An electrostatic brake pressure control system and method for unmanned aerial vehicles

Abstract

The present application discloses an electrostatic brake pressure control system for an unmanned aerial vehicle (UAV), comprising: a dual-winding motor, a hydraulic pump, a first branch assembly, a second branch assembly, a first controller, and a second controller. The first branch assembly comprises a first oil inlet valve and a first oil outlet valve, the second branch assembly comprises a second oil inlet valve and a second oil outlet valve, the hydraulic pump is connected to the first oil inlet valve and the second oil inlet valve respectively through pipelines, the first oil inlet valve is respectively connected to the first oil outlet valve and the hydraulic cylinder that drives the brake disc to move, and the second oil inlet valve is respectively connected to the second oil outlet valve and the hydraulic cylinder. The present application also discloses an electrostatic brake pressure control method for an unmanned aerial vehicle (UAV). The first controller or the second controller controls the conduction and shutoff of the first branch assembly or the second branch assembly. When one of the branches fails, the first controller or the second controller can control the other branch to complete the braking function, thereby significantly improving the reliability and safety of the system.

Description

Technical Field

[0001] The present application relates to the field of brake control technology, and in particular to an electrostatic brake pressure control system and method for unmanned aerial vehicles. Background Art

[0002] The electrostatic-hydraulic brake system utilizes power-by-wire control, offering flexibility and adaptability. It leverages the advantages of both electronics and hydraulics, resulting in fast response, high precision, and the ability to generate significant braking pressure. Its integrated motor, pump, and hydraulic components eliminate the need for an external hydraulic source, allowing for integrated packaging. This system offers advantages such as compact size and weight, as well as easy installation and maintenance. It is poised to gradually replace traditional brake systems controlled by centralized hydraulic pressure servo valves and is the preferred solution for the next generation of drone braking systems.

[0003] The ground taxiing process of a drone is a crucial stage in its entire flight process. Braking and taxiing stability during takeoff and landing are crucial to the safety and reusability of the drone. The braking system is a key system during takeoff, landing, and taxiing, and is a crucial guarantee for its safe operation.

[0004] Currently, the missions performed by drones are also developing towards diversification, and the environments they face are more complex and harsh, which can easily cause damage to key components of the braking system, such as pressure sensors, various electronic components, sealing devices, or redundant blockage of solenoid valves, which will lead to brake failure and pose a huge safety hazard to drones. Summary of the Invention

[0005] The purpose of this application is to provide an electrostatic hydraulic brake pressure control system and method for UAVs, which can effectively improve the safety and reliability of UAV braking.

[0006] To solve the above technical problems, this application provides the following technical solutions:

[0007] An electrostatic hydraulic brake pressure control system for an unmanned aerial vehicle, comprising:

[0008] A dual-winding motor and a hydraulic pump, wherein the dual-winding motor is connected to the hydraulic pump and is used to drive the hydraulic pump to rotate;

[0009] a first branch assembly and a second branch assembly, wherein the first branch assembly includes a first oil inlet valve and a first oil outlet valve, and the second branch assembly includes a second oil inlet valve and a second oil outlet valve, the hydraulic pump is connected to the first oil inlet valve and the second oil inlet valve respectively through pipelines, the first oil inlet valve is connected to the first oil outlet valve and a hydraulic cylinder driving the brake disc to move, the second oil inlet valve is connected to the second oil outlet valve and the hydraulic cylinder respectively, and the first oil outlet valve and the second oil outlet valve are also connected to a fuel tank;

[0010] A first controller and a second controller, wherein the first controller and the second controller are electrically connected to the dual-winding motor respectively, and the first controller and the second controller are respectively connected to the first oil inlet valve, the first oil outlet valve, the second oil inlet valve and the second oil outlet valve.

[0011] Preferably, the electrostatic brake pressure control system further comprises:

[0012] a main line pressure sensor, a first branch line pressure sensor, and a second branch line pressure sensor, wherein the main line pressure sensor, the first branch line pressure sensor, and the second branch line pressure sensor are connected to the first controller and the second controller respectively;

[0013] The main line pressure sensor is used to detect the main line pressure of the pipeline and send it to the first controller and the second controller;

[0014] The first branch pressure sensor is used to detect the branch pressure of the first branch assembly and send the pressure to the first controller and the second controller;

[0015] The second branch pressure sensor is used to detect the branch pressure of the second branch assembly and send the pressure to the first controller and the second controller.

[0016] Preferably, the first oil inlet valve, the first oil outlet valve, the second oil inlet valve and the second oil outlet valve are all normally closed two-position two-way solenoid valves.

[0017] Preferably, a one-way valve is provided on the pipeline connecting the hydraulic pump and the first oil inlet valve and the second oil inlet valve.

[0018] Preferably, the pipeline is also connected to a relief valve.

[0019] A method for controlling electrostatic brake pressure of a UAV comprises the following steps:

[0020] Step 1: The first controller or the second controller receives a pressure command to drive the dual-winding motor to drive the hydraulic pump to establish the system main pressure and monitor the main pressure value in real time;

[0021] Step 2: Determine whether the measured main line pressure value is greater than the command pressure by a preset threshold;

[0022] If not, proceed to step 201;

[0023] Step 201: increasing the speed of the dual-winding motor to increase the main line pressure value until it is greater than the command pressure by a preset threshold;

[0024] If yes, go to step 3;

[0025] Step 3: The first controller or the second controller controls the on or off of the first branch component or the second branch component, and monitors the first branch pressure or the second branch pressure in real time;

[0026] Step 4: Determine whether the measured first branch pressure or second branch pressure is equal to the command pressure;

[0027] If yes, go to step 5:

[0028] Step 5: Stop driving the dual-winding motor and the first branch component or the second branch component;

[0029] If not, return to step 3 to continue driving the first branch component or the second branch component to be turned on or off until the measured first branch pressure or the second branch pressure is equal to the command pressure.

[0030] Compared with the existing technology, the above technical solution has the following advantages:

[0031] The present application provides an electrostatic brake pressure control system and method for an unmanned aerial vehicle. The first controller or the second controller can independently and differentially control the brake pressure of the two branches by controlling the conduction and shutdown of the first branch component or the second branch component. When one of the branches fails, the first controller or the second controller can control the other branch to complete the braking function; when one of the controllers fails, the other controller can be used to control the operation of the dual-winding motor and the first branch component or the second branch component; when one of the windings of the dual-winding motor fails, the first controller or the second controller can control the other winding to drive the hydraulic pump. As long as there is one controller, one winding and one branch without fault, the normal operation of the system can be guaranteed, thereby significantly improving the reliability and safety of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0033] Figure 1 A schematic structural diagram of an electrostatic brake pressure control system for a drone provided in a specific embodiment of the present application.

[0034] The reference numerals are as follows:

[0035] 1 is a double-winding motor, 2 is a hydraulic pump, 3 is a one-way valve, 4 is a main pressure sensor, and 5 is a relief valve;

[0036] 6.1 is the first branch assembly, 6.1.1 is the first oil inlet valve, 6.1.2 is the first oil outlet valve, and 6.1.3 is the first branch pressure sensor;

[0037] 6.2 is the second branch assembly, 6.2.1 is the second oil inlet valve, 6.2.2 is the second oil outlet valve, and 6.2.3 is the second branch pressure sensor;

[0038] 7.1 is the first controller, 7.2 is the second controller;

[0039] 8 is a hydraulic cylinder, 9 is a brake disc, and 10 is a system pressure command interface. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below with reference to the accompanying drawings.

[0041] The following description sets forth specific details to facilitate a thorough understanding of the present application. However, the present application can be implemented in a variety of other ways than those described herein, and those skilled in the art may make similar generalizations without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0042] Please refer to Figure 1 , Figure 1 A schematic structural diagram of an electrostatic brake pressure control system for a drone provided in a specific embodiment of the present application.

[0043] A specific embodiment of the present application provides an electrostatic brake pressure control system for a drone, comprising: a dual-winding motor 1 and a hydraulic pump 2, wherein the dual-winding motor 1 is connected to the hydraulic pump 2 to drive the hydraulic pump 2 to rotate, the dual-winding motor 1 can be a brushless DC motor or a permanent magnet synchronous motor, and the hydraulic pump 2 can be a plunger pump; a first branch component 6.1 and a second branch component 6.2, wherein the first branch component 6.1 includes a first oil inlet valve 6.1.1 and a first oil outlet valve 6.1.2, and the second branch component 6.2 includes a first oil inlet valve 6.1.1 and a first oil outlet valve 6.1.2, and the second branch component 6.2 includes a first oil inlet valve 6.1.1 and a first oil outlet valve 6.1.2, and the second branch component 6.2 includes a first oil inlet valve 6.1.1 and a first oil outlet valve 6.1.2, and the first branch component 6.1 includes a first oil inlet valve 6.1.1 and a first oil outlet valve 6.1.2, and the first branch component 6.2 ... The second branch assembly 6.2 includes a second oil inlet valve 6.2.1 and a second oil outlet valve 6.2.2. The first oil inlet valve 6.1.1, the first oil outlet valve 6.1.2, the second oil inlet valve 6.2.1 and the second oil outlet valve 6.2.2 can all be normally closed two-position two-way solenoid valves. The switching frequency of the normally closed two-position two-way solenoid valve is greater than 100Hz, that is, it is a self-locking normally closed high-speed switching valve. The hydraulic pump 2 is connected to the first oil inlet valve 6.1.1 and the second oil inlet valve 6.2.1 through pipelines. The hydraulic pump 2 is connected to the The pipeline connecting the first oil inlet valve 6.1.1 and the second oil inlet valve 6.2.1 is equipped with a one-way valve 3 to prevent the hydraulic oil from flowing into the hydraulic pump 2. In addition, a relief valve 5 is connected to the pipeline to improve the safety of the system. The first oil inlet valve 6.1.1 is connected to the first oil outlet valve 6.1.2 and the hydraulic cylinder 8 that drives the brake disc 9. The second oil inlet valve 6.2.1 is connected to the second oil outlet valve 6.2.2 and the hydraulic cylinder 8. The first and second controllers 7.1 and 7.2 are each connected to the system pressure command interface 10 for receiving and sending commands. The first and second controllers 7.1 and 7.2 are also electrically connected to the dual-winding motor 1. The first and second controllers 7.1 and 7.2 are each connected to the first oil inlet valve 6.1.1, the first oil outlet valve 6.1.2, the second oil inlet valve 6.2.1, and the second oil outlet valve 6.2.2, respectively. In this embodiment, independent first and second controllers 7.1 and 7.2 are provided, along with two completely independent oil circuits acting on the hydraulic cylinder 8. The two controllers are identical, simultaneously receiving pressure commands from the UAV flight control system and monitoring each other's operating status via a bus. If one controller fails, the other automatically takes over. Full system functionality is achieved with either controller functioning properly, such as receiving commands from the host computer, driving the motor and self-locking normally closed high-speed on / off valve, receiving feedback from various sensors, and feeding back pressure and wheel speed information to the host computer.The first controller 7.1 or the second controller 7.2 can independently and differentially control the brake pressure of the two branches by controlling the conduction and shutoff of the first oil inlet valve 6.1.1, the second oil outlet valve 6.2.2 of the first branch assembly 6.1, and the second oil inlet valve 6.2.1 and the second oil outlet valve 6.2.2 of the second branch assembly 6.2. When one of the branches fails, the first controller 7.1 or the second controller 7.2 can control the other branch to complete the braking function. When one of the controllers fails, the other controller can be used to control the operation of the dual-winding motor 1 and the operation of the first branch assembly 6.1 or the second branch assembly 6.2. When one winding of the dual-winding motor 1 fails, the first controller 7.1 or the second controller 7.2 can control the operation of the other winding to drive the hydraulic pump 2. As long as one controller, one winding, and one branch are fault-free, the normal operation of the system can be guaranteed, thereby significantly improving the reliability and safety of the system. In addition, the control system provided in this application is an electrostatic hydraulic system that does not require an external hydraulic source or power transmission, can be integrated and packaged, and the switching valve is small in size and simple in structure. Therefore, this system has the advantages of high efficiency, compact and simple structure, easy installation and maintenance, and relatively low cost.

[0044] The electrostatic hydraulic brake pressure control system for a UAV provided in the above embodiment has nine working states: one normal operation, four single faults, and four combination faults:

[0045] 1. Under normal operating conditions, the first controller 7.1 or the second controller 7.2 first drives one of the windings of the dual-winding motor 1, driving the hydraulic pump 2 to establish system main circuit pressure. The first controller 7.1 or the second controller 7.2 then adjusts the brake pressure by controlling the conduction and shutoff of the self-locking normally closed high-speed on-off valve of the first branch assembly 6.1 or the second branch assembly 6.2.

[0046] 2. If the first controller 7.1 or the motor winding it controls fails, the second controller 7.2 will operate to drive the other winding of the dual-winding motor 1, driving the hydraulic pump 2 to establish system main pressure. The first controller 7.1 or the second controller 7.2 then adjusts the brake pressure by controlling the conduction and closing of the self-locking normally closed high-speed switching valve of the first branch assembly 6.1 or the second branch assembly 6.2;

[0047] 3. If the second controller 7.2 or the motor winding it controls fails, the first controller 7.1 will operate, driving one of the windings of the dual-winding motor 1, driving the hydraulic pump 2, and establishing system main pressure. The first controller 7.1 then regulates the brake pressure by controlling the conduction and closing of the self-locking normally closed high-speed on-off valve of the first branch assembly 6.1 or the second branch assembly 6.2.

[0048] 4. If the first branch assembly 6.1 fails, the first controller 7.1 or the second controller 7.2 drives one of the windings of the dual-winding motor 1, driving the hydraulic pump 2 to establish system main pressure. The first controller 7.1 or the second controller 7.2 then adjusts the brake pressure by controlling the conduction and closing of the self-locking normally closed high-speed on-off valve of the second branch assembly 6.2.

[0049] 5. If the second branch assembly 6.2 fails, the first controller 7.1 or the second controller 7.2 drives one of the windings of the dual-winding motor 1, driving the hydraulic pump 2 to establish system main pressure. The first controller 7.1 or the second controller 7.2 then adjusts the brake pressure by controlling the conduction and shutoff of the self-locking normally closed high-speed on-off valve of the second branch assembly 6.2.

[0050] 6. If both the first controller 7.1 or the motor winding it controls and the first branch assembly 6.1 fail simultaneously, the second controller 7.2 will drive the other winding of the dual-winding motor 1, driving the hydraulic pump 2 to establish system main pressure. The second controller 7.2 then regulates the brake pressure by controlling the conduction and closing of the self-locking, normally closed, high-speed on-off valve of the second branch assembly 6.2.

[0051] 7. If both first controller 7.1 or the motor winding it controls and second branch assembly 6.2 fail simultaneously, second controller 7.2 drives the other winding of dual-winding motor 1, driving hydraulic pump 2 to establish system main pressure. Second controller 7.2 then regulates brake pressure by controlling the opening and closing of the self-locking, normally closed, high-speed on-off valve in first branch assembly 6.1.

[0052] 8. If the second controller 7.2 or the motor winding it controls and the first branch assembly 6.1 fail simultaneously, the first controller 7.1 will drive the other winding of the dual-winding motor 1, driving the hydraulic pump 2 to establish system main pressure. The first controller 7.1 will then adjust the brake pressure by controlling the conduction and closing of the self-locking normally closed high-speed on-off valve of the second branch assembly 6.2.

[0053] 9. If the second controller 7.2 or the motor winding it controls and the second branch assembly 6.2 fail simultaneously, the first controller 7.1 will drive the other winding of the dual-winding motor 1 to drive the hydraulic pump 2 to establish the system main pressure. The first controller 7.1 then adjusts the brake pressure by controlling the conduction and shutdown of the self-locking normally closed high-speed switching valve of the first branch assembly 6.1.

[0054] In one embodiment of the present application, the electrostatic brake pressure control system further includes: a main line pressure sensor 4, a first branch pressure sensor 6.1.3 and a second branch pressure sensor 6.2.3, wherein the main line pressure sensor 4, the first branch pressure sensor 6.1.3 and the second branch pressure sensor 6.2.3 are respectively connected to the first controller 7.1 and the second controller 7.2; the main line pressure sensor 4 is used to detect the main line pressure of the pipeline and send it to the first controller 7.1 and the second controller 7.2; the first branch pressure sensor 6.1.3 is used to detect the branch pressure of the first branch component 6.1 and send it to the first controller 7.1 and the second controller 7.2; the second branch pressure sensor 6.2.3 is used to detect the branch pressure of the second branch component 6.2 and send it to the first controller 7.1 and the second controller 7.2.

[0055] The present application also provides a method for controlling electrostatic brake pressure of a drone, comprising the following steps:

[0056] Step 1: The first controller 7.1 or the second controller 7.2 receives a pressure command to drive the dual-winding motor 1 to drive the hydraulic pump 2 to establish the system main line pressure and monitor the main line pressure value in real time. The main line pressure value can be monitored by the main line pressure sensor 4;

[0057] Step 2: Determine whether the measured main line pressure value is greater than the command pressure by a preset threshold, where the preset threshold can be selected from 0.1 to 0.5 MPa;

[0058] If not, proceed to step 201;

[0059] Step 201: increasing the speed of the dual-winding motor 1 to increase the main line pressure value until it is greater than the command pressure by a preset threshold;

[0060] If yes, go to step 3;

[0061] Step 3: The first controller 7.1 or the second controller 7.2 controls the on / off of the first branch assembly 6.1 or the second branch assembly 6.2, and monitors the first branch pressure or the second branch pressure in real time. The first branch pressure can be monitored by the first branch pressure sensor 6.1.3, and the second branch pressure can be monitored by the second branch pressure sensor 6.2.3.

[0062] Step 4: Determine whether the measured first branch pressure or second branch pressure is equal to the command pressure;

[0063] If yes, go to step 5:

[0064] Step 5: Stop driving the dual-winding motor 1 and the first branch component 6.1 or the second branch component 6.2. The self-locking normally closed high-speed on-off valve maintains pressure by self-locking, completing the braking of the drone.

[0065] If not, return to step 3 to continue driving the first branch component 6.1 or the second branch component 6.2 to be turned on or off until the measured first branch pressure or the second branch pressure is equal to the command pressure.

[0066] During the braking process, the first controller 7.1 or the second controller 7.2 can determine in real time whether the feedback value of each sensor is equal to the actual value. If they are equal, no action is taken; if not, the above steps are repeated.

[0067] The electrostatic-hydraulic brake pressure control method for a drone provided in this embodiment can select another controller to drive the dual-winding motor 1 when one of the first controller 7.1 and the second controller 7.2 fails, and select another branch component to operate when one of the first branch component 6.1 and the second branch component 6.2 fails, thereby improving the reliability and safety of braking.

[0068] It should be noted that, in this document, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0069] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An electrostatic brake pressure control system for an unmanned aerial vehicle, characterized in that: include: A double-winding motor (1) and a hydraulic pump (2), wherein the double-winding motor (1) is connected to the hydraulic pump (2) and is used to drive the hydraulic pump (2) to rotate; A first branch assembly (6.1) and a second branch assembly (6.2), wherein the first branch assembly (6.1) comprises a first oil inlet valve (6.1.1) and a first oil outlet valve (6.1.2), and the second branch assembly (6.2) comprises a second oil inlet valve (6.2.1) and a second oil outlet valve (6.2.2), and the hydraulic pump (2) is connected to the first oil inlet valve (6.1.1) and the second oil outlet valve (6.2.2) through pipelines. 6.1.1) and the second oil inlet valve (6.2.1), the first oil inlet valve (6.1.1) is respectively connected to the first oil outlet valve (6.1.2) and the hydraulic cylinder (8) that drives the brake disc (9) to move, the second oil inlet valve (6.2.1) is respectively connected to the second oil outlet valve (6.2.2) and the hydraulic cylinder (8), the first oil outlet valve (6.1.2) and the second oil outlet valve (6.2.2) are also connected to the oil tank; A first controller (7.1) and a second controller (7.2), wherein the first controller (7.1) and the second controller (7.2) are respectively electrically connected to the dual-winding motor (1), and the first controller (7.1) and the second controller (7.2) are respectively connected to the first oil inlet valve ( 6.1.1), the first oil outlet valve (6.1.2), the second oil inlet valve (6.2.1) and the second oil outlet valve (6.2.2) are connected; Main pressure sensor (4), first branch pressure sensor ( 6.1.3) and the second branch pressure sensor ( 6.2.3), the main pressure sensor (4), the first branch pressure sensor ( 6.1.3) and the second branch pressure sensor (6.2.3) are connected to the first controller (7.1) and the second controller (7.2) respectively; The main line pressure sensor (4) is used to detect the main line pressure of the pipeline and send it to the first controller (7.1) and the second controller (7.2); The first branch pressure sensor ( 6.1.3) used to detect the branch pressure of the first branch component (6.1) and send it to the first controller (7.1) and the second controller (7.2); The second branch pressure sensor (6.2.3) is used to detect the branch pressure of the second branch component (6.2) and send it to the first controller (7.1) and the second controller (7.2); The hydraulic pump (2) and the first oil inlet valve ( A one-way valve (3) is provided on the pipeline connecting the oil inlet valve (6.1.1) and the second oil inlet valve (6.2.1).

2. The electrostatic brake pressure control system for a UAV according to claim 1, characterized in that: The first oil inlet valve (6.1.1), the first oil outlet valve (6.1.2), the second oil inlet valve (6.2.1) and the second oil outlet valve (6.2.2) are all normally closed two-position two-way solenoid valves.

3. The electrostatic brake pressure control system for a UAV according to claim 1, characterized in that: The pipeline is also connected to a relief valve (5).

4. A method for controlling electrostatic hydraulic brake pressure for a UAV, utilizing the electrostatic hydraulic brake pressure control system for a UAV according to claim 1, characterized in that: The electrostatic brake pressure control method for a UAV comprises the following steps: Step 1: The first controller (7.1) or the second controller (7.2) receives a pressure instruction to drive the dual-winding motor (1) to drive the hydraulic pump (2) to establish the system main line pressure, and monitor the main line pressure value in real time; Step 2: Determine whether the measured main line pressure value is greater than the command pressure by a preset threshold; If not, proceed to step 201; Step 201: increasing the rotation speed of the dual-winding motor (1) to increase the main line pressure value until it is greater than the command pressure by a preset threshold value; If yes, go to step 3; Step 3: The first controller (7.1) or the second controller (7.2) controls the first branch component (6.1) or the second branch component ( 6.2) and monitor the first branch pressure or the second branch pressure in real time; Step 4: Determine whether the measured first branch pressure or second branch pressure is equal to the command pressure; If yes, go to step 5: Step 5: Stop driving the dual-winding motor (1) and the first branch component (6.1) or the second branch component (6.2); If not, return to step 3 to continue driving the first branch component (6.1) or the second branch component ( 6.2) is turned on or off until the measured first branch pressure or second branch pressure is equal to the command pressure.

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