Aircraft Braking Control Method, System, and Aircraft

Abstract

The present invention provides an aircraft braking control method, system and aircraft. The method includes: obtaining a braking control command value based on the acquired aircraft speed, wheel speed and a preset target slip ratio; correcting the braking control command value according to a preset influence factor to obtain a corrected braking control command value; and obtaining a target braking control command value for the current cycle based on the acquired actual braking pressure value and the corrected braking control command value. The present invention can address the lag problem between the braking command pressure and the actual pressure caused by system response, achieving a better anti-skid braking control effect.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft brake control, and in particular to an aircraft brake control method, system and aircraft capable of coping with brake delay. Background Art

[0002] The core of aircraft brake control is anti-skid brake control. Anti-skid brake control can play important roles such as adjusting the brake pressure to prevent the wheels from slipping, locking and reducing the braking distance, ensuring safe, reliable and efficient aircraft braking deceleration. And the aircraft anti-skid brake system is a complex non-linear system with uncertainty, and there are many non-linear factors in the system, which directly affect the performance of the anti-skid brake.

[0003] In brake anti-skid control, there is an inherent delay between the actual brake pressure and the brake pressure command. For large aircraft, the brake pressure pipeline is long, the actuator is large, and the delay in outputting the brake pressure by the brake control valve will reach the order of hundreds of milliseconds. Often, a good anti-skid control function with good braking efficiency cannot be established by adjusting parameters. Summary of the Invention

[0004] The present invention provides an aircraft brake control method, system and aircraft to solve the problem that the braking efficiency is affected due to the inherent delay between the actual brake pressure and the brake pressure command in the prior art.

[0005] In a first aspect, the present invention provides an aircraft brake control method, and the method includes:

[0006] Obtaining a brake control command value according to the obtained aircraft speed, wheel speed and a preset target slip ratio;

[0007] Correcting the brake control command value according to a preset influence factor to obtain a corrected brake control command value;

[0008] Obtaining a target brake control command value for the current cycle according to the obtained actual brake pressure value and the corrected brake control command value.

[0009] In an embodiment of the present invention, the step of obtaining a brake control command value according to the obtained aircraft speed, wheel speed and a preset target slip ratio includes:

[0010] Obtaining the reference speed of the previous cycle;

[0011] Comparing the magnitudes of the aircraft speed and the reference speed of the previous cycle, and taking the one with the larger speed value as the reference speed of the current cycle;

[0012] Taking the absolute value of the difference between the reference speed of the current cycle and the wheel speed and then dividing it by the reference speed of the current cycle to obtain the actual slip ratio;

[0013] Calculating the brake control command value according to the difference between the preset target slip ratio and the actual slip ratio, where the brake control command value is equal to the sum of the deviation term and the integral term of the difference.

[0014] In an embodiment of the present invention, the step of correcting the brake control command value according to a preset influence factor to obtain a corrected brake control command value includes:

[0015] Obtaining the brake temperature;

[0016] Calculating the corrected brake control command value according to the brake temperature and the aircraft speed.

[0017] In an embodiment of the present invention, the corrected brake control command value is calculated according to the following formula:

[0018] Mb = Ma + u*(T - t) / (Va - v);

[0019] Wherein, Mb is the corrected brake control command value, Ma is the brake control command value, Va is the aircraft speed, T is the brake temperature, and u, t, and v are all preset parameters.

[0020] In an embodiment of the present invention, the step of obtaining the target brake control command value of the current cycle according to the obtained actual brake pressure value and the corrected brake control command value includes:

[0021] Obtaining the target brake control command value output in the previous cycle;

[0022] Comparing the magnitudes of the actual brake pressure value, the corrected brake control command value, and the target brake control command value output in the previous cycle to obtain an integral value;

[0023] According to a preset adjustment strategy, to obtain the target brake control command value of the current cycle.

[0024] In an embodiment of the present invention, the step of comparing the magnitudes of the actual brake pressure value, the corrected brake control command value, and the target brake control command value output in the previous cycle to obtain an integral value includes:

[0025] If P i <C i-1 <Mb, then C f = C i-1 , indicating that the integral term does not accumulate;

[0026] If C i-1<P i <If C f >= Mb, then C

[0027] If C i-1 < Ci < P, then C f = Mb, indicating the integral term accumulates;

[0028] If P i > C i-1 > Mb, then C f = C i-1 , indicating the integral term does not accumulate;

[0029] If C i-1 > P i > Mb, then C f = Mb, indicating the integral term accumulates;

[0030] If C i-1 > Mb > P i , then C f = Mb, indicating the integral term accumulates;

[0031] Wherein, P i is the actual brake pressure value of the current cycle, Mb is the corrected brake control command value, and C i-1 is the target brake control value of the previous cycle, and C f is the integral value.

[0032] In an embodiment of the present invention, the step of obtaining the target brake control command value of the current cycle according to the preset adjustment strategy includes:

[0033] Adjust the integral value according to the change state of the actual brake pressure value of the current cycle to obtain the target brake control command value of the current cycle.

[0034] In an embodiment of the present invention, the preset adjustment strategy includes:

[0035] If the actual brake pressure value P of the current cycle i is in an increasing state, then C i = C f + a;

[0036] If the actual brake pressure value P of the current cycle i is in a decreasing state, then C i = C f - b;

[0037] Wherein, C i is the target brake control command value of the current cycle, and a and b are preset parameters.

[0038] Second aspect, the present invention further provides an aircraft braking control system, the system comprising:

[0039] A braking control command value calculation module, configured to obtain a braking control command value according to the acquired aircraft speed, wheel speed, and a preset target slip ratio;

[0040] A corrected command value calculation module, configured to correct the braking control command value according to a preset influence factor to obtain a corrected braking control command value;

[0041] A target braking command value calculation module, configured to obtain a target braking control command value for the current cycle according to the acquired actual braking pressure value and the corrected braking control command value.

[0042] Third aspect, the present invention further provides an aircraft, the aircraft being configured to execute the aircraft braking control method according to any one of the first aspect.

[0043] In an embodiment of the present invention, the aircraft includes a wheel speed sensor, an aircraft speed measurement module, a braking control module, a brake control device, a brake actuator, and a braking pressure sensor;

[0044] Wherein, the wheel speed sensor is configured to measure the wheel speed of the aircraft, the aircraft speed measurement module is configured to measure the aircraft speed, the braking pressure sensor is configured to measure the actual braking pressure value output by the brake control device to the brake actuator, and the braking control module is configured to execute the aircraft braking control method according to the received aircraft speed, wheel speed, and actual braking pressure value and output a braking control command; the brake control device is configured to output a braking pressure according to the braking control command; the brake actuator is configured to receive the braking pressure and act on the aircraft wheels.

[0045] The aircraft braking control method, system, and aircraft provided by the present invention introduce the actual braking pressure value and the target braking control command value of the previous cycle, and combine a preset adjustment strategy to adjust the corrected braking control command value to output the target braking control command value of the current cycle, which can address the lag problem between the braking command pressure and the actual pressure caused by system response, achieve a good anti-skid braking control effect, effectively reduce brake skidding, avoid releasing too much pressure at the same time, obtain a high braking efficiency, and effectively improve the braking performance of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] To more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0047] Figure 1 is the module block diagram of the aircraft provided by the present invention;

[0048] Figure 2 is the schematic flowchart of the aircraft brake control method provided by the present invention;

[0049] Figure 3 is the schematic flowchart of the calculation of the brake control command value provided by the present invention;

[0050] Figure 4 is the schematic flowchart of the calculation of the correction command provided by the present invention;

[0051] Figure 5 is the schematic flowchart of the calculation of the target brake command value provided by the present invention;

[0052] Figure 6 is the module block diagram of the aircraft brake control system provided by the present invention. Detailed Embodiments

[0053] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0054] The terms "first", "second", etc. in the specification and claims of the present invention and the above accompanying drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments described here can be implemented in an order different from that shown or described here.

[0055] The aircraft anti-skid brake control algorithm is the core of brake control and plays an important role in regulating the brake pressure to prevent tire skidding, locking, and reducing the braking distance, ensuring safe, reliable, and efficient braking deceleration of the aircraft.

[0056] To solve the problem in the prior art that the inherent delay between the actual braking pressure and the braking pressure command affects the braking efficiency, the present invention provides an aircraft braking control method, system, and aircraft. By introducing the actual braking pressure value and the target braking control command value of the previous cycle and combining with a preset adjustment strategy, the corrected braking control command value is adjusted to output the target braking control command value of the current cycle, which can cope with the lag problem between the braking command pressure and the actual pressure caused by system response, achieving a good anti-skid braking control effect, effectively reducing braking skidding, avoiding releasing too much pressure at the same time, obtaining a high braking efficiency, and effectively improving the braking performance of the aircraft.

[0057] The following will describe Figure 1-6 the aircraft braking control method, system, and aircraft of the present invention.

[0058] Please refer to Figure 1 , Figure 1 which is a block diagram of the modules of the aircraft provided by the present invention. An aircraft includes a wheel speed sensor 101, an aircraft speed measurement module 102, a braking control module 103, a braking pressure sensor 104, a braking control device 105, and a braking actuator 106.

[0059] Exemplarily, the wheel speed sensor 101 is connected to the braking control module 103 and is installed at the wheel axle of the landing gear to measure the rolling speed of the aircraft landing gear, that is, the wheel speed.

[0060] Exemplarily, the aircraft speed measurement module 102 is connected to the braking control module 103 and is used to measure the aircraft speed. The aircraft speed measurement module 102 can adopt an aircraft inertial navigation system.

[0061] Exemplarily, the braking control module 103 is respectively connected to the wheel speed sensor 101, the aircraft speed measurement module 102, the braking pressure sensor 104, and the braking control device 105, and is used to execute the aircraft braking control method of the present invention to output a braking control command according to the aircraft speed measured by the aircraft speed measurement module 102, the wheel speed measured by the wheel speed sensor 101, and the actual braking pressure value measured by the braking pressure sensor 104.

[0062] Exemplarily, the braking pressure sensor 104 is located at the output end of the braking control device 105 and is used to measure the actual braking pressure value output from the braking control device 15 to the braking actuator 106.

[0063] Exemplarily, the braking control device 105 is used to output a braking pressure to the braking actuator 106 according to the braking control command output by the braking control module 103.

[0064] Exemplarily, the brake actuator 106 is configured to receive the brake pressure output by the brake control device 105, generate a braking torque, and then apply it to the aircraft wheels to decelerate the aircraft wheels, thereby decelerating the aircraft.

[0065] Based on the above aircraft architecture, the aircraft brake control method and system provided by the present invention will be specifically described below.

[0066] Please refer to Figure 2 , Figure 2 is a schematic flowchart of the aircraft brake control method provided by the present invention. An aircraft brake control method, the method comprising:

[0067] Step 210, obtaining a brake control command value according to the acquired aircraft speed, wheel speed, and a preset target slip ratio.

[0068] Step 220, correcting the brake control command value according to a preset influence factor to obtain a corrected brake control command value.

[0069] Step 230, obtaining a target brake control command value for the current cycle according to the acquired actual brake pressure value and the corrected brake control command value.

[0070] It should be noted that the aircraft brake control method of the present invention can be executed periodically, that is, the above steps 210 to 230 are executed once in each cycle, completing the entire calculation process from input to output, and finally outputting a target brake control command value. The time of each cycle can be set according to actual needs, for example, each cycle is set to 5 ms.

[0071] The above steps 210 to 230 will be specifically described below taking a certain cycle as an example.

[0072] Please refer to Figure 3 , Figure 3 is a schematic flowchart of the calculation of the brake control command value provided by the present invention. In the above step 210, the step of obtaining a brake control command value according to the acquired aircraft speed, wheel speed, and a preset target slip ratio includes:

[0073] Step 2101, obtaining the reference speed of the previous cycle.

[0074] Step 2102, comparing the magnitudes of the aircraft speed and the reference speed of the previous cycle, and taking the larger speed value as the reference speed of the current cycle.

[0075] Among them, the aircraft speed can be obtained by Figure 1The aircraft speed measurement module 102 in it measures that the reference speed is a reference speed for anti-skid braking control of the aircraft, which can be calculated based on aircraft motion parameters. The aircraft motion parameters are, for example, the aircraft pitch angle, wheel speed, etc.

[0076] Step 2103: Subtract the wheel speed from the reference speed of the current cycle, take the absolute value, and then divide by the reference speed of the current cycle to obtain the actual slip ratio.

[0077] Exemplarily, the actual slip ratio H1 = |V 0- - V1| / V0, where V0 represents the reference speed of the current cycle and V1 represents the wheel speed.

[0078] Step 2104: Calculate the brake control command value according to the difference between the preset target slip ratio and the actual slip ratio, where the brake control command value is equal to the sum of the deviation term and the integral term of the difference.

[0079] Exemplarily, assume that the preset target slip ratio is H0. For example, the preset target slip ratio is 0.15, and the difference E = H0 - H1. Then the brake control command value Ma is equal to the sum of the deviation term and the integral term of the difference E, that is

[0080] Ma = K p *E + K i *∫E;

[0081] where K p and K i are preset parameters and can be constants.

[0082] Please refer to Figure 4 , Figure 4 which is a schematic flow chart of the correction instruction calculation provided by the present invention. In the above step 220, the steps of correcting the brake control command value according to the preset influence factor to obtain the corrected brake control command value include:

[0083] Step 2201: Obtain the brake temperature.

[0084] The aircraft brake system is generally equipped with a brake temperature monitoring system. Through this brake temperature monitoring system, the brake temperature can be measured and introduced into the calculation.

[0085] Step 2202: Calculate the corrected brake control command value according to the brake temperature and the aircraft speed.

[0086] Exemplarily, calculate the corrected brake control command value according to the following formula:

[0087] Mb = Ma + u * (T - t) / (Va - v);

[0088] Among them, Mb is the corrected brake control command value, Ma is the brake control command value, Va is the aircraft speed, T is the brake temperature, and u, t, and v are all preset parameters.

[0089] It should be noted that the preset influencing factors in the embodiments of the present invention include the brake temperature and the aircraft speed. However, the present invention is not limited to these two influencing factors and may also be other influencing factors, which are specifically set according to the needs of the algorithm.

[0090] Please refer to Figure 5 , Figure 5 is a schematic flowchart of the calculation of the target brake command value provided by the present invention. In the above step 230, the step of obtaining the target brake control command value of the current cycle according to the obtained actual brake pressure value and the corrected brake control command value includes:

[0091] Step 2301, obtain the target brake control command value output in the previous cycle.

[0092] It should be noted that the target brake control command value of the previous cycle refers to the target brake control command value finally output when the aircraft brake control method of the present invention is run last time. If there is no target brake control command value in the previous cycle, for example, the current cycle is the first time to run

[0093] the aircraft brake control method of the present invention, then the target brake control command value of the previous cycle is defaulted to 0.

[0094] Step 2302, compare the magnitudes of the actual brake pressure value, the corrected brake control command value, and the target brake control command value output in the previous cycle to obtain an integral value.

[0095] Specifically, there are the following six situations:

[0096] 0(1) If P i < C i-1 < Mb, then C f = C i-1 , indicating that the integral term does not accumulate;

[0097] (2) If C i-1 < P i < Mb, then C f = Mb, indicating that the integral term accumulates;

[0098] (3) If C i-1 < Ci < P, then C f = Mb, indicating that the integral term accumulates;

[0099] (4) If P i > C i-1 > Mb, then C f = Ci-1 , indicating that the integral term does not accumulate;

[0100] (5) If C i-1 > P i > Mb, then C f = Mb, indicating that the integral term accumulates; 5(6) If C i-1 > Mb> P i , then C f = Mb, indicating that the integral term accumulates;

[0101] Among them, P i is the actual brake pressure value of the current cycle, Mb is the corrected brake control command value, and C i-1 is the target brake control value of the previous cycle, and C f is the integral value.

[0102] Step 2303, adjust the integral value according to the change state of the actual brake pressure value of the current cycle to obtain the target brake control command value of the current cycle.

[0103] 0 If the actual brake pressure value P of the current cycle i is in an increasing state, then C i = C f + a;

[0104] If the actual brake pressure value P of the current cycle i is in a decreasing state, then C i = C f - b; Among them, C i is the target brake control command value of the current cycle, and a and b are preset parameters and can be constants.

[0105] It should be noted that to determine whether the actual brake pressure value P of the current cycle i is in an increasing or decreasing state, the actual brake pressure value P of the current cycle i is compared with the actual brake pressure

[0106] value P i-1 of the previous cycle.

[0107] In some embodiments of the present invention, the preset adjustment strategy can also be to directly adjust according to the increased value x or the decreased value y of the actual brake pressure value P of the current cycle, that is i If the actual brake pressure value P of the current cycle

[0108] is in an increasing state, then C i = C i + x; f + x;

[0109] If the actual brake pressure value P of the current cyclei is in a decreasing state, then C i = C f - y.

[0110] In summary, the aircraft braking control method described in the present invention introduces the actual braking pressure value and the target braking control command value of the previous cycle, and combines the preset adjustment strategy to adjust the corrected braking control command value to output the target braking control command value of the current cycle. It can address the lag problem between the braking command pressure and the actual pressure caused by system response, achieve a better anti-skid braking control effect, effectively reduce brake skidding, avoid releasing excessive pressure at the same time, obtain a higher braking efficiency, and effectively improve the braking performance of the aircraft.

[0111] Next, the aircraft braking control system provided by the present invention will be described. The aircraft braking control system described below can be mutually corresponding and referred to with the aircraft braking control method described above.

[0112] Please refer to Figure 6 , Figure 6 which is a block diagram of the aircraft braking control system provided by the present invention. An aircraft braking control system 600 includes a braking control command value calculation module 610, a corrected command value calculation module 620, and a target braking command value calculation module 630.

[0113] Exemplarily, the braking control command value calculation module 610 is used to:

[0114] Obtain the braking control command value according to the obtained aircraft speed, wheel speed, and preset target slip ratio.

[0115] Exemplarily, the command correction command value calculation module 620 is used to:

[0116] Correct the braking control command value according to the preset influence factor to obtain the corrected braking control command value.

[0117] Exemplarily, the target braking command value calculation module 630 is used to:

[0118] Obtain the target braking control command value of the current cycle according to the obtained actual braking pressure value and the corrected braking control command value.

[0119] Exemplarily, the braking control command value calculation module 610 is further used to:

[0120] Obtain the reference speed of the previous cycle;

[0121] Compare the magnitudes of the aircraft speed and the reference speed of the previous cycle, and take the larger speed value as the reference speed of the current cycle;

[0122] Taking the absolute value of the difference between the reference speed of the current cycle and the wheel speed, and then dividing it by the reference speed of the current cycle to obtain the actual slip ratio;

[0123] Calculating the

[0124] brake control command value according to the difference between the preset target slip ratio and the actual slip ratio, where the brake control command value is equal to the sum of the deviation term and the integral term of the difference.

[0125] Exemplarily, the instruction correction command value calculation module 620 is further configured to:

[0126] Obtain the brake temperature;

[0127] Calculate the corrected brake control command value according to the brake temperature and the aircraft speed.

[0128] 0 Exemplarily, the instruction correction command value calculation module 620 is further configured to:

[0129] Calculate the corrected brake control command value according to the following formula:

[0130] Mb = Ma + u*(T - t) / (Va - v);

[0131] Where, Mb is the corrected brake control command value, Ma is the brake control command value,

[0132] Va is the aircraft speed, T is the brake temperature, and u, t, v are all preset parameters.

[0133] 5 Exemplarily, the target brake command value calculation module 630 is further configured to:

[0134] Obtain the target brake control command value output in the previous cycle;

[0135] Compare the magnitudes of the actual brake pressure value, the corrected brake control command value, and the target brake control command value output in the previous cycle;

[0136] According to the preset adjustment strategy, to obtain the target brake control command value of the current cycle. 0 Exemplarily, the target brake command value calculation module 630 is further configured to:

[0137] If P i <C i-1 <Mb, then C f = C i-1 indicates that the integral term does not accumulate;

[0138] If C i-1 <P i <Mb, then C f = Mb, indicating that the integral term accumulates;

[0139] If C i-1 <Ci < P, then C f = Mb, indicating that the integral term accumulates;

[0140] If P i > C i-1 > Mb, then C f = C i-1 , indicating that the integral term does not accumulate;

[0141] 5 If C i-1 > P i > Mb, then C f = Mb, indicating that the integral term accumulates;

[0142] If C i-1 > Mb > P i , then C f = Mb, indicating that the integral term accumulates;

[0143] Wherein, P i is the actual brake pressure value of the current cycle, Mb is the corrected brake control command value, and C i-1 is the target brake control value of the previous cycle, and C f is the integral value of the current cycle.

[0144] Exemplarily, the target brake command value calculation module 630 is further configured to:

[0145] Adjust the integral value according to the change state of the actual brake pressure value of the current cycle to obtain the target brake control command value of the current cycle.

[0146] Exemplarily, the target brake command value calculation module 630 is further configured to:

[0147] If the actual brake pressure value P of the current cycle i is in an increasing state, then C i = C f + a;

[0148] If the actual brake pressure value P of the current cycle i is in a decreasing state, then C i = C f - b;

[0149] Wherein, C i is the target brake control command value of the current cycle, and a and b are preset parameters.

[0150] It should be noted here that the above aircraft braking control system provided by the embodiments of the present invention can implement all the method steps implemented by the above method embodiments and can achieve the same technical effects. Therefore, the same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0151] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or equivalently replace some of the technical features. However, such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An aircraft braking control method, characterized in that, The method includes: Obtaining a brake control command value based on the obtained aircraft speed, wheel speed, and a preset target slip ratio; Correcting the brake control command value according to a preset influence factor to obtain a corrected brake control command value; Obtaining a target brake control command value for the current cycle based on the obtained actual brake pressure value and the corrected brake control command value, including: obtaining the target brake control command value output in the previous cycle; comparing the magnitudes of the actual brake pressure value, the corrected brake control command value, and the target brake control command value output in the previous cycle to obtain an integral value; and adjusting the integral value according to the change state of the actual brake pressure value in the current cycle to obtain the target brake control command value for the current cycle.

2. The aircraft brake control method according to claim 1, characterized in that, The step of obtaining a brake control command value based on the obtained aircraft speed, wheel speed, and a preset target slip ratio includes: Obtaining a reference speed for the previous cycle; Comparing the magnitudes of the aircraft speed and the reference speed for the previous cycle, and taking the larger speed value as the reference speed for the current cycle; Taking the absolute value of the difference between the reference speed for the current cycle and the wheel speed and dividing it by the reference speed for the current cycle to obtain an actual slip ratio; Calculating the brake control command value according to the difference between the preset target slip ratio and the actual slip ratio, where the brake control command value is equal to the sum of the deviation term and the integral term of the difference.

3. The aircraft brake control method according to claim 2, wherein, The step of correcting the brake control command value according to a preset influence factor to obtain a corrected brake control command value includes: Obtaining the brake temperature; Calculating the corrected brake control command value according to the brake temperature and the aircraft speed.

4. The aircraft brake control method according to claim 3, characterized in that, Calculating the corrected brake control command value according to the following formula: Mb = Ma + u*(T - t) / (Va - v); where, Mb is the corrected brake control command value, Ma is the brake control command value, Va is the aircraft speed, T is the brake temperature, and u, t, and v are all preset parameters.

5. The aircraft braking control method according to claim 1, characterized in that, The step of comparing the magnitudes of the actual brake pressure value, the corrected brake control command value, and the target brake control command value output in the previous cycle to obtain an integral value includes: If P i <C i-1 <Mb, then C f = C i-1 , indicating that the integral term does not accumulate; If C i-1 <P i < Mb, then C f = Mb, indicating that the integral term accumulates; If C i-1 <Ci < P i , then C f = Mb, indicating that the integral term accumulates; If P i > C i-1 > Mb, then C f = C i-1 , indicating that the integral term does not accumulate; If C i-1 >P i > Mb, then C f = Mb, indicating that the integral term accumulates; If C i-1 > Mb > P i , then C f = Mb, indicating that the integral term accumulates; Among them, P i is the actual brake pressure value of the current cycle, Mb is the corrected brake control command value, C i-1 is the target brake control value of the previous cycle, C f is the integral value.

6. The aircraft braking control method according to claim 1, wherein, The adjusting the integral value according to the change state of the actual brake pressure value in the current cycle includes: If the actual braking pressure value P in the current cycle i is in an increasing state, then C i = C f + a; If the actual brake pressure value P in the current cycle i is in a decreasing state, then C i = C f - b; Among them, C i is the target braking control command value for the current cycle, and a and b are preset parameters.

7. An aircraft brake control system, characterized in that, The system includes: A brake control command value calculation module, configured to obtain a brake control command value based on the obtained aircraft speed, wheel speed, and a preset target slip ratio; A corrected command value calculation module, configured to correct the brake control command value according to a preset influence factor to obtain a corrected brake control command value; The target brake command value calculation module is used to obtain the target brake control command value for the current cycle based on the acquired actual brake pressure value and the corrected brake control command value, and includes: obtaining the target brake control command value output in the previous cycle; comparing the magnitudes of the actual brake pressure value, the corrected brake control command value, and the target brake control command value output in the previous cycle to obtain an integral value; and adjusting the integral value according to the change state of the actual brake pressure value in the current cycle to obtain the target brake control command value for the current cycle.

8. An aircraft, characterized in that, The aircraft is used to execute the aircraft brake control method according to any one of claims 1 to 6.

9. The aircraft according to claim 8, characterized in that, The aircraft includes a wheel speed sensor, an aircraft speed measurement module, a brake control module, a brake control device, a brake actuator, and a brake pressure sensor; wherein, the wheel speed sensor is used to measure the wheel speed of the aircraft, the aircraft speed measurement module is used to measure the aircraft speed, the brake pressure sensor is used to measure the actual brake pressure value output by the brake control device to the brake actuator, the brake control module is used to execute the aircraft brake control method according to the received aircraft speed, wheel speed, and actual brake pressure value and output a brake control command; the brake control device is used to output a brake pressure according to the brake control command; and the brake actuator is used to receive the brake pressure and act on the aircraft wheels.

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