A method for monitoring the whole aircraft ground hoisting posture during aircraft structural strength testing

Abstract

A method for monitoring the posture of a whole aircraft during ground hoisting during a structural strength test of an aircraft comprises: symmetrically arranging displacement sensors at a P1 measuring point on the front section of the fuselage, a P2 measuring point on the left wing, and a P3 measuring point on the right wing; constructing a global coordinate system with the aircraft heading as the x-axis direction, the line connecting the P2 measuring point and the P3 measuring point as the y-axis direction, the midpoint of the line connecting the P2 measuring point and the P3 measuring point as the origin, the aircraft heading backward as the x-axis positive direction, the aircraft span direction rightward as the y-axis positive direction, and the vertical upward as the z-axis positive direction; taking the midpoint of the line connecting the P2 measuring point and the P3 measuring point as the O point; and during the lifting process of the aircraft, taking the aircraft pitch angle θ at the previous moment as the reference point. f 、Aircraft roll angle θ g , calculate and deduct the aircraft roll angle θ g The coordinate changes of the P1 measuring point and the O point along the z-axis in the global coordinate system affected by the change are then iteratively calculated to calculate the aircraft pitch angle θ f 、Aircraft roll angle θ g , until the aircraft pitch angle θ is obtained by iterative calculation f 、Aircraft roll angle θ g The deviation from the previous iteration value is less than the set value.

Description

Technical Field

[0001] The present application belongs to the technical field of ground hoisting posture monitoring of a whole aircraft for a structural strength test of an aircraft, and specifically relates to a ground hoisting posture monitoring method for a whole aircraft for a structural strength test of an aircraft. Background Art

[0002] During the aircraft structural strength test, the entire aircraft must be hoisted to a certain height h on the ground and then supported by the landing gear, such as Figure 1 shown.

[0003] Currently, during the process of lifting the entire aircraft on the ground, there is a lack of corresponding posture monitoring, and the aircraft's posture cannot be grasped in real time, which poses certain risks.

[0004] This application is proposed in view of the above-mentioned technical defects.

[0005] It should be noted that the disclosure of the above background technology content is only used to assist in understanding the inventive concept and technical solution of this application, and it does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above content has been disclosed on the filing date of this application, the above background technology should not be used to evaluate the novelty and creativity of this application. Summary of the Invention

[0006] The purpose of this application is to provide a method for monitoring the ground hoisting posture of the entire aircraft during an aircraft structural strength test, so as to overcome or alleviate at least one of the known technical defects.

[0007] The technical solution of this application is:

[0008] A method for monitoring the posture of an entire aircraft during ground hoisting during an aircraft structural strength test, comprising:

[0009] Displacement sensors are symmetrically arranged at P1 measuring point on the front section of the fuselage, P2 measuring point on the left wing, and P3 measuring point on the right wing;

[0010] Construct a global coordinate system with the aircraft heading as the x-axis direction, the line connecting the P2 and P3 measuring points as the y-axis direction, the midpoint of the line connecting the P2 and P3 measuring points as the origin, the aircraft heading backward as the positive x-axis direction, the aircraft span direction to the right as the positive y-axis direction, and the vertical upward direction as the positive z-axis direction.

[0011] Take the midpoint of the line connecting measuring points P2 and P3 as point O;

[0012] During the aircraft lifting process, the aircraft pitch angle θ at the previous moment f 、Aircraft roll angle θ g , calculate and deduct the aircraft roll angle θ g The coordinate change of the P1 measuring point and the O point along the z-axis in the global coordinate system affected by the change

[0013]

[0014]

[0015]

[0016] in,

[0017] Δz1 (i) The displacement of the measuring point P1 measured by the displacement sensor for the i-th time;

[0018] Δz O (i) is the displacement of point O for the i-th time;

[0019] Δz2 (i) The displacement of the measuring point P2 measured by the displacement sensor for the i-th time;

[0020] Δz3 (i) The displacement of the P3 measuring point i is measured by the displacement sensor;

[0021] Calculated Iteratively calculate the aircraft pitch angle θ f 、Aircraft roll angle θ g :

[0022]

[0023]

[0024] in,

[0025] x1 (0) is the x-coordinate of the P1 measuring point in the global coordinate system in the initial state;

[0026] x O (0) The x-coordinate of point O in the global coordinate system in the initial state;

[0027] z1 (0) is the z coordinate of the P1 measuring point in the global coordinate system in the initial state;

[0028] z O (0) The z coordinate of point O in the global coordinate system in the initial state;

[0029] y2 (0) is the y coordinate of the P2 measuring point in the global coordinate system in the initial state;

[0030] y3 (0) is the y coordinate of the P3 measuring point in the global coordinate system in the initial state;

[0031] Until the aircraft pitch angle θ is obtained by iterative calculation f 、Aircraft roll angle θ g If the deviation from the previous iteration value is less than the set value, the aircraft pitch angle θ calculated iteratively will be f 、Aircraft roll angle θ g As the aircraft pitch angle θ at the current moment f 、Aircraft roll angle θ g .

[0032] According to at least one embodiment of the present application, in the above-mentioned method for monitoring the posture of the whole aircraft hoisted on the ground during the aircraft structural strength test, until the aircraft pitch angle θ is obtained by iterative calculation f 、Aircraft roll angle θ g The deviation from the previous iteration value is less than the set value, specifically less than 0.1%.

[0033] According to at least one embodiment of the present application, in the above-mentioned method for monitoring the posture of the whole aircraft hoisted on the ground during the aircraft structural strength test, the aircraft pitch angle θ is set to be f 、Aircraft roll angle θ g is 0.

[0034] According to at least one embodiment of the present application, the above-mentioned method for monitoring the posture of a whole aircraft during ground hoisting for an aircraft structural strength test further includes:

[0035] During the aircraft lifting process, the aircraft pitch angle θ f 、Aircraft roll angle θ g Calculate any P on the aircraft r Point location:

[0036] z r (i) =z r (0) +Δz r (i) ;

[0037]

[0038] in,

[0039] z r (i) is the x-coordinate P in the global coordinate system r The z coordinate of point i;

[0040] Δz r (i) P r The displacement of point i;

[0041] x r (0) P is the initial stater The x-coordinate of the point in the global coordinate system;

[0042] y r (0) P is the initial state r The y coordinate of the point in the global coordinate system;

[0043] z r (0) P is the initial state r The z-coordinate of the point in the global coordinate system. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a schematic diagram of the aircraft structure strength test, in which the entire aircraft is hoisted to a certain height h on the ground and supported by the landing gear;

[0045] Figure 2 This is a schematic diagram of an embodiment of the present application providing a method of symmetrically arranging displacement sensors at measuring points on the front section of the fuselage, the left wing, and the right wing to measure vertical displacement data;

[0046] Figure 3 is a schematic diagram of constructing a global coordinate system provided in an embodiment of the present application;

[0047] Figure 4 This is a schematic diagram of the position change of the midpoint O of the line connecting the P2 and P3 measuring points and the P1 measuring point before and after the aircraft is lifted, provided in an embodiment of the present application;

[0048] Figure 5 The pitch angle θ of the aircraft is calculated according to the embodiment of the present application. f Schematic diagram of;

[0049] Figure 6 The calculation of the aircraft roll angle θ provided in the embodiment of the present application g Schematic diagram of;

[0050] Figure 7 This is a schematic diagram of an embodiment of the present application that uses a three-dimensional model to virtually display the position of an aircraft in a hoisted state in real time.

[0051] In order to better illustrate this embodiment, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product. In addition, the drawings are only used for illustrative purposes and should not be understood as limitations on this patent. DETAILED DESCRIPTION

[0052] To make the technical solution and its advantages of the present application clearer, the technical solution of the present application will be described in further detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only some embodiments of the present application and are only used to explain the present application, not to limit the present application. It should be noted that, for ease of description, only the parts related to the present application are shown in the accompanying drawings, and other related parts can refer to the general design. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other to obtain new embodiments.

[0053] In addition, unless otherwise defined, the technical or scientific terms used in the description of this application should have the ordinary meanings understood by those of ordinary skill in the art to which this application belongs. The words "upper," "lower," "left," "right," "center," "vertical," "horizontal," "inner," and "outer" used in the description of this application are only used to indicate relative directions or positional relationships, and do not imply that the device or component must have a specific orientation, be constructed, or operate in a specific orientation. When the absolute position of the described object changes, its relative positional relationship may also change accordingly. Therefore, they should not be understood as limitations on this application. The words "first," "second," "third," and similar terms used in the description of this application are used only for descriptive purposes to distinguish different components and should not be understood to indicate or imply relative importance. The words "one," "an," or "the" used in the description of this application should not be understood as absolute limitations on quantity, but should be understood as meaning the presence of at least one. The words "include" or "comprises" used in the description of this application mean that the element or object listed before the word includes the elements or objects listed after the word and their equivalents, but does not exclude other elements or objects.

[0054] In addition, it should be noted that, unless otherwise clearly stipulated and limited, the words "install", "connect", "connect" and similar terms used in the description of this application should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or a connection between two components. Technical personnel in the field can understand their specific meanings in this application according to the specific circumstances.

[0055] The following is combined with Figures 1 to 7 This application is described in further detail.

[0056] In the aircraft structural strength test, the stable state of the aircraft after the lifting mechanism is deployed is the initial state, the state after the aircraft height is stabilized is the zero-position state, the operating state of the aircraft during the lifting process is the lifting state, and the state after the aircraft is lifted to the support point height is the final state.

[0057] Displacement sensors are symmetrically arranged at the P1 measuring point on the front section of the fuselage, the P2 measuring point on the left wing, and the P3 measuring point on the right wing, as shown in the following example: Figure 2 As shown, the vertical displacement data of measuring points P1, P2 and P3 are measured. The subscript f represents the sampling frequency of the displacement data, the superscript (i) represents the displacement data of the i-th time, and the subscripts 1, 2, and 3 represent the displacement data of the P1 measuring point, the P2 measuring point, and the P3 measuring point.

[0058] The global coordinate system is constructed with the aircraft heading as the x-axis direction, the line connecting the P2 and P3 measuring points as the y-axis direction, the midpoint of the line connecting the P2 and P3 measuring points as the origin, the aircraft heading backward as the positive direction of the x-axis, the aircraft span direction to the right as the positive direction of the y-axis, and the vertical upward as the positive direction of the z-axis, as shown in the following example: Figure 3 shown.

[0059] In order to describe the aircraft attitude, a body coordinate system is constructed. The global coordinate system is fixed, and the body coordinate system moves and rotates with the aircraft. In the initial state, the body coordinate system is the same as the global coordinate system.

[0060] The coordinates in the global coordinate system are expressed in lowercase letters, and the coordinates in the body coordinate system are expressed in uppercase letters. The coordinates of P1 measuring point, P2 measuring point, and P3 measuring point in the global coordinate system are In the body coordinate system, the coordinates remain unchanged and are During the aircraft lifting process, it can be assumed that the displacements of the three landing gears are all vertical displacements along the z direction, and the aircraft heading angle can be considered to be 0.

[0061] The midpoint of the line connecting the P2 and P3 measuring points is taken as point O. The angle between the line connecting point O and the P1 measuring point OP1 and the x-axis in the global coordinate system is α. The position changes before and after the aircraft is lifted, as shown in the figure below. Figure 4 As shown in the figure, the positions of point O and point P1 are affected not only by the change of the aircraft pitch angle, but also by the change of the aircraft roll angle. f When the aircraft roll angle θ is deducted g The effect of changes in the aircraft pitch angle θ f Positive when the nose is raised.

[0062] Move the line OP1 connecting point O after the aircraft is lifted and measuring point P1 along the z-axis to point O before the aircraft is lifted in the global coordinate system, as shown in the following example: Figure 5 The angle β between the line OP1 connecting point O and the measuring point P1 after the aircraft is lifted and the x-axis in the global coordinate system is calculated as f as follows:

[0063] θ f =β-α

[0064]

[0065] in,

[0066] x1 (0) is the x-coordinate of the P1 measuring point in the global coordinate system in the initial state;

[0067] x O (0) The x-coordinate of point O in the global coordinate system in the initial state;

[0068] z1 (0) is the z coordinate of the P1 measuring point in the global coordinate system in the initial state;

[0069] z O (0) The z coordinate of point O in the global coordinate system in the initial state;

[0070] To deduct the aircraft roll angle θ g The coordinate changes of the P1 measuring point and the O point along the z-axis in the global coordinate system affected by the change are calculated as follows:

[0071]

[0072]

[0073]

[0074] in,

[0075] Δz1 (i) The displacement of the measuring point P1 measured by the displacement sensor for the i-th time;

[0076] Δz O (i) is the displacement of point O for the i-th time;

[0077] Δz2 (i) The displacement of the measuring point P2 measured by the displacement sensor for the i-th time;

[0078] Δz3 (i) The displacement sensor measures the displacement of point P3 for the i-th time.

[0079] The line P2P3 connecting the P2 and P3 measuring points changes its position before and after the aircraft is lifted, such as Figure 5 As shown, calculate the aircraft roll angle θ g as follows:

[0080]

[0081] in,

[0082] y2 (0) is the y coordinate of the P2 measuring point in the global coordinate system in the initial state;

[0083] y3 (0) is the y coordinate of the P3 measuring point in the global coordinate system in the initial state.

[0084] From the above formulas (2) and (3), it can be seen that the aircraft pitch angle θ f 、Aircraft roll angle θ g The calculation is coupled with each other and requires iterative solution. In the initial state, the aircraft pitch angle θ f 、Aircraft roll angle θ g is 0, the specific iterative process is as follows:

[0085] The aircraft pitch angle θ at the previous moment f 、Aircraft roll angle θ g , put it into formula (2) and calculate the deduction of the aircraft roll angle θ g The coordinate change of the P1 measuring point and the O point along the z-axis in the global coordinate system affected by the change

[0086] The calculated Substitute into equations (1) and (3) and iteratively calculate the aircraft pitch angle θ f 、Aircraft roll angle θ g ;

[0087] Until the aircraft pitch angle θ is obtained by iterative calculation f 、Aircraft roll angle θ g If the deviation from the previous iteration value is less than 0.1%, the aircraft pitch angle θ calculated iteratively will be f 、Aircraft roll angle θ g As the aircraft pitch angle θ at the current moment f 、Aircraft roll angle θ g .

[0088] Any P on the plane r The coordinates of the point in the local coordinate system are According to the coordinate transformation formula, we can get P r The coordinates and displacements of the point in the global coordinate system during the aircraft lifting process are as follows:

[0089]

[0090] Since the displacement of the aircraft in the global coordinates is very small during the lifting process, we only focus on P r The vertical displacement of the point can be simplified as follows:

[0091]

[0092] zr (i) =z r (0) +Δz r (i) ;

[0093] in,

[0094] z r (i) is the x-coordinate P in the global coordinate system r The z coordinate of point i;

[0095] Δz r (i) P r The displacement of point i;

[0096] x r (0) P is the initial state r The x-coordinate of the point in the global coordinate system;

[0097] y r (0) P is the initial state r The y coordinate of the point in the global coordinate system;

[0098] z r (0) P is the initial state r The z-coordinate of the point in the global coordinate system.

[0099] Based on the above, a method for monitoring the ground hoisting posture of the entire aircraft during the aircraft structural strength test is designed as follows:

[0100] In the initial state, displacement sensors are symmetrically arranged at P1 measuring point on the front section of the fuselage, P2 measuring point on the left wing, and P3 measuring point on the right wing. The three sensors are distributed in an isosceles triangle.

[0101] From the initial state to the zero state, the three displacement sensors are zeroed;

[0102] In the hoisting state, three displacement sensors are used to collect the displacement values ​​of P1, P2 and P3 measuring points in real time. The maximum acquisition rate can reach 0.5s. The collected displacement values ​​can be interpolated according to time.

[0103] Calculate and use the 3D model to display the aircraft's posture in the hoisted state in real time, including the pitch angle θ f , roll angle θ g and the support point locations, such as Figure 7 shown.

[0104] The initial position of the aircraft remains unchanged after the mark. The actual position of the 3D model and the aircraft attitude are displayed in real time along with the measured values. The initial mark position of the aircraft can be marked with color, and the aircraft pitch angle θ can be further set. f , roll angle θ g The control range of the aircraft will be exceeded. Once the range is exceeded, an automatic alarm will be issued. When the alarm occurs, the display interface will flash, the text will be enlarged, the font will turn red, and an on-site inspection will be carried out. After the alarm is lifted, the aircraft attitude will continue to be displayed until the final state.

[0105] The above-mentioned embodiment discloses a method for monitoring the posture of the entire aircraft during ground lifting of an aircraft structural strength test. During the aircraft lifting process, three displacement sensors are used to monitor the position values ​​of three measuring points on the front section of the fuselage, the left wing, and the right wing in real time. This allows for customized rapid iterative calculations to obtain the aircraft's pitch angle, roll angle, and the position of any point on the aircraft, thereby monitoring the aircraft's posture. A three-dimensional model can be used for real-time virtual display, making it easy to grasp the aircraft's posture in real time and reduce the risk of the lifting process.

[0106] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to in detail.

[0107] So far, the technical solution of the present application has been described in conjunction with the preferred embodiments shown in the accompanying drawings. Those skilled in the art should understand that the scope of protection of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art can make equivalent changes or replacements to the relevant technical features, and the technical solutions after these changes or replacements will fall within the scope of protection of the present application.

Claims

1. A method for monitoring the posture of an entire aircraft during ground hoisting during an aircraft structural strength test, characterized in that: include: Displacement sensors are symmetrically arranged at P1 measuring point on the front section of the fuselage, P2 measuring point on the left wing, and P3 measuring point on the right wing; Construct a global coordinate system with the aircraft heading as the x-axis direction, the line connecting the P2 and P3 measuring points as the y-axis direction, the midpoint of the line connecting the P2 and P3 measuring points as the origin, the aircraft heading backward as the positive x-axis direction, the aircraft span direction to the right as the positive y-axis direction, and the vertical upward direction as the positive z-axis direction. Take the midpoint of the line connecting measuring points P2 and P3 as point O; During the aircraft lifting process, the aircraft pitch angle θ at the previous moment f 、Aircraft roll angle θ g , calculate and deduct the aircraft roll angle θ g The coordinate change of the P1 measuring point and the O point along the z-axis in the global coordinate system affected by the change in, Δz1 (i) The displacement of the measuring point P1 measured by the displacement sensor for the i-th time; Δz O (i) is the displacement of point O for the i-th time; Δz2 (i) The displacement of the measuring point P2 measured by the displacement sensor for the i-th time; Δz3 (i) The displacement of the P3 measuring point i is measured by the displacement sensor; Calculated Iteratively calculate the aircraft pitch angle θ f 、Aircraft roll angle θ g : in, x1 (0) is the x-coordinate of the P1 measuring point in the global coordinate system in the initial state; x O (0) The x-coordinate of point O in the global coordinate system in the initial state; z1 (0) is the z coordinate of the P1 measuring point in the global coordinate system in the initial state; z O (0) The z coordinate of point O in the global coordinate system in the initial state; y2 (0) is the y coordinate of the P2 measuring point in the global coordinate system in the initial state; y3 (0) is the y coordinate of the P3 measuring point in the global coordinate system in the initial state; Until the aircraft pitch angle θ is obtained by iterative calculation f 、Aircraft roll angle θ g If the deviation from the previous iteration value is less than the set value, the aircraft pitch angle θ calculated iteratively will be f 、Aircraft roll angle θ g As the aircraft pitch angle θ at the current moment f 、Aircraft roll angle θ g ; Use the 3D model to display the aircraft's posture in the hoisted state in real time, including the pitch angle θ f , roll angle θ g and the location of the support points; The initial position of the aircraft remains unchanged after the mark. The actual position of the 3D model and the aircraft attitude are displayed in real time along with the measured values. The initial mark position of the aircraft is marked with color. The aircraft pitch angle θ is set. f , roll angle θ g The control range will be exceeded and an alarm will be automatically issued once the range is exceeded.

2. The method for monitoring the posture of a whole aircraft during ground hoisting during an aircraft structural strength test according to claim 1, characterized in that: Until the aircraft pitch angle θ is obtained by iterative calculation f 、Aircraft roll angle θ g The deviation from the previous iteration value is less than the set value, specifically less than 0.1%.

3. The method for monitoring the posture of a whole aircraft during ground hoisting during an aircraft structural strength test according to claim 1, characterized in that: Set the initial state, the aircraft pitch angle θ f 、Aircraft roll angle θ g is 0.

4. The method for monitoring the posture of a whole aircraft during ground hoisting during an aircraft structural strength test according to claim 1, characterized in that: Also includes: During the aircraft lifting process, the aircraft pitch angle θ f 、Aircraft roll angle θ g Calculate any P on the aircraft r Point location: with r (i) =with r (0) +Δz r (i) ; in, z r (i) is the x-coordinate P in the global coordinate system r The z coordinate of point i; Δz r (i) P r The displacement of point i; x r (0) P is the initial state r The x-coordinate of the point in the global coordinate system; y r (0) P is the initial state r The y coordinate of the point in the global coordinate system; z r (0) P is the initial state r The z-coordinate of the point in the global coordinate system.

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