Retraction and extension control method and control system for aircraft landing gear

Abstract

The present invention discloses a method and a control system for retracting and extending an aircraft landing gear. Specifically, a retracting and extending signal of the landing gear is obtained; the rotation of a servo motor is triggered according to the retracting and extending signal of the landing gear; the position information of a limit switch is monitored, and the rotation speed of the servo motor is adjusted based on the position information of the limit switch; the pressure information of a pressure sensor is monitored, and the rotation of the servo motor is stopped based on the pressure information of the pressure sensor; if the pressure information is higher than a preset pressure threshold and lasts for a preset time, the rotation of the stopped servo motor is stopped, and the retracting and extending action of the landing gear is completed. At this time, the rotation speed of the servo motor is adjusted based on the position information of the limit switch, the rotation speed of the servo motor is increased or decreased, and the rotation of the servo motor is controlled to stop based on the pressure information of the pressure sensor, so as to jointly control the action of the servo motor by combining the position information of the limit switch and the pressure information of the pressure sensor, thereby performing regulation in multiple dimensions.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft landing gears, and particularly to a retraction control method and control system for an aircraft landing gear. Background Art

[0002] With the development of technology, the landing gear of an aircraft adopts a nose-wheel type layout, which consists of a nose landing gear, a left main landing gear, and a right main landing gear. The nose landing gear, left main landing gear, and right main landing gear are all controlled by corresponding control systems to facilitate the retraction and extension actions.

[0003] Among them, the control system adjusts the actions of the landing gear through a servo motor. The landing gear performs retraction and extension actions as the servo motor rotates. For the actions of the servo motor, the existing actions of the servo motor are only controlled by the in-place information of the in-place switch and stopped based on the in-place information of the in-place switch. At this time, the actions of the servo motor are adjusted only by one factor, resulting in a low control accuracy of the existing retraction and extension actions of the landing gear. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art. The present invention provides a retraction control method and control system for an aircraft landing gear, which adjusts the rotation speed of the servo motor based on the position information of the in-place switch, increases or decreases the rotation speed of the servo motor, and controls the stop of the rotation of the servo motor based on the pressure information of the pressure sensor, so as to jointly control the actions of the servo motor by combining the position information of the in-place switch and the pressure information of the pressure sensor, thereby performing regulation in multiple dimensions.

[0005] To solve the above technical problems, an embodiment of the present invention provides a retraction control method for an aircraft landing gear, including: obtaining a retraction signal of the landing gear; triggering the rotation of the servo motor according to the retraction signal of the landing gear; monitoring the position information of the in-place switch and adjusting the rotation speed of the servo motor based on the position information of the in-place switch; monitoring the pressure information of the pressure sensor and stopping the rotation of the servo motor based on the pressure information of the pressure sensor; if the pressure information is higher than a preset pressure threshold and lasts for a preset time, stop the rotation of the servo motor and complete the retraction and extension actions of the landing gear.

[0006] In addition, an embodiment of the present invention further provides a retraction and extension control system for an aircraft landing gear. The retraction and extension control system for the aircraft landing gear includes: an acquisition module for acquiring the retraction and extension signal of the landing gear; a trigger module for triggering the rotation of a servo motor according to the retraction and extension signal of the landing gear; a first monitoring module for monitoring the position information of a limit switch and adjusting the rotation speed of the servo motor based on the position information of the limit switch; a second monitoring module for monitoring the pressure information of a pressure sensor and stopping the rotation of the servo motor based on the pressure information of the pressure sensor; a stop module for stopping the rotation of the servo motor and completing the retraction and extension action of the landing gear if the pressure information is higher than a preset pressure threshold and lasts for a preset time.

[0007] In an embodiment of the present invention, by using the method in the embodiment of the present invention, the retraction and extension signal of the landing gear is acquired; the rotation of the servo motor is triggered according to the retraction and extension signal of the landing gear; the position information of the limit switch is monitored, and the rotation speed of the servo motor is adjusted based on the position information of the limit switch; the pressure information of the pressure sensor is monitored, and the rotation of the servo motor is stopped based on the pressure information of the pressure sensor; if the pressure information is higher than a preset pressure threshold and lasts for a preset time, the rotation of the servo motor is stopped and the retraction and extension action of the landing gear is completed. At this time, the rotation speed of the servo motor is adjusted based on the position information of the limit switch, the rotation speed of the servo motor is increased or decreased, and the rotation of the servo motor is controlled to stop based on the pressure information of the pressure sensor, so as to jointly control the action of the servo motor by combining the position information of the limit switch and the pressure information of the pressure sensor, thereby performing regulation in multiple dimensions to improve the control accuracy of the retraction and extension action of the landing gear. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0009] Figure 1 is a schematic flowchart of the retraction and extension control method for the aircraft landing gear in the embodiment of the present invention;

[0010] Figure 2 is a schematic flowchart of the acquisition of the retraction and extension signal of the retraction and extension control method for the aircraft landing gear in the embodiment of the present invention;

[0011] Figure 3 is a schematic flowchart of the rotation speed adjustment of the retraction and extension control method for the aircraft landing gear in the embodiment of the present invention;

[0012] Figure 4It is a schematic flowchart with a rotation speed of 0 for the retraction and extension control method of the aircraft landing gear in an embodiment of the present invention;

[0013] Figure 5 It is a schematic diagram of the structural composition of the retraction and extension control system of the aircraft landing gear in an embodiment of the present invention;

[0014] Figure 6 It is a hardware diagram of an electronic device shown according to an exemplary embodiment.

[0015] Figures 7 to 8 It is a practical schematic diagram of the retraction and extension control system of the aircraft landing gear in an embodiment of the present invention. Detailed implementation manners

[0016] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0017] Embodiment

[0018] Please refer to Figures 1 to 4 , a retraction and extension control method for an aircraft landing gear, the method includes:

[0019] S11: Obtain the retraction and extension signal of the landing gear;

[0020] In the specific implementation process of the present invention, the specific steps may be:

[0021] S111: The control module obtains the instruction of the aircraft based on the line;

[0022] S112: Traverse the instruction of the aircraft and obtain the retraction and extension signal of the landing gear based on the instruction of the aircraft.

[0023] S12: Trigger the rotation of the servo motor according to the retraction and extension signal of the landing gear;

[0024] In the specific implementation process of the present invention, the specific steps may be:

[0025] Analyze the retraction and extension signal of the landing gear and determine the rotation speed of the servo motor; control the rotation of the servo motor according to the rotation speed of the servo motor, and the servo motor rotates according to the rotation speed of the servo motor; the servo motor connects the oil circuit corresponding to the pump body during rotation and controls the action of the landing gear based on the regulation of the oil circuit.

[0026] S13: Monitor the position information of the limit switch and adjust the rotation speed of the servo motor based on the position information of the limit switch;

[0027] In the specific implementation process of the present invention, the specific steps may be as follows:

[0028] S131: Monitor the position information of the limit switch;

[0029] S132: Adjust the rotation speed of the servo motor based on the position information of the limit switch. At this time, different position information corresponds to different rotation speeds of the servo motor.

[0030] Among them, adjusting the rotation speed of the servo motor based on the position information of the limit switch, different position information corresponds to different rotation speeds of the servo motor, and the speed gradually decreases when the landing gear is close to the ground, so as to facilitate the deceleration of the landing gear relative to the ground during landing and takeoff, and to achieve better buffering.

[0031] S14: Monitor the pressure information of the pressure sensor and stop the rotation of the servo motor based on the pressure information of the pressure sensor;

[0032] In the specific implementation process of the present invention, the specific steps may be as follows:

[0033] S141: Monitor the pressure information of the pressure sensor;

[0034] S142: Stop the rotation of the servo motor based on the pressure information of the pressure sensor, and stop the rotation of the servo motor at a preset position. At this time, the rotation speed of the servo motor is gradually adjusted to 0.

[0035] Among them, controlling the stop of the servo motor based on the pressure information of the pressure sensor, stopping the rotation of the servo motor based on the pressure information of the pressure sensor, and stopping the rotation of the servo motor at a preset position. At this time, the rotation speed of the servo motor is gradually adjusted to 0, so as to ensure that the stop of the rotation is controlled by the pressure information, not by the position information, because the landing gear will be in continuous contact with the ground during retraction and extension, and the adjustment range of the position information is small. When using the position information to stop the rotation, the error is large and the requirements are high.

[0036] S15: If the pressure information is higher than the preset pressure threshold and lasts for a preset time, stop the rotation of the servo motor and complete the landing gear retraction and extension operation;

[0037] Among them, the pressure information being higher than the preset pressure threshold triggers the rotation stop operation of the servo motor, and the rotation gradually stops within the preset time to ensure the smoothness of the rotation in the servo motor, and to complete the landing gear retraction and extension operation.

[0038] In the case of emergency lowering during the landing gear retraction, the retraction and extension control method of the aircraft landing gear further includes: when a problem occurs in the control module resulting in a CAN command error, the drive module is directly controlled by a hard-wired level signal. When a level signal flip is detected, the drive module directly drives the servo motor to rotate at a fixed speed for a fixed time to complete the emergency lowering of the landing gear.

[0039] In the case of a fault occurring, the retraction and extension control method of the aircraft landing gear further includes: when the drive module detects a fault in the servo motor, it will cut off its own power supply and at the same time cut off the power supply of the isolation valve, disconnecting this path from the retraction and extension system to achieve fault isolation.

[0040] In the embodiment of the present invention, through the method in the embodiment of the present invention, the retraction and extension signal of the landing gear is obtained; the rotation of the servo motor is triggered according to the retraction and extension signal of the landing gear; the position information of the limit switch is monitored, and the rotation speed of the servo motor is adjusted based on the position information of the limit switch; the pressure information of the pressure sensor is monitored, and the rotation of the servo motor is stopped based on the pressure information of the pressure sensor; if the pressure information is higher than the preset pressure threshold and lasts for a preset time, the rotation of the servo motor is stopped, and the retraction and extension action of the landing gear is completed. At this time, the rotation speed of the servo motor is adjusted based on the position information of the limit switch, increasing or decreasing the rotation speed of the servo motor, and the rotation of the servo motor is controlled to stop based on the pressure information of the pressure sensor, so as to jointly control the action of the servo motor by combining the position information of the limit switch and the pressure information of the pressure sensor, thereby performing regulation in multiple dimensions to better complete the control of the retraction and extension action of the landing gear.

[0041] In addition, in actual situations, as Figure 1 shown, the landing gear retraction and extension system consists of a retraction and extension control device, a retraction and extension hydraulic energy source, and a retraction and extension actuator. The retraction and extension control device consists of a servo motor, a hydraulic pump, and an isolation valve.

[0042] The retraction and extension control device is used for the rotation control of the servo motor and the on / off control of the isolation valve, and at the same time collects the pressure information of the hydraulic energy device and the in-place information of the retraction and extension actuator.

[0043] The working principle of the retraction and extension control device will be described below with an example of the retraction and extension process of a landing gear. As Figure 7 and Figure 8 shown, the flight control computer sends the command signal 8 to the control retraction and extension control device 2.

[0044] The retraction and extension control device 2 drives the servo motors 3 and 4 to rotate simultaneously. Driven by the servo motors, the retraction and extension actuator 5 starts to move.

[0045] During the process of controlling the movement of the motor, the retraction and extension control device monitors the information of the pressure sensor 6 and the position switch 7 in real time.

[0046] After the position switch 7 feeds back that it is in place, the retraction and extension control device adjusts the rotational speeds of the servo motors 3 and 4 to reduce the speeds. When it is detected that the pressure of the pressure sensor 6 is higher than a certain threshold and lasts for a period of time, the retraction and extension control device controls the servo motors 3 and 4 to stop rotating. The landing gear retraction and extension action is completed.

[0047] The block diagram of the retraction and extension control device is as Figure 2 shown. The retraction and extension control device is internally composed of a control module 8 and six drive modules 9. The control module 8 receives the retraction and extension control instructions sent by the flight control computer through the 422 bus, and collects the pressure signal and the in-place signal of the retraction and extension energy source. After synthesizing the above signals, it sends the motor speed instruction to the drive module 9 through the CAN bus. The drive module 9 drives the servo motor to complete the speed closed-loop action according to the rotational speed given in the CAN bus instruction. When the servo motor has no fault, the drive module 9 energizes the isolation valve corresponding to the servo motor to connect the oil circuit corresponding to the servo motor pump. When the drive module 9 detects that the servo motor has a fault, it will cut off its own power supply and at the same time cut off the power supply of the isolation valve to disconnect the path from the retraction and extension system, so as to achieve fault isolation.

[0048] To prevent the problem that the retraction and extension control device cannot work due to the failure of the control module 8, in addition to being able to respond to the CAN bus instruction, the drive module 9 also directly receives the hard-wired level signal from the flight control computer, which is used when the landing gear needs to be lowered. Under normal circumstances, the drive module 9 is controlled by the CAN bus instruction sent by the control module 8. When the control module 8 has a problem resulting in an incorrect CAN instruction, the drive module 9 is directly controlled by the hard-wired level signal. When it is detected that the level signal flips, the drive module 9 directly drives the servo motor to rotate at a fixed rotational speed for a fixed time to complete the emergency lowering of the landing gear.

[0049] Embodiment

[0050] Please refer to Figure 5 , Figure 5 which is a schematic structural composition diagram of the retraction and extension control system of the aircraft landing gear in the embodiment of the present invention.

[0051] As Figure 5 shown, a retraction and extension control system for an aircraft landing gear, the retraction and extension control system for the aircraft landing gear includes:

[0052] An acquisition module 21: used to acquire the retraction and extension signal of the landing gear;

[0053] A trigger module 22: used to trigger the rotation of the servo motor according to the retraction and extension signal of the landing gear;

[0054] The first monitoring module 23: It is used to monitor the position information of the limit switch and adjust the rotation speed of the servo motor based on the position information of the limit switch;

[0055] The second monitoring module 24: It is used to monitor the pressure information of the pressure sensor and stop the rotation of the servo motor based on the pressure information of the pressure sensor;

[0056] The stop module 25: If the pressure information is higher than the preset pressure threshold and lasts for a preset time, it stops the rotation of the servo motor and completes the landing gear retraction and extension action.

[0057] In the embodiment of the present invention, through the method in the embodiment of the present invention, the retraction and extension signal of the landing gear is obtained; the rotation of the servo motor is triggered according to the retraction and extension signal of the landing gear; the position information of the limit switch is monitored, and the rotation speed of the servo motor is adjusted based on the position information of the limit switch; the pressure information of the pressure sensor is monitored, and the rotation of the servo motor is stopped based on the pressure information of the pressure sensor; if the pressure information is higher than the preset pressure threshold and lasts for a preset time, the rotation of the servo motor is stopped and the landing gear retraction and extension action is completed. At this time, the rotation speed of the servo motor is adjusted based on the position information of the limit switch, the rotation speed of the servo motor is increased or decreased, and the rotation of the servo motor is controlled to stop based on the pressure information of the pressure sensor, so as to jointly control the action of the servo motor by combining the position information of the limit switch and the pressure information of the pressure sensor, thereby performing regulation in multiple dimensions to better complete the control of the landing gear retraction and extension action.

[0058] Embodiment

[0059] Please refer to Figure 6 and hereinafter describe the electronic device 40 according to this embodiment of the present invention with reference to Figure 6 . Figure 6 The electronic device 40 shown is only an example and should not bring any limitation to the functions and usage scope of the embodiments of the present invention.

[0060] As Figure 6 shown, the electronic device 40 is presented in the form of a general-purpose computing device. The components of the electronic device 40 may include but are not limited to: at least one of the above-mentioned processing units 41, at least one of the above-mentioned storage units 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0061] Among them, the storage unit stores program codes, and the program codes can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the "Embodiment Method" part of this specification.

[0062] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 421 and / or a cache storage unit 422, and may further include a read-only storage unit (ROM) 423.

[0063] The storage unit 42 may also include a program / utilities 424 having a set (at least one) of program modules 425. Such program modules 425 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment.

[0064] The bus 43 may represent one or more of several types of bus structures, including a storage unit bus or storage unit controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0065] The electronic device 40 may also communicate with one or more external devices (such as a keyboard, a pointing device, a Bluetooth device, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 40, and / or may communicate with any device that enables the electronic device 40 to communicate with one or more other computing devices (such as a router, a modem, etc.). Such communication may be through an input / output (I / O) interface 44. And, the electronic device 40 may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 45. As Figure 6 shown, the network adapter 45 communicates with other modules of the electronic device 40 through the bus 43. It should be understood that although Figure 6 not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup control systems, etc.

[0066] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or can be implemented by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0067] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. The storage medium may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc. Moreover, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer is caused to execute the method according to the above.

[0068] In addition, the above has introduced in detail the retraction and extension control method and system of the aircraft landing gear provided by the embodiments of the present invention. Specific examples have been used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A method for controlling the retraction and extension of an aircraft landing gear, characterized in that, Including: Obtaining the retraction and extension signal of the landing gear; Triggering the rotation of the servo motor according to the retraction and extension signal of the landing gear; Monitoring the position information of the limit switch and adjusting the rotation speed of the servo motor based on the position information of the limit switch; Monitoring the pressure information of the pressure sensor and stopping the rotation of the servo motor based on the pressure information of the pressure sensor; If the pressure information is higher than the preset pressure threshold and lasts for a preset time, stop the rotation of the servo motor and complete the retraction and extension action of the landing gear; Among them, the triggering the rotation of the servo motor according to the retraction and extension signal of the landing gear includes: analyzing the retraction and extension signal of the landing gear and determining the rotation speed of the servo motor; controlling the rotation of the servo motor according to the rotation speed of the servo motor, and the servo motor rotates according to the rotation speed of the servo motor; during the rotation of the servo motor, connect the oil circuit corresponding to the pump body and control the action of the landing gear based on the regulation of the oil circuit; Among them, the monitoring the position information of the limit switch and adjusting the rotation speed of the servo motor based on the position information of the limit switch includes: monitoring the position information of the limit switch; adjusting the rotation speed of the servo motor based on the position information of the limit switch. At this time, different position information corresponds to different rotation speeds of the servo motor; Among them, the monitoring the pressure information of the pressure sensor and stopping the rotation of the servo motor based on the pressure information of the pressure sensor includes: monitoring the pressure information of the pressure sensor; stopping the rotation of the servo motor based on the pressure information of the pressure sensor and stopping the rotation of the servo motor at a preset position. At this time, the rotation speed of the servo motor is gradually adjusted to 0.

2. The retraction and extension control method of the aircraft landing gear according to claim 1, characterized in that, The obtaining the retraction and extension signal of the landing gear includes: The control module obtains the instruction of the aircraft based on the line; Traverse the instructions of the aircraft and obtain the retraction and extension signal of the landing gear from the instructions of the aircraft.

3. The retraction and extension control method of the aircraft landing gear according to claim 1, characterized in that The retraction and extension control method of the aircraft landing gear further includes: When a problem occurs in the control module resulting in a CAN instruction error, the drive module is directly controlled by a hard-wired level signal. When a level signal flip is detected, the drive module directly drives the servo motor to rotate at a fixed speed for a fixed time to complete the emergency lowering of the landing gear.

4. The retraction and extension control method of the aircraft landing gear according to claim 1, wherein, The retraction and extension control method of the aircraft landing gear further includes: When the drive module detects a fault in the servo motor, it will cut off its own power supply and at the same time cut off the power supply of the isolation valve to disconnect the passage from the retraction and extension system, thereby achieving fault isolation.

5. A retraction and extension control system for an aircraft landing gear, characterized in that, The retraction and extension control system of the aircraft landing gear includes: An obtaining module: used to obtain the retraction and extension signal of the landing gear; A triggering module: used to trigger the rotation of the servo motor according to the retraction and extension signal of the landing gear; A first monitoring module: used to monitor the position information of the limit switch and adjust the rotation speed of the servo motor based on the position information of the limit switch; A second monitoring module: used to monitor the pressure information of the pressure sensor and stop the rotation of the servo motor based on the pressure information of the pressure sensor; A stopping module: used to stop the rotation of the servo motor and complete the retraction and extension action of the landing gear if the pressure information is higher than the preset pressure threshold and lasts for a preset time; Among them, triggering the rotation of the servo motor according to the retraction and extension signal of the landing gear includes: parsing the retraction and extension signal of the landing gear and determining the rotation speed of the servo motor; regulating the rotation of the servo motor according to the rotation speed of the servo motor, and the servo motor rotates according to the rotation speed of the servo motor; the servo motor turns on the oil circuit corresponding to the pump body during rotation and controls the movement of the landing gear based on the regulation of the oil circuit; Among them, monitoring the position information of the in-place switch and adjusting the rotation speed of the servo motor based on the position information of the in-place switch includes: monitoring the position information of the in-place switch; adjusting the rotation speed of the servo motor based on the position information of the in-place switch. At this time, different position information corresponds to different rotation speeds of the servo motor; Among them, monitoring the pressure information of the pressure sensor and stopping the rotation of the servo motor based on the pressure information of the pressure sensor includes: monitoring the pressure information of the pressure sensor; stopping the rotation of the servo motor based on the pressure information of the pressure sensor and stopping the rotation of the servo motor at a preset position. At this time, the rotation speed of the servo motor is gradually adjusted to 0.

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