three brake signal combinations to output a brake command. When one brake signal combination is invalid and the other two brake signal combinations are valid, the controller takes the calculated values ​​of the other two brake signal combinations to output a brake command. When two or three brake signals are ineffective, the controller suppresses the brake command.

15. The braking system according to claim 6, characterized in that, When the force-sensitive brake device is used as the brake linkage pedal system of an aircraft, one of the first brake device (4) and the second brake device (6) is the pilot's brake pedal unit and the other is the co-pilot's brake pedal unit, so that the brake system serves as the aircraft's brake linkage pedal system.

16. A braking control method, characterized in that, include: A force-sensing braking device with multiple independent force-sensing brake groups is provided. The force-sensing brake mechanism of each force-sensing brake group can be linked with the first brake mechanism and the second brake mechanism of the first brake device of the braking system, which have the same braking characteristics and are in an independent linkage state. When the linkage between the first brake mechanism, the force-sensing brake mechanism and the second brake mechanism is not broken, all three constitute a braking mechanism. When the linkage between the first brake mechanism and the second brake mechanism and the force-sensing brake mechanism is broken, the other one of the first brake mechanism and the second brake mechanism can continue to maintain linkage with the force-sensing brake mechanism so that both of them also constitute a braking mechanism. The force-sensing elastic element of each force-sensing brake group is connected to the force-sensing brake mechanism to provide the braking force of the force-sensing brake mechanism. The force-sensing brake sensor of each force-sensing brake group detects the braking action of the force-sensing brake mechanism to obtain the force-sensing brake signal of the force-sensing brake mechanism and sends the force-sensing brake signal to the controller. The controller can output braking commands based on the signal voting values ​​of the first brake sensor signal of the first braking mechanism, the second brake sensor signal of the second braking mechanism, and the force-sensing brake signal.

17. The braking control method according to claim 16, characterized in that, The first brake signal of the first brake mechanism is sent to the controller via the first brake sensor; The second brake signal of the second brake mechanism is sent to the controller via the second brake sensor; The controller can compare the received first brake signal, second brake signal and force-sensing brake signal in pairs. When the difference between the two brake signals in the brake signal combination is greater than a predetermined threshold, the brake signal combination is determined to be invalid. When the difference between the two brake signals in the brake signal combination is less than the predetermined threshold, the brake signal combination is determined to be valid and the calculated values ​​of the two brake signals are output. When all three brake signal combinations are valid, the controller takes the calculated value of the three brake signal combinations to output a brake command. When one brake signal combination is invalid and the other two brake signal combinations are valid, the controller takes the calculated values ​​of the other two brake signal combinations to output a brake command. When two or three brake signals are ineffective, the controller suppresses the brake command.

18. An aircraft, characterized in that, The aircraft includes a braking system (20) according to any one of claims 6-15, or the aircraft is capable of implementing a braking control method according to claim 16 or 17.

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