Landing gear actuator control device and landing gear

Abstract

The application relates to the field of aircraft control, and discloses a landing gear actuating cylinder control device and a landing gear, which comprise a controller, a main control circuit and at least one standby control circuit, wherein the main control circuit comprises a detection circuit; the detection circuit is arranged at the landing gear actuating cylinder to generate a detection signal; the controller is used for generating an action instruction according to state information of an airplane and sending the action instruction to the main control circuit, so that the main control circuit controls the landing gear actuating cylinder according to the action instruction; the controller is also connected with the detection unit to acquire the detection signal, and when the detection signal does not satisfy a preset condition, the controller controls the standby control circuit to work and sends the action instruction to the standby control circuit. When the main control circuit fails, the standby control circuit is started to work, so that the stability of the landing gear actuating cylinder control system and the safety of the airplane are improved on the basis of preventing multiple controller interference and motor power disputes, so as to prevent the airplane from being unable to take off or land safely due to the failure of the actuating cylinder.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft control, in particular to a landing gear actuating cylinder control device and a landing gear. BACKGROUND

[0002] The landing gear is an important part of the aircraft, mainly used in the scenes of aircraft take-off, landing, ground taxiing and parking, etc., to absorb and dissipate various energies generated by the aircraft during landing and ground movement, so as to ensure the safety of the aircraft.

[0003] During the process of aircraft take-off or landing, the controller of the landing gear actuating cylinder receives the action instruction issued by the flight controller of the aircraft, and controls the action of the landing gear actuating cylinder according to the action instruction, so as to control the opening or retraction of the aircraft landing gear. In this process, if the controller fails, the landing gear cannot be normally opened or retracted, which will seriously affect the safety of the aircraft. At present, multiple controllers are provided in most landing gears to prevent controller failure, but when multiple controllers work at the same time, interference between parallel functional units and power disputes of the motor are easy to occur, which affects the normal work of the landing gear.

[0004] Therefore, how to provide a safer landing gear actuating cylinder control device to prevent the aircraft from being unable to take off or land safely due to the failure of the controller of the landing gear actuating cylinder is a problem that those skilled in the art need to solve. SUMMARY

[0005] The purpose of the present application is to provide a landing gear actuating cylinder control device and a landing gear to prevent the aircraft from being unable to take off or land safely due to the failure of the controller 1 of the landing gear actuating cylinder, and to improve the safety of the aircraft.

[0006] In order to solve the above technical problems, the present application provides a landing gear actuating cylinder control device, comprising:

[0007] The controller 1, the main control circuit 2 and at least one standby control circuit 3, wherein the main control circuit 2 comprises a detection circuit;

[0008] The detection circuit is arranged at the landing gear actuating cylinder to generate a detection signal according to the working state of the landing gear actuating cylinder;

[0009] The controller 1 is used to generate an action instruction according to the state information of the aircraft, and send the action instruction to the main control circuit 2, so that the main control circuit 2 controls the landing gear actuating cylinder according to the action instruction;

[0010] The controller 1 is also connected with the detection unit to obtain the detection signal, and when the detection signal does not meet the preset condition, the controller 1 controls the standby control circuit 3 to work and sends the action instruction to the standby control circuit 3.

[0011] Preferably, the detection circuit comprises:

[0012] a first detection contact, a second detection contact and a signal generation circuit;

[0013] The first detection contact is arranged at the first end of the landing gear actuating cylinder, and the second detection contact is arranged at the second end of the landing gear actuating cylinder.

[0014] The signal generation circuit is connected with the first detection contact and the second detection contact to generate a detection signal when the screw rod of the landing gear actuating cylinder contacts the first detection contact or the second detection contact.

[0015] Preferably, the main control circuit 2 further comprises a temperature detection unit.

[0016] The temperature detection unit comprises a temperature sensor and a comparator.

[0017] The temperature sensor is arranged at the motor winding coil of the landing gear actuating cylinder to generate a temperature detection signal.

[0018] The comparator is connected with the temperature sensor to obtain the temperature detection signal and determine whether the temperature detection signal is greater than a temperature threshold value, and if the temperature detection signal is greater than the temperature threshold value, the motor of the landing gear actuating cylinder is controlled to stop working.

[0019] Preferably, the main control circuit 2 and the standby control circuit 3 further comprise an overcurrent detection circuit.

[0020] The first end of the overcurrent detection circuit is connected with the motor winding of the landing gear actuating cylinder to obtain a current detection signal.

[0021] The controller 1 is connected with the second end of the overcurrent detection circuit to obtain the current detection signal and determine whether the current detection signal is higher than a current threshold value.

[0022] If the current detection signal is higher than the current threshold value, the motor of the landing gear actuating cylinder is controlled to stop working.

[0023] Preferably, the controller 1 determining whether the detection signal meets the preset condition comprises:

[0024] After the controller 1 sends the action instruction to the main control circuit 2, the controller 1 determines whether the detection signal is received within a preset time.

[0025] If the detection signal is not received within the preset time, it is determined that the detection signal does not meet the preset condition.

[0026] Preferably, the alarm device is further included;

[0027] The alarm device is connected with the controller 1, and when the controller 1 detects that the detection signal does not meet the preset condition, the alarm device is controlled to send an alarm signal.

[0028] Preferably, the main control circuit 2 controls the landing gear actuating cylinder according to the action instruction, and the main control circuit 2 includes:

[0029] The motor drive of the main control circuit 2 controls the rotation direction of the motor according to the action instruction;

[0030] The road selector of the main control circuit 2 controls the motor to start or stop according to the action instruction and the detection signal.

[0031] Preferably, each of the standby control circuits 3 further includes a position detection circuit;

[0032] The position detection circuit is connected with the drive bridge circuit of the motor to obtain a voltage detection signal;

[0033] The controller 1 is connected with the position detection circuit to obtain the voltage detection signal and determine whether the voltage detection signal is greater than a voltage threshold value;

[0034] If the voltage detection signal is greater than the voltage threshold value, it is determined that the landing gear actuating cylinder has been positioned.

[0035] Preferably, the number of the standby control circuits 3 is one.

[0036] In order to solve the above technical problems, the application further provides a landing gear, which comprises the landing gear actuating cylinder control device.

[0037] The application provides a landing gear actuating cylinder control device, which comprises a controller, a main control circuit and at least one standby control circuit, wherein the main control circuit comprises a detection circuit; the detection circuit is arranged at the landing gear actuating cylinder to generate a detection signal according to the working state of the landing gear actuating cylinder; the controller is used for generating an action instruction according to the state information of an airplane and sending the action instruction to the main control circuit so that the main control circuit controls the landing gear actuating cylinder according to the action instruction; the controller is also connected with the detection unit to acquire the detection signal, and when the detection signal does not satisfy a preset condition, the controller controls the standby control circuit to work and sends the action instruction to the standby control circuit. Therefore, the landing gear actuating cylinder control device provided by the application can start the standby control circuit to work when the main control circuit fails, thereby improving the stability of the landing gear actuating cylinder control system and the safety of the airplane on the basis of preventing multi-controller interference and motor power contention, so as to prevent the airplane from failing to take off or land safely due to the failure of the controller of the landing gear actuating cylinder.

[0038] In addition, the application also provides a landing gear comprising the landing gear actuating cylinder control device, and the effect is the same as above. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the application, the drawings required in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0040] Figure 1 A structure diagram of a landing gear actuating cylinder provided by the embodiments of the application;

[0041] Figure 2 A structure diagram of a landing gear actuating cylinder control device provided by the embodiments of the application;

[0042] Figure 3 A structure diagram of a main control circuit provided by the embodiments of the application;

[0043] Figure 4 A structure diagram of a standby control circuit provided by the embodiments of the application;

[0044] Figure 5 A structure diagram of a detection circuit provided by the embodiments of the application;

[0045] Figure 6 A structure diagram of a temperature detection unit provided by the embodiments of the application;

[0046] Figure 7 A structure diagram of a detection circuit provided by the embodiments of the application;

[0047] The reference signs are as follows: 1 is a controller, 2 is a main control circuit, and 3 is a backup control circuit. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0049] The core of the present application is to provide a landing gear actuating cylinder control device and a landing gear to prevent the aircraft from being unable to take off or land safely due to the failure of the controller 1 of the landing gear actuating cylinder, and to improve the safety of the aircraft.

[0050] In specific implementation, in order to improve the reliability and stability of the landing gear and ensure the safe landing of the aircraft, a dynamic control mode of the landing gear needs to be processed with redundancy. The current commonly used processing is a double-redundant hot backup mode, in which the main control circuit 2 and the backup control circuit 3 are simultaneously connected to the control system to control the landing gear actuating cylinder. However, in this mode, the main control circuit 2 and the backup control circuit 3 work simultaneously, and the power consumption is high. When the main control circuit 2 and the backup control circuit 3 are switched, intercommunication needs to be established between the control chips of the main control circuit 2 and the backup control circuit 3 to isolate faults, and the processor chips of the main control circuit 2 and the backup control circuit 3 need to establish corresponding communication with the upper computer flight control, respectively. The complexity of the software and hardware design is high, the fault tolerance and anti-interference ability are low, and in addition, the parallel work of the main control circuit 2 and the backup control circuit 3 can easily cause mutual interference between parallel functional units, and also easily lead to power contention phenomenon for the motor. In order to solve this problem, the present application provides a landing gear actuating cylinder control device, which comprises a controller 1, a main control circuit 2 and at least one backup control circuit 3, wherein the main control circuit 2 comprises a detection circuit; the detection circuit is arranged at the landing gear actuating cylinder to generate a detection signal according to the working state of the landing gear actuating cylinder; the controller 1 is used to generate an action instruction according to the state information of the aircraft, and send the action instruction to the main control circuit 2, so that the main control circuit 2 controls the landing gear actuating cylinder according to the action instruction; the controller 1 is also connected with the detection unit to obtain the detection signal, and when the detection signal does not satisfy a preset condition, the controller 1 controls the backup control circuit 3 to work and sends the action instruction to the backup control circuit 3. By starting the backup control circuit 3 to work when the main control circuit 2 fails, the stability of the landing gear actuating cylinder control system and the safety of the aircraft are improved on the basis of preventing multiple controller interference and motor power contention, so as to prevent the aircraft from being unable to take off or land safely due to the failure of the controller 1 of the landing gear actuating cylinder.

[0051] In order to make the person in the technical field better understand the scheme of the present application, the present application is further described in detail below in combination with the drawings and specific embodiments.

[0052] Figure 1 A structural diagram of a landing gear actuating cylinder provided by an embodiment of the present application is shown in FIG. 1, in which a main control circuit 2 and each standby control circuit 3 are arranged on a hardware circuit board to control the operation of a motor, and the motor drives a screw rod to realize the folding or unfolding of the actuating cylinder. Figure 1

[0053] Figure 2 A structural diagram of a landing gear actuating cylinder control device provided by an embodiment of the present application is shown in FIG. 2, in which the device comprises: Figure 2

[0054] a controller 1, a main control circuit 2 and at least one standby control circuit 3, wherein the main control circuit 2 comprises a detection circuit;

[0055] The detection circuit is arranged at the landing gear actuating cylinder to generate a detection signal according to the working state of the landing gear actuating cylinder;

[0056] The controller 1 is configured to generate an action instruction according to the state information of the aircraft, and send the action instruction to the main control circuit 2, so that the main control circuit 2 controls the landing gear actuating cylinder according to the action instruction;

[0057] The controller 1 is further connected with the detection unit to obtain the detection signal, and when the detection signal does not satisfy a preset condition, the controller 1 controls the standby control circuit 3 to work and sends the action instruction to the standby control circuit 3.

[0058] It can be understood that the controller 1 can be a flight controller 1 of the aircraft, or an actuating cylinder controller 1 additionally arranged, which is not limited herein. The first scheme can further reduce the cost of the landing gear actuating cylinder.

[0059] In a specific implementation, the main control circuit 2 is connected with the controller 1 through an interface to obtain the action instruction, wherein the action instruction is generated by the flight controller 1 according to the state information of the aircraft. The main control circuit 2 internally comprises a motor driving unit. After the motor driving unit receives the action instruction, a PWM control signal is generated and output to a motor driving circuit to control the motor to rotate forward or reverse, thereby driving the screw rod to realize the unfolding or folding of the actuating cylinder. The detection circuit is arranged at the landing gear actuating cylinder to generate a detection signal according to the working state of the landing gear actuating cylinder. When it is detected that the landing gear actuating cylinder reaches a preset “folding position” or “unfolding position”, the detection circuit generates a detection signal and sends the detection signal to the controller 1.

[0060] ​​The preset condition is that the signal sent by the detection circuit is received within a threshold time.

[0061] Figure 3 A structure diagram of a main control circuit provided by an embodiment of the application, Figure 4 A structure diagram of a standby control circuit provided by an embodiment of the application; as Figure 3 Or Figure 4 As shown in the figure, when the controller 1 sends a control instruction to the main control circuit 2, if a signal sent by the detection circuit that the landing gear actuator reaches the preset "stowed position" or "extended position" is not received within a preset time, it indicates that the main control circuit 2 has failed, and the controller 1 sends an action instruction to the standby control circuit 3. It can be understood that the control device provided by the embodiment can include multiple standby control circuits 3, and when the main control circuit 2 fails, the controller 1 can send an action instruction to any standby control circuit 3 or send an action instruction according to a preset standby control circuit 3 activation sequence to ensure that the landing gear extension action is completed. When the landing gear is extended to the position, the control unit disconnects the enable signal of the current standby control circuit 3 to stop the motor.

[0062] Figure 3 VSO1 and VSO2 are two identical action instructions, and the states of VSO1 and VSO2 include open circuit (high level) and ground (low level), as shown in the figure, Figure 3 As shown in the figure, the action instruction passes through the optocoupler U1, the follower U2, and the isolator U19, and VS1 generates two outputs (VSO1 and VSO2). When VS1 is open, the levels of VSO1 and VSO2 are +5V; when VS1 is grounded, the levels of VSO1 and VSO2 are 0V. One VSO1 is given to the pin (F / R) of the PWM drive chip U10 as a control signal for the motor forward and reverse rotation. The other VSO2, together with VT and VB provided by the micro switch interface circuit, forms an input path selection signal of the multiplexer (U5). The multiplexer selects the Y0-Y7 input according to the path selection address (A2, A1, A0) formed by the three input signals, outputs the VZ signal, and the VZ signal is inverted after passing through the relay drive circuit (U6) and reaches the relay end U4 (pin 5) to participate in the control of the relay on-off motor drive (+28VPM). The landing gear actuator retraction and extension hardware control logic is shown in Table 1.

[0063]

[0064] Table 1

[0065] Further, the main control circuit 2 controls the landing gear actuator according to the action instruction, which includes that the motor drive of the main control circuit 2 controls the rotation direction of the motor according to the action instruction, and the multiplexer of the main control circuit 2 controls the start or stop of the motor according to the action instruction and the detection signal.

[0066] The embodiment provides a landing gear actuating cylinder control device, which comprises a controller, a main control circuit and at least one standby control circuit, wherein the main control circuit comprises a detection circuit; the detection circuit is arranged at the landing gear actuating cylinder to generate a detection signal according to the working state of the landing gear actuating cylinder; the controller is used for generating an action instruction according to the state information of the aircraft, and sending the action instruction to the main control circuit, so that the main control circuit controls the landing gear actuating cylinder according to the action instruction; the controller is also connected with the detection unit to obtain the detection signal, and when the detection signal does not meet a preset condition, the controller controls the standby control circuit to work and sends the action instruction to the standby control circuit. As can be seen, the landing gear actuating cylinder control device provided by the application starts the standby control circuit to work when the main control circuit fails, thereby improving the stability of the landing gear actuating cylinder control system and the safety of the aircraft on the basis of preventing multi-controller interference and motor power disputes, to prevent the aircraft from being unable to take off or land safely due to the failure of the controller of the landing gear actuating cylinder.

[0067] In specific implementation, various ways can be used to determine the position of the actuating cylinder, but due to the high requirement on system safety in the flight scene of the aircraft, the stability of the control device needs to be improved. Figure 5 The structure diagram of the detection circuit provided by the embodiment of the application is shown in Figure 5 The detection circuit comprises:

[0068] a first detection contact, a second detection contact and a signal generation circuit;

[0069] The first detection contact is arranged at the first end of the landing gear actuating cylinder, and the second detection contact is arranged at the second end of the landing gear actuating cylinder.

[0070] The signal generation circuit is connected with the first detection contact and the second detection contact, so as to generate a detection signal when the screw rod of the landing gear actuating cylinder contacts the first detection contact or the second detection contact.

[0071] It should be noted that the first end and the second end herein are two endpoints that can be reached by the landing gear actuating cylinder, and are not specific.

[0072] Figure 5In the middle of the collection, put the place to set 2 microswitch, to improve the accuracy of detection, U21, U22 for the microswitch set in the "collection" to the place, U24, U25 for the microswitch set in the "put" to the place, the controller 1 detects any one microswitch reed changes to consider the screw rod (put) to the action to the position. Non to the state is open circuit, to the state is ground (PGND1), when in the non to the state, VT and VB = 5V, when in the to the state, VT or VB = 0V. In the normal working state, VT, VB and the relationship between the screw rod action state, as shown in table 2.

[0073] VT VB Screw action status 0V 5V In the "closed" position 5V 0V In the "put" position 5V 5V During the process of screw retraction or extension 0V 0V Detection circuit abnormality

[0074] Table 2

[0075] In the specific implementation, in order to prevent the motor temperature too high resulting in motor failure, also need to set the stable detection unit or overcurrent detection circuit in the circuit. As a preferred embodiment, the embodiment selects to set temperature detection unit in the main control circuit 2, and sets overcurrent detection circuit in each standby control circuit 3. It can also set overcurrent detection circuit in the main control circuit 2, and set temperature detection unit in each standby control circuit 3; or set temperature detection unit and overcurrent detection circuit in the main control circuit 2 and each standby control circuit 3, which will not be described here.

[0076] Figure 6 The structure diagram of a temperature detection unit provided by the embodiment of the application is shown in Figure 6 The temperature detection unit includes a temperature sensor and a comparator. The temperature sensor is arranged at the motor winding coil of the landing gear actuating cylinder to generate a temperature detection signal. The comparator is connected with the temperature sensor to acquire the temperature detection signal and determine whether the temperature detection signal is greater than a temperature threshold value. If the temperature detection signal is greater than the temperature threshold value, the motor of the landing gear actuating cylinder is controlled to stop working.

[0077] Figure 6 T1 is a thermistor for temperature sensing, which is placed near the motor winding coil and connected to the circuit board through a lead. The resistance value of the thermistor changes with temperature, and the generated voltage value (UT) is compared with the 2.5V voltage value generated by the reference power supply chip U27. When UT is less than 2.5V, TMP is 0 (low), at this time, it is considered that the motor winding temperature is overheated (greater than 160℃); when UT is greater than 2.5V, TMP is +5V (high), at this time, it is considered that the motor winding temperature is not overheated (less than 160℃). TMP is taken as a feedback signal to the flight control, and the TMP output is taken as a main power enable signal. When TMP is 0 (low), the main power is cut off.

[0078] The first end of the overcurrent detection circuit is connected with the motor winding of the landing gear actuator to obtain a current detection signal; the controller 1 is connected with the second end of the overcurrent detection circuit to obtain the current detection signal and judge whether the current detection signal is higher than a current threshold value; if higher than the current threshold value, the motor of the landing gear actuator is controlled to stop working.

[0079] As a preferred embodiment, the landing gear actuator control device further comprises an alarm device;

[0080] The alarm device is connected with the controller 1, and when the controller 1 detects that the detection signal does not meet the preset condition, the alarm device is controlled to send an alarm signal.

[0081] In a specific implementation, the alarm device can include a buzzer and an indicator. Further, the controller 1 also needs to write the information of the failure of the main control circuit 2 into a log file to facilitate subsequent maintenance of the circuit.

[0082] In the process of landing and flying of the flight system, it is more important to ensure the reliability of the “release” action than the “retraction” action for the landing gear actuator, so after the event of switching the main control circuit to the standby control circuit, the implementation of the “release” action of the landing gear actuator needs to be prioritized. As shown in Figure 4 , after the standby power supply of the standby control circuit 3 works, the pin (F / R) of the PWM driver U18 in the standby control circuit 3 that controls the steering of the motor is always set to +5VP1, so that the actuator performs the “release” action until it is released to the position, to ensure that the flight system can land normally. Since the standby control circuit 3 has been entered at this time, it cannot be judged to the position through the microswitch interface circuit, so the current monitoring is introduced on the motor drive bridge to judge to the position. As shown in Figure 7 , each standby control circuit 3 further comprises a position detection circuit; the position detection circuit is connected with the drive bridge of the motor to obtain a voltage detection signal; the controller 1 is connected with the position detection circuit to obtain the voltage detection signal and judge whether the voltage detection signal is greater than a voltage threshold value; if greater than the voltage threshold value, it is determined that the landing gear actuator has been positioned.

[0083] The specific working process is as follows: after being released to the position, the motor does not stop rotating, but because the lead screw has been positioned, the damping of the lead screw movement will increase at this time, the transient current on the motor drive bridge is collected through the sampling resistor (RI) and converted into a voltage value, amplified through the amplifier (U40), and then compared with the set reference value through the comparator (U41), when the input of the negative end of U41 is less than the threshold voltage (usually 2.5V), the voltage of the TMP end is 5V, at this time it is considered that the release has not been positioned; when the input voltage of the negative end of U41 is greater than 2.5V, IU is 0V, at this time it is considered that the release has been positioned. IU is used as a feedback signal to the flight control, and IU is used as a standby power supply enable signal, IU is 0V, so that the standby power supply is powered off.

[0084] In addition, the application further provides a landing gear including the landing gear actuating cylinder control device.

[0085] The embodiment provides a landing gear including the landing gear actuating cylinder control device, which comprises a controller, a main control circuit and at least one standby control circuit, wherein the main control circuit comprises a detection circuit; the detection circuit is arranged at the landing gear actuating cylinder to generate a detection signal according to the working state of the landing gear actuating cylinder; the controller is used for generating an action instruction according to the state information of the airplane and sending the action instruction to the main control circuit so that the main control circuit controls the landing gear actuating cylinder according to the action instruction; and the controller is further connected with the detection unit to obtain the detection signal and control the standby control circuit to work and send the action instruction to the standby control circuit when the detection signal does not meet the preset condition. Therefore, the landing gear actuating cylinder control device provided by the application can start the standby control circuit to work when the main control circuit fails, thereby improving the stability of the landing gear actuating cylinder control system and the safety of the airplane on the basis of preventing the interference of multiple controllers and the power dispute of motors, so as to prevent the airplane from being unable to take off or land safely due to the failure of the controller of the landing gear actuating cylinder.

[0086] The landing gear actuating cylinder control device and the landing gear provided by the application are described in detail above. The embodiments in the specification are described in a progressive manner, and each embodiment mainly describes the differences from other embodiments. The same or similar parts of each embodiment can be referred to each other. For the device disclosed by the embodiments, since it corresponds to the method disclosed by the embodiments, the description is relatively simple, and the related parts can be referred to the method part. It should be pointed out that, for ordinary skilled in the art, without departing from the principle of the application, some improvements and modifications can be made to the application, and these improvements and modifications also fall within the protection scope of the claims of the application.

[0087] It should be further noted that, in the specification, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitation, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or equipment including the element.

Claims

1. A landing gear actuator control device, characterised in that, The application relates to a control system for a landing gear actuating cylinder, which comprises a controller (1), a main control circuit (2) and at least one standby control circuit (3), wherein the main control circuit (2) comprises a detection circuit; the main control circuit and the standby control circuit are arranged on a hardware circuit board to control the operation of a motor, the motor drives the operation of a lead screw, thereby realizing the retraction or extension of the landing gear actuating cylinder. The detection circuit is arranged at the landing gear actuating cylinder to generate a detection signal according to the working state of the landing gear actuating cylinder. The controller (1) is used for generating an operation instruction according to the state information of an airplane and sending the operation instruction to the main control circuit (2) so that the main control circuit (2) controls the landing gear actuating cylinder according to the operation instruction. The controller (1) is also connected with the detection circuit to acquire the detection signal and control the operation of the standby control circuit (3) and send the operation instruction to the standby control circuit (3) when the detection signal does not satisfy a preset condition; wherein the controller controls the extension of the landing gear by sending the operation instruction to the standby control circuit (3), and the controller (1) disconnects the enable signal of the current standby control circuit (3) to stop the operation of the motor when the landing gear is extended to the position. The main control circuit (2) controls the landing gear actuating cylinder according to the operation instruction, which comprises that the motor drive of the main control circuit (2) controls the rotating direction of the motor according to the operation instruction; and the route selector of the main control circuit (2) controls the start or stop of the motor according to the operation instruction and the detection signal. The detection circuit comprises a first detection contact, a second detection contact and a signal generation circuit; the first detection contact is arranged at the first end of the landing gear actuating cylinder, and the second detection contact is arranged at the second end of the landing gear actuating cylinder; the signal generation circuit is connected with the first detection contact and the second detection contact to generate a detection signal when the lead screw of the landing gear actuating cylinder contacts the first detection contact or the second detection contact. The controller (1) judges whether the detection signal satisfies the preset condition, which comprises that the controller (1) judges whether the detection signal is received within a preset time after the operation instruction is sent to the main control circuit (2); if the detection signal is not received within the preset time, it is determined that the detection signal does not satisfy the preset condition. Each standby control circuit (3) further comprises a position detection circuit; the position detection circuit is connected with the drive bridge circuit of the motor to acquire a voltage detection signal; the controller (1) is connected with the position detection circuit to acquire the voltage detection signal and judge whether the voltage detection signal is greater than a voltage threshold value; if the voltage detection signal is greater than the voltage threshold value, it is determined that the landing gear actuating cylinder has been extended to the position. The main control circuit (2) further comprises a temperature detection unit; the temperature detection unit comprises a temperature sensor and a comparator; the temperature sensor is arranged at the motor winding coil of the landing gear actuating cylinder to generate a temperature detection signal. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 2. The landing gear actuator control apparatus of claim 1 wherein, ​ ​ ​ The comparator is connected with the temperature sensor to obtain a temperature detection signal and determine whether the temperature detection signal is greater than a temperature threshold value, and if greater than the temperature threshold value, the motor of the landing gear actuating cylinder is controlled to stop working.

3. The landing gear actuator control apparatus of claim 1 wherein, The main control circuit (2) and the standby control circuit (3) further comprise an overcurrent detection circuit; A first end of the overcurrent detection circuit is connected with the motor winding of the landing gear actuating cylinder to obtain a current detection signal; The controller (1) is connected with a second end of the overcurrent detection circuit to obtain the current detection signal and determine whether the current detection signal is higher than a current threshold value; If higher than the current threshold value, the motor of the landing gear actuating cylinder is controlled to stop working.

4. The landing gear actuator control apparatus of claim 1 wherein, Further comprising an alarm device; The alarm device is connected with the controller (1), and when the controller (1) detects that the detection signal does not satisfy a preset condition, the alarm device is controlled to send an alarm signal.

5. The landing gear actuator control apparatus of claim 1 wherein, The number of the standby control circuit (3) is one.

6. A landing gear characterized by, The landing gear actuating cylinder control device comprises any one of claims 1 to 5.

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