Helicopter assisted landing gear load calculation method and device

Abstract

The application belongs to the field of comprehensive strength, and relates to a load calculation method and device of a helicopter auxiliary landing device. After the helicopter is stopped on the deck, the deck device fixes the lower end of the probe rod, and the external load borne by the helicopter includes gravity, inertia load caused by ship movement and wind load; the support reaction force is provided by the tire and the auxiliary landing device; all the friction forces are borne by the main wheel, and the tail wheel is a steering wheel and does not bear the friction force; the method comprises the following steps: stress analysis is carried out on the fixed helicopter, and a load balance equation is established; and the load of the helicopter auxiliary landing device is solved according to the load balance equation.

Description

Technical Field

[0001] This invention belongs to the field of comprehensive strength and relates to a method and apparatus for calculating the load of a helicopter-assisted ship landing device. Background Technology

[0002] The auxiliary landing device can assist helicopters in rapid mooring and recovery by quickly capturing and securing a probe extending from under the helicopter's fuselage. Currently, there are no publicly available patents or papers describing this method. Summary of the Invention

[0003] The purpose of this invention is to provide a method and apparatus for calculating the load of a helicopter-assisted ship landing device, providing a design basis for strength calculation.

[0004] Technical solution:

[0005] A method for calculating the load of a helicopter-assisted landing device is provided. After the helicopter comes to a stop on the deck, the lower end of the probe is fixed by a ship-deck device. The external loads on the helicopter include gravity, inertial loads caused by the ship's motion, and wind loads. The support reaction force is provided by the tires and the auxiliary landing device. All friction is borne by the main engine wheels, while the tail wheels are steering wheels and do not bear friction. The method includes:

[0006] Force analysis was performed on the fixed helicopter to establish load balance equations;

[0007] Based on the load balance equation, the load of the helicopter-assisted ship landing device is solved.

[0008] Before establishing the load equilibrium equations, the method further includes:

[0009] To determine if there is a possibility of the helicopter overturning.

[0010] Force analysis was performed on the fixed helicopter to establish load balance equations, including:

[0011] When the helicopter is in the overturning limit state, the load balance equation is established with the condition that the vertical load on one side of the main landing gear is 0 and the probe has a vertical load on the helicopter.

[0012] Solving the equilibrium equations yields the yaw load Fx at the lower end of the probe. 接头 Lateral load Fy at the lower end of the probe 接头 Vertical load Fz at the lower end of the probe rod 接头 ;

[0013] The load balance equation is:

[0014] Fx=0:Fx 接头 +Fx 舰船 +Fx 风 =0;

[0015] Fy = 0:Fy 接头 +Fz 左主起 +Fz 右主起 +Fy 舰船 +Fy 风 =0;

[0016] Fz = 0: Fz 接头 +Fz 左主起 +Fz 右主起 +Fz 尾起 +Fz 舰船 +Fz 风 =0;

[0017] M x =0:(y 接头 -y 主起 )Fz 接头 +(y 重心 -y 主起 (Fz) 舰船 +Fz 风 )-(z 重心 -z 主起 (Fy) 舰船 +Fy 风 )+Mx 风 +(y 尾起 -y 主起 )Fz 尾起 =0;

[0018]

[0019]

[0020] Among them, the helicopter heading load Fx includes Fx 接头 The directional inertial load Fx caused by the ship's motion 舰船 and heading wind load Fx 风 The lateral load Fy of the helicopter includes Fy 接头 Lateral inertial load Fy caused by ship motion 舰船 and lateral wind load Fy 风 The main frictional force Fy 主起 The helicopter vertical load Fz includes Fz 接头 The vertical inertial load Fz caused by the ship's motion 舰船 and vertical wind load Fz 风 Main vertical load Fz 主起 Tail-start vertical load Fz 尾起 Mx 风 My 风 and Mz 风 These represent the components of the wind load moment in the heading, lateral, and vertical directions, respectively, with the point of application of the wind load moment now at the center of gravity; x接头 and y 接头 These represent the heading and lateral coordinates of the auxiliary landing probe device, respectively; x 主起 y 主起 and z 主起 These represent the heading, lateral, and vertical coordinates of the main launcher on the pressure side, respectively; x 尾起 and y 尾起 These represent the heading and lateral coordinates of the tail section, respectively; x 重心 y 重心 and z 重心 Mx, My, and Mz represent the heading, lateral, and vertical coordinates of the center of gravity, respectively; Mx, My, and Mz are the moments in the heading, lateral, and vertical directions of the helicopter.

[0021] Force analysis was performed on the fixed helicopter to establish load balance equations, including:

[0022] When the helicopter is not at risk of overturning, the load balance equation is established under the condition that both main landing gears on the left and right sides bear vertical loads and the probe does not exert any vertical load on the helicopter.

[0023] Solving the equilibrium equations yields the yaw load Fx at the lower end of the probe. 接头 Lateral load Fy at the lower end of the probe 接头 Vertical load Fz at the lower end of the probe rod 接头 ;

[0024] Fx=0:Fx 接头 +Fx 舰船 +Fx 风 =0;

[0025] Fy = 0:Fy 接头 +Fy 主起 +Fy 舰船 +Fy 风 =0;

[0026] Fz = 0: Fz 左主起 +Fz 右主起 +Fz 尾起 +Fz 舰船 +Fz 风 =0;

[0027]

[0028]

[0029]

[0030] Fy 左主起 =Fy 右主起 =Fy 主起 / 2;

[0031] Among them, the helicopter yaw load Fx includes the device yaw load Fx 接头 The directional inertial load Fx caused by the ship's motion 舰船 and heading wind load Fx 风 The helicopter lateral load Fy includes the device lateral load Fy. 接头 Lateral inertial load Fy caused by ship motion 舰船 and lateral wind load Fy 风 The main frictional force Fy 主起 The helicopter's vertical load Fz includes the vertical inertial load Fz caused by the ship's motion. 舰船 and vertical wind load Fz 风 Left main vertical load Fz 左主起 Right-side main vertical load Fz 右主起 Tail-start vertical load Fz 尾起 .

[0032] A load calculation device for a helicopter-assisted landing system is disclosed. After the helicopter comes to a stop on the deck, the lower end of the probe is fixed by a ship-deck device. The external loads on the helicopter include gravity, inertial loads caused by the ship's motion, and wind loads. The support reaction force is provided by the tires and the auxiliary landing system. All friction is borne by the main engine wheels, while the tail wheels are steering wheels and do not bear friction. The device includes:

[0033] A module was created to perform force analysis on the fixed helicopter and establish load balance equations.

[0034] The solver module is used to solve for the loads of the helicopter-assisted landing system based on the load balance equations.

[0035] The device further includes:

[0036] The judgment module is used to determine whether the helicopter is likely to overturn.

[0037] The module is specifically used for:

[0038] When the helicopter is in the overturning limit state, the load balance equation is established with the condition that the vertical load on one side of the main landing gear is 0 and the probe has a vertical load on the helicopter.

[0039] Solving the equilibrium equations yields the yaw load Fx at the lower end of the probe. 接头 Lateral load Fy at the lower end of the probe 接头 Vertical load Fz at the lower end of the probe rod 接头 ;

[0040] The load balance equation is:

[0041] Fx=0:Fx 接头 +Fx 舰船 +Fx 风 =0;

[0042] Fy = 0:Fy 接头 +Fz 左主起 +Fz 右主起 +Fy 舰船 +Fy 风 =0;

[0043] Fz = 0: Fz 接头 +Fz 左主起 +Fz 右主起 +Fz 尾起 +Fz 舰船 +Fz 风 =0;

[0044]

[0045]

[0046]

[0047] Among them, the helicopter heading load Fx includes Fx 接头 The directional inertial load Fx caused by the ship's motion 舰船 and heading wind load Fx 风 The lateral load Fy of the helicopter includes Fy 接头 Lateral inertial load Fy caused by ship motion 舰船 and lateral wind load Fy 风 The main frictional force Fy 主起 The helicopter vertical load Fz includes Fz 接头 The vertical inertial load Fz caused by the ship's motion 舰船 and vertical wind load Fz 风 Main vertical load Fz 主起 Tail-start vertical load Fz 尾起 Mx 风 My 风 and Mz 风 These represent the components of the wind load moment in the heading, lateral, and vertical directions, respectively, with the point of application of the wind load moment now at the center of gravity; x 接头 and y 接头 These represent the heading and lateral coordinates of the auxiliary landing probe device, respectively; x 主起 y 主起 and z 主起 These represent the heading, lateral, and vertical coordinates of the main launcher on the pressure side, respectively; x 尾起 and y 尾起 These represent the heading and lateral coordinates of the tail section, respectively; x 重心 y 重心 and z 重心Mx, My, and Mz represent the heading, lateral, and vertical coordinates of the center of gravity, respectively; Mx, My, and Mz are the moments in the heading, lateral, and vertical directions of the helicopter.

[0048] The module is also used for:

[0049] When the helicopter is not at risk of overturning, the load balance equation is established under the condition that both main landing gears on the left and right sides bear vertical loads and the probe does not exert any vertical load on the helicopter.

[0050] Solving the equilibrium equations yields the yaw load Fx at the lower end of the probe. 接头 Lateral load Fy at the lower end of the probe 接头 Vertical load Fz at the lower end of the probe rod 接头 ;

[0051] Fx=0:Fx 接头 +Fx 舰船 +Fx 风 =0;

[0052] Fy = 0:Fy 接头 +Fy 主起 +Fy 舰船 +Fy 风 =0;

[0053] Fz = 0: Fz 左主起 +Fz 右主起 +Fz 尾起 +Fz 舰船 +Fz 风 =0;

[0054]

[0055]

[0056]

[0057] Fy 左主起 =Fy 右主起 =Fy 主起 / 2;

[0058] Among them, the helicopter yaw load Fx includes the device yaw load Fx 接头 The directional inertial load Fx caused by the ship's motion 舰船 and heading wind load Fx 风 The helicopter lateral load Fy includes the device lateral load Fy. 接头 Lateral inertial load Fy caused by ship motion 舰船 and lateral wind load Fy 风 The main frictional force Fy 主起 The helicopter's vertical load Fz includes the vertical inertial load Fz caused by the ship's motion. 舰船and vertical wind load Fz 风 Left main vertical load Fz 左主起 Right-side main vertical load Fz 右主起 Tail-start vertical load Fz 尾起 .

[0059] The beneficial effects of this invention are: This method can accurately calculate the load of helicopter auxiliary landing device, which can provide input for helicopter strength design. Attached Figure Description

[0060] Figure 1 This is a side view of the forces acting on the helicopter.

[0061] Figure 2 A top-down view of the forces acting on the helicopter;

[0062] Figure 3 A heading view showing the forces acting on the helicopter;

[0063] Figure 4 This is a side view of the forces acting on the helicopter.

[0064] Figure 5 A top-down view of the forces acting on the helicopter;

[0065] Figure 6 This is a heading view showing the forces acting on the helicopter. Detailed Implementation

[0066] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0067] After the helicopter comes to a stop on the deck, the deck equipment secures the lower end of the probe. The external loads on the helicopter include gravity, inertial loads caused by the ship's motion, and wind loads. The reaction force is provided by the tires and auxiliary landing equipment.

[0068] All friction is borne by the main engine wheel, while the tail engine wheel, being a steering wheel, does not bear any friction.

[0069] The load calculation for the auxiliary landing device is divided into two cases:

[0070] One scenario involves a landing gear system that operates when the helicopter's weight is insufficient to prevent it from overturning. In this system, the probe is stretched to its maximum extension, and the tension in the probe prevents the helicopter from tipping over. At this point, a vertical load is applied to the lower end of the probe, with one side of the landing gear bearing the load while the other side does not.

[0071] Another scenario is when the helicopter has no tendency to overturn. The probe only bears the directional and lateral loads, not the vertical loads. Both main landing gears on both sides bear the loads, and the lateral friction force generated by the two main landing gears is evenly distributed.

[0072] The force analysis described below is based on the body coordinate system.

[0073] 1. At the limit of overturning

[0074] The force diagram of the helicopter under overturning limit is shown below. Figures 1 to 2 .

[0075] Helicopter yaw load includes device yaw load Fx 接头 The directional inertial load Fx caused by the ship's motion 舰船 and heading wind load Fx 风 Heading load balance equation:

[0076] Fx=0:Fx 接头 +Fx 舰船 +Fx 风 =0

[0077] Helicopter lateral loads include the device lateral load Fy 接头 Lateral inertial load Fy caused by ship motion 舰船 and lateral wind load Fy 风 The main frictional force Fy 主起 Lateral load balance equation:

[0078] Fy = 0:Fy 接头 +Fz 左主起 +Fz 右主起 +Fy 舰船 +Fy 风 =0

[0079] Helicopter vertical loads include the device's vertical load Fz 接头 The vertical inertial load Fz caused by the ship's motion 舰船 and vertical wind load Fz 风 Main vertical load Fz 主起 Tail-start vertical load Fz 尾起 Vertical load balance equation:

[0080] Fz = 0: Fz 接头 +Fz 左主起 +Fz 右主起 +Fz 尾起 +Fz 舰船 +Fz 风 =0

[0081] M x Equilibrium equations:

[0082] M x = 0: (y 接头 - y 主起 )Fz 接头 + (y 重心 - y 主起 )(Fz 舰船 + Fz 风 ) - (z 重心 - z 主起 )(Fy 舰船 + Fy 风 ) + Mx 风 + (y 尾起 - y 主起 )Fz 尾起 = 0

[0083] M y Equilibrium equation:

[0084] My = 0: - (x 接头 - x 主起 )Fz 接头 - (x 尾起 - x 主起 )Fz 尾起 - (x 左主起 - x 尾起 )Fz 左主起 - (x 右主起 - x 尾起 )Fz 右主起 + (z 重心 - z 主起 )(Fx 舰船 + Fx 风 ) - (x 重心 - x 主起 )(Fz 舰船 + Fz 风 ) + My 风 = 0

[0085] M z Equilibrium equation:

[0086] Mz = 0: (x 接头 - x 主起 )Fy 接头 - (y 接头 - y 主起 )Fx 接头 + (x 重心 - x 主起 )(Fy 舰船 + Fy 风 ) - (y 重心 - y 主起 )(Fx 舰船 + Fx 风 ) + Mz 风 = 0

[0087] In the formula,

[0088] Fx 接头 Fy 接头 and Fz 接头 These represent the heading, lateral, and vertical support reactions at the bottom of the auxiliary landing probe device, respectively.

[0089] Fx 舰船 Fy 舰船 and Fz 舰船 These represent the inertial loads caused by the ship's motion, where Fz 舰船 Includes gravity;

[0090] Fx 风 Fy 风 and Fz 风 These represent the components of wind load in the heading, lateral, and vertical directions, respectively.

[0091] Mx 风 My 风 and Mz 风 These represent the components of the wind load moment in the heading, lateral, and vertical directions, respectively, with the point of application of the wind load moment now at the center of gravity.

[0092] Fy 主起 This represents the lateral load of the main engine, which is the frictional force between the deck and the engine wheel;

[0093] Fz 主起 This indicates the vertical load on the main bearing on the compression side;

[0094] Fz 尾起 Indicates the vertical load from the tail.

[0095] x 接头 and y 接头 These represent the heading coordinates and lateral coordinates of the auxiliary ship-landing probe device, respectively;

[0096] x 主起 y 主起 and z 主起 These represent the heading coordinates, lateral coordinates, and vertical coordinates of the main launcher on the pressure side, respectively.

[0097] x 尾起 and y 尾起 These represent the heading coordinates and lateral coordinates of the tail section, respectively.

[0098] x 重心 y 重心 and z 重心 These represent the heading coordinates, lateral coordinates, and vertical coordinates of the center of gravity, respectively.

[0099] Solving the above system of equations, we can obtain:

[0100] Probe lower end yaw load Fx 接头 Lateral load Fy at the lower end of the probe rod 接头 Vertical load Fz at the lower end of the probe rod 接头 The main vertical load Fz on the compression side 主起 ; Lateral load Fy on the compression side 主起 Tail-start vertical load Fz 尾起 .

[0101] 2. No tendency to overturn

[0102] When there is no risk of overturning, the force diagram of the helicopter is shown below. Figures 3 to 5 .

[0103] Helicopter yaw load includes device yaw load Fx 接头 The directional inertial load Fx caused by the ship's motion 舰船 and heading wind load Fx 风 Heading load balance equation:

[0104] Fx=0:Fx 接头 +Fx 舰船 +Fx 风 =0

[0105] Helicopter lateral loads include the device lateral load Fy 接头 Lateral inertial load Fy caused by ship motion 舰船 and lateral wind load Fy 风 The main frictional force Fy 主起 Lateral load balance equation:

[0106] Fy = 0:Fy 接头 +Fy 主起 +Fy 舰船 +Fy 风 =0

[0107] Helicopter vertical loads include the vertical inertial load Fz caused by ship motion. 舰船 and vertical wind load Fz 风 Left main vertical load Fz 左主起 Right-side main vertical load Fz 右主起 Tail-start vertical load Fz 尾起 Vertical load balance equation:

[0108] Fz = 0: Fz 左主起 +Fz 右主起 +Fz 尾起 +Fz 舰船 +Fz 风 =0

[0109] M x Equilibrium equations:

[0110] M x =0:(y 左主起 -y 尾起 )Fz 左主起 +(y 右主起 -y 尾起 )Fz 右主起 +(y 重心 -y 尾起 (Fz) 舰船 +Fz 风 )-(z 重心 -z 尾起 (Fy) 舰船 +Fy 风 )+Mx 风 =0

[0111] M y Equilibrium equations:

[0112] My = 0:-(x 主起 -x 尾起 )Fz 左主起 -(x 主起 -x 尾起 )Fz 右主起 +(z 重心 -z 尾起 (Fx) 舰船 +Fx 风 )-(x 重心 -x 尾起 (Fz) 舰船 +Fz 风 )+My 风 =0

[0113] M z Equilibrium equations:

[0114] Mz=0:(x 主起 -x 接头 )Fy 主起 +(x 重心 -x 接头 (Fy) 舰船 +Fy 风 )-(y 重心 -y 接头 (Fx) 舰船 +Fx 风 )+Mz 风 =0

[0115] Main frictional force Fy 主起 Divided equally between the left and right landing gear: Fy 左主起 =Fy 右主起 =Fy 主起 / 2

[0116] Solving the above system of equations, we can obtain:

[0117] Probe lower end yaw load Fx 接头 Lateral load Fy at the lower end of the probe rod 接头 Left main vertical load Fz 左主起 Right-side main vertical load Fz 右主起 ; Main lateral load Fy 主起 Tail-start vertical load Fz 尾起 .

[0118] The above description is merely a specific embodiment of the present invention, providing a detailed description of the invention. Parts not covered herein are conventional techniques. However, the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for calculating the load of a helicopter-assisted ship landing device, characterized in that, After the helicopter comes to a stop on the deck, the deck equipment secures the lower end of the probe. The external loads on the helicopter include gravity, inertial loads caused by the ship's movement, and wind loads; the reaction force is provided by the tires and auxiliary landing equipment. All friction is borne by the main engine wheel, while the tail engine wheel, being a steering wheel, does not bear any friction; this method includes: Force analysis was performed on the fixed helicopter to establish load balance equations; Based on the load balance equations, solve for the loads on the helicopter-assisted ship landing system; Force analysis was performed on the fixed helicopter to establish load balance equations, including: When the helicopter is in the overturning limit state, the load balance equation is established with the condition that the vertical load on one side of the main landing gear is 0 and the probe has a vertical load on the helicopter. Solving the equilibrium equations yields the x-direction load at the lower end of the probe. Lateral load at the lower end of the probe Vertical load at the lower end of the probe ; The load balance equation is: Among them, helicopter heading load include The directional inertial load caused by the ship's motion and heading wind load Helicopter lateral load include Lateral inertial loads caused by ship motion and lateral wind load Helicopter vertical load include Vertical inertial load caused by ship motion and vertical wind load Left main vertical load Right-side main vertical load Tail-start vertical load ; These represent the components of the wind load moment in the heading, lateral, and vertical directions, respectively, with the point of application of the wind load moment now at the center of gravity. These represent the heading coordinates and lateral coordinates of the auxiliary ship-landing probe device, respectively; These represent the heading coordinates, lateral coordinates, and vertical coordinates of the main launcher on the pressure side, respectively. These represent the heading coordinates and lateral coordinates of the tail section, respectively. These represent the heading coordinates, lateral coordinates, and vertical coordinates of the center of gravity, respectively. Mx, My, Mz For the helicopter's heading, lateral, and vertical moments; Force analysis was performed on the fixed helicopter to establish load balance equations, including: When the helicopter is not at risk of overturning, the load balance equation is established under the condition that both main landing gears on the left and right sides bear vertical loads and the probe does not exert any vertical load on the helicopter. Solving the equilibrium equations yields the x-direction load at the lower end of the probe. Lateral load at the lower end of the probe Vertical load at the lower end of the probe ; Among them, helicopter heading load include The directional inertial load caused by the ship's motion and heading wind load Helicopter lateral load include Lateral inertial loads caused by ship motion and lateral wind load Mainly causes friction Helicopter vertical load Including vertical inertial loads caused by ship motion and vertical wind load Tail-start vertical load Vertical coordinates of the tail .

2. The method according to claim 1, characterized in that, Before establishing the load equilibrium equations, the method further includes: To determine if there is a possibility of the helicopter overturning.

3. A load calculation device for a helicopter-assisted ship landing system, characterized in that, After the helicopter comes to a stop on the deck, the deck equipment secures the lower end of the probe. The external loads on the helicopter include gravity, inertial loads caused by the ship's movement, and wind loads; the reaction force is provided by the tires and auxiliary landing equipment. All friction is borne by the main engine wheel, while the tail wheel, being a steering wheel, does not bear any friction; the device includes: A module was created to perform force analysis on the fixed helicopter and establish load balance equations. The solver module is used to solve for the loads of the helicopter-assisted landing system based on the load balance equations. The module is specifically used for: When the helicopter is in the overturning limit state, the load balance equation is established with the condition that the vertical load on one side of the main landing gear is 0 and the probe has a vertical load on the helicopter. Solving the equilibrium equations yields the x-direction load at the lower end of the probe. Lateral load at the lower end of the probe Vertical load at the lower end of the probe ; The load balance equation is: Among them, helicopter heading load include The directional inertial load caused by the ship's motion and heading wind load Helicopter lateral load include Lateral inertial loads caused by ship motion and lateral wind load Helicopter vertical load include Vertical inertial load caused by ship motion and vertical wind load Left main vertical load Right-side main vertical load Tail-start vertical load ; These represent the components of the wind load moment in the heading, lateral, and vertical directions, respectively, with the point of application of the wind load moment now at the center of gravity. These represent the heading coordinates and lateral coordinates of the auxiliary ship-landing probe device, respectively; These represent the heading coordinates, lateral coordinates, and vertical coordinates of the main launcher on the pressure side, respectively. These represent the heading coordinates and lateral coordinates of the tail section, respectively. These represent the heading coordinates, lateral coordinates, and vertical coordinates of the center of gravity, respectively. Mx, My, Mz For the helicopter's heading, lateral, and vertical moments; When the helicopter is not at risk of overturning, the load balance equation is established under the condition that both main landing gears on the left and right sides bear vertical loads and the probe does not exert any vertical load on the helicopter. Solving the equilibrium equations yields the x-direction load at the lower end of the probe. Lateral load at the lower end of the probe Vertical load at the lower end of the probe ; Among them, helicopter heading load include The directional inertial load caused by the ship's motion and heading wind load Helicopter lateral load include Lateral inertial loads caused by ship motion and lateral wind load Mainly causes friction Helicopter vertical load Including vertical inertial loads caused by ship motion and vertical wind load Tail-start vertical load Vertical coordinates of the tail .

4. The apparatus according to claim 3, characterized in that, The device further includes: The judgment module is used to determine whether the helicopter is likely to overturn.

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