Braking system

Abstract

The present invention relates to an air vehicle (V) comprising: more than one wheel (2) enabling the aircraft (V) to move on the ground (Z); at least one rotating structure (3) disposed on the aircraft (V) to perform rotational motion concentric with and together with the wheel (2); friction element (4) contacting and pressing the rotating structure (3) to generate a braking force that decelerates the air vehicle (V); at least one actuator (5) triggered by an electric motor (E) to actuate the friction element (4) such that the friction element moves toward and / or away from the rotating structure (3); a control unit (6) capable of controlling the amount of current supplied to the electric motor (E); and more than one braking level (7) varying according to the amount of current supplied to the electric motor (E) and representing the magnitude of the braking force applied to the air vehicle (V), wherein the rotating structure (3) and the friction element (4) are in contact with each other via the braking level.

Description

Technical Field

[0001] This invention relates to electromechanical braking systems in airborne and / or space vehicles. Background Technology

[0002] Braking systems in air and / or space vehicles are fundamental systems that enable control of the vehicle's speed and maneuverability while it is moving on a runway. In the prior art, air vehicles typically use hydraulic brakes, where braking force is transmitted via a master cylinder to hydraulic brake calipers located in the wheels. However, in recent years, fully electric braking systems have become the preferred choice for air vehicles, especially unmanned ones, because they are more practical and require less maintenance.

[0003] In electric braking systems, such methods operate by generating braking torque through electromagnetic force, which in turn introduces a transmission via a gear / screw shaft mechanism positioned in front of the electric motor to produce a clamping force. The braking amount is determined by measuring this clamping force, or by applying braking by controlling the position of the braking pressure piston. Force control measurement requires a solution that is unaffected by temperature variations in the airborne vehicle and presents problems, such as the inability to obtain the desired clamping force with positional variations due to liner wear in electric brakes designed for position control. Research exists on developing methods to address such problems.

[0004] US Patent Document US6,199,670, included in the prior art, discloses a braking system that enables an airborne vehicle to decelerate and stop, and is operated by actuators that obtain the necessary power from a corresponding engine. In this system, it should be noted that the engine current is increased and decreased to obtain the necessary braking force, and a control system is used to control the current level.

[0005] US Patent 9169007B2, included in the known art, discloses a method for managing parking braking in a braking system for a vehicle equipped with an electric brake. The method includes the steps of: selecting a first direct adjustment table and applying it to a predetermined initial application time; making a first adjustment; comparing the actual change in actuator position with the theoretical change in actuator position obtained from the direct adjustment table after an application time equal to the initial application time; and selecting a second direct adjustment table where the theoretical change in actuator position most closely approximates the actual change in position.

[0006] Another patent document, EP3092159A1, included in the known art, discloses a method and system for increasing the accuracy of the clamping force of an electric aircraft carbon brake by using a portion of a plurality of electric brake actuators dedicated to each brake, thereby providing greater accuracy for small brake clamping force commands without affecting normal operation. The electric brake actuator for each brake is capable of issuing low brake clamping force commands without affecting normal braking. This system is an instrument aircraft brake that reduces structural load on the aircraft by limiting the initial application of braking force and delaying the full start of braking for a preset time period.

[0007] Another patent document, US6929102B1, included in the known art, discloses a method for actuating a wheel brake assembly. The advantage of the method of the present invention is that it can increase the braking force of the wheel brake assembly to a value exceeding that of the quasi-static final state, resulting in a significant improvement in braking performance. Summary of the Invention

[0008] The braking system developed by this invention enables the process of slowing down and stopping an aerial vehicle in a more practical and reliable manner.

[0009] Another object of the present invention is to achieve the process of decelerating an airborne and / or space vehicle through a more efficient system, in which a braking system triggered by the vehicle's electric motor is used.

[0010] Another object of the present invention is to provide a braking system that performs control of the braking system in an unmanned aerial vehicle in a safer and faster manner.

[0011] An air vehicle, in the form of an airborne vehicle and / or an unmanned airborne vehicle, implemented to achieve the objectives of the invention and defined in the first claim and its dependent claims, comprises: more than one wheel, controlled by or under the control of a pilot, mounted on an autonomously operable airborne vehicle, the wheel being positioned at contact with the ground (i.e., a runway) and enabling the airborne vehicle to move and change direction on the ground; a disc-shaped rotating structure having substantially the same form as the wheel, mounted on the airborne vehicle, aligned with and connected to the wheel, and rotatable relative to the wheel; and friction elements disposed in a braking system, located on opposite sides of the rotating structure and in contact with the rotating structure, compressing the rotating structure and applying a clamping force to prevent rotation of the rotating structure, thereby generating braking force in the airborne vehicle and enabling the airborne vehicle to decelerate. Here, an actuator transmits motion transmitted by an electric motor, enabling the friction elements to move, thereby increasing or decreasing the distance between the friction elements and the rotating structure. The actuator enables the friction elements to contact the rotating structure and to interrupt this contact and move the friction elements away from the rotating structure. As the amount of current used by the electric motor increases, the braking force increases; conversely, when the current supplied by the motor decreases, the braking force applied to the air vehicle decreases. Depending on the magnitude of the braking force applied to the air vehicle, the amount of current required by the electric motor to provide braking, predetermined by the manufacturer, is scaled into multiple levels, known as braking levels. When a threshold is exceeded that required by the braking input supplied from the autonomous flight control system or the pilot, the braking force applied to the air vehicle is controlled, causing it to switch between these levels via a control unit. A braking level refers to a state where the friction elements and rotating structures are in contact with each other, and the braking force applied to the air vehicle by the braking system is not zero.

[0012] The braking system according to the invention can operate in response to user commands and / or as a result of executing codes in the control unit to increase or decrease braking force, enabling the air vehicle to decelerate, stop, and / or change direction. Here, when the value of the input from the user and / or control unit exceeds a threshold predetermined by the manufacturer, it can switch from one braking level to another. When switching between braking levels, the contact between the rotating structure and the friction element terminates briefly, minimizing the time delay between the increase in current supplied to the electric motor and the increase in braking force applied to the air vehicle by reducing power losses caused by static friction in the gearbox of the electric motor. For any braking level applied to the vehicle, parameters indicating the braking force predetermined by the manufacturer and the current obtained by the electric motor are provided. When the contact between the rotating structure and the friction element is interrupted during the switch from one braking level to another, the electric motor is brought to the current value required for the next braking force and prepared accordingly, and then the friction element is brought back into contact with the rotating structure for the new braking level. Thus, when the user's input command to increase or decrease the braking force exceeds a certain threshold, the braking level is changed by the control system, and this change can be observed as a change in the braking force applied to the airborne vehicle within a delay on the order of milliseconds. Here, the aim is to prevent static friction of the electric motor gearbox and wear on the transmission components by immediately operating the electric motor in the opposite direction.

[0013] In an embodiment of the braking system of the present invention, when the brake is in the free position (R), the braking system is positioned to maintain a distance between the rotating structure and the friction element in the event of a change in braking level or the termination of braking application. The friction element is actuated only according to a time command (regardless of any distance) to increase the distance between the friction element and the rotating structure over a certain time period. The friction element is removed from the rotating structure such that the time periods are different or equal when different braking levels are switched. Contact between the friction element and the rotating structure is restored when the user-predetermined values ​​of the electric motor current and braking force are reached. This ensures that the magnitude of the braking force acting on the air vehicle is independent of dimensional changes that may occur due to wear of the friction element and / or the rotating structure. Furthermore, it ensures that the system operates harmoniously with rotating structures of varying thicknesses.

[0014] In an embodiment of the braking system of the present invention, a control unit is provided that enables the friction elements to be brought to a remote position (U) where the distance between the friction elements and the rotating structure is increased to its maximum value after the wheels lose contact with the ground when the air vehicle takes off from the runway, or before the wheels contact the ground when the air vehicle lands on the runway at the end of its flight. This allows nearly identical forces to be applied to the wheels at the instant a braking command is given, because the friction elements on the air vehicle are in their respective positions before the wheels contact the ground and the first braking process is performed. Since each friction element will remain in its previous takeoff position if all brakes on the air vehicle are not brought to the remote position (U) before contact with the runway, it may be in different positions, potentially causing problems where different braking forces are applied to different rotating structures on the air vehicle in the first braking command given by the user or control unit.

[0015] In an embodiment of the invention, the braking system includes a limiter on the actuator that prevents the friction element from moving when the distance between the friction element and the rotating structure reaches a maximum value predetermined by the manufacturer. Due to the limiter, the maximum distance between the rotating structure and the friction element is limited. Therefore, the friction element can move within a desired positional range.

[0016] In embodiments of the invention, the braking system includes a first braking level and a plurality of second braking levels, wherein the braking force applied to the wheel and the amount of current obtained by the electric motor are kept constant at values ​​predetermined by the manufacturer. When a friction element is triggered from the first braking level according to a command sent by a user and / or control unit, the braking force and the corresponding current value increase and are brought to the second braking level, thereby increasing the value of the frictional force applied to the rotating structure by the friction element and preventing rotational movement of the rotating structure. Conversely, when the opposite occurs, the braking force and the corresponding current value decrease, and the system switches from the second braking level to the first braking level.

[0017] In an embodiment of the invention for a braking system, the control unit prevents contact between the rotating structure and the friction element during each braking level for equal time periods, as predetermined by the manufacturer. The time period during which it prevents contact between the rotating structure and the friction element when switching between a first braking level and a second braking level can be the same as the disengagement time when switching between a second braking level and another second braking level.

[0018] In an embodiment of the invention for a braking system, the control unit prevents contact between the rotating structure and the friction element at each braking level during different time periods, as predetermined by the manufacturer. The time period during which the rotating structure prevents contact with the friction element when switching between a first braking level and a second braking level can be different from the disengagement time when switching between a second braking level and another second braking level, thereby ensuring that the system achieves the manufacturer-predetermined current and braking force values.

[0019] In an embodiment of the invention, when the braking system switches between braking levels, the braking system eliminates excess load on the electric motor by operating the electric motor in the opposite direction, and at the same time, the friction element is triggered by an actuator (which may be a piston) and moves away from the rotating disk by performing linear movement.

[0020] In an embodiment of the invention for the braking system, the control unit has a maintenance mode in which, upon command from the user and / or the control unit, the friction element moves away from the rotating structure and is brought to a remote position (U) to facilitate the performance of air vehicle maintenance operations and component replacements. The pilot and / or the person in charge can select the maintenance mode and / or the driving mode.

[0021] In an embodiment of the invention, the braking system includes an input unit that allows a user to select between braking level and / or air vehicle mode. Due to the input unit, commands can be sent to the system to provide deceleration as needed by the user.

[0022] In an embodiment of the invention, the braking system includes a braking level indicator that indicates to the user various values ​​and parameters related to the braking level applied to the air vehicle by the user and / or control unit.

[0023] In an embodiment of the invention for a braking system, the manufacturer predetermines the duration for which brake application and release commands can be continuously given by the user to the input unit. When repeated brake application and release commands exceeding a specified threshold are given, the friction element moves to the distal position (U). This protects the system from system failure by the control unit and prevents any accidents that may occur due to user error.

[0024] In an embodiment of the invention for a braking system, the control unit actuates the friction element in one direction for a duration of less than one second. This increases the distance between the friction element and the rotating structure, causing the friction element to move away from the rotating structure when the braking level changes. By keeping this duration short, the delay that occurs between the interruption of contact between the friction element and the rotating structure and the establishment of new contact prevents it from affecting system behavior.

[0025] In an embodiment of the invention concerning the braking system, the control unit has an autonomous mode and a manual mode. In the autonomous mode, air vehicle control commands are issued by the control unit, while in the manual mode, the air vehicle can be controlled by the pilot. The manner of controlling the air vehicle and the braking system can be altered by switching between the autonomous and manual modes by the pilot and / or user. In manual mode, braking commands are issued by the pilot controlling the air vehicle, while in autonomous mode, these commands are executed by running code within the control unit.

[0026] In an embodiment of the invention concerning the braking system, if the user has not given a command to change the braking level during taxiing operations while landing in manual mode, the control unit automatically applies braking force and / or warns the user via a braking level indicator. When the air vehicle is used in manual mode, it is anticipated that the user will give the relevant command to apply the necessary braking force upon wheel contact with the ground. If no command is given within a manufacturer-predetermined time period, the braking system will automatically apply braking. Attached Figure Description

[0027] The accompanying drawings illustrate a braking system implemented to achieve the objectives of the present invention, wherein, from these drawings;

[0028] Figure 1 This is a schematic diagram of an aerial vehicle and its braking system.

[0029] Figure 2 It is a 3D diagram of the braking system.

[0030] Figure 3 It is a schematic diagram of a rotating structure and a wheel.

[0031] Figure 4 This is a side view of a rotating friction element and an electric motor.

[0032] Figure 5 This is a cross-sectional view of the braking system in the distal position (U).

[0033] Figure 6 This is a cross-sectional view of the braking system in the free position (R).

[0034] Figure 7 It is a top-view cross-sectional view of the braking system when it applies braking force to the air vehicle.

[0035] Figure 8 It is a graphical view showing the braking level as the braking force applied to an air vehicle changes over time.

[0036] The components shown in the figure are assigned reference numerals, and the corresponding terms for these reference numerals are listed below.

[0037] 1. Braking system

[0038] 2. Wheel

[0039] 3. Rotational structure

[0040] 4. Friction elements

[0041] 5. Actuator

[0042] 6. Control Unit

[0043] 7. Braking level

[0044] 701. First braking level

[0045] 702, 703. Second braking level

[0046] 8. Input Unit

[0047] 9. Brake level indicator

[0048] 10. Limiter

[0049] (E) Electric motor

[0050] (V) Aircraft

[0051] (Z) Ground

[0052] (U) distal position

[0053] (R) Free position Detailed Implementation

[0054] Braking system 1 is configured for an air vehicle V, which includes: more than one wheel 2 enabling the air vehicle V to move on the ground Z; at least one rotating structure 3 disposed on the air vehicle V to rotate concentrically with and together with the wheel 2; friction elements 4 contacting and pressing the rotating structure 3 to generate a braking force that decelerates the air vehicle V; at least one actuator 5 triggered by an electric motor E to actuate the friction elements 4 to move them toward and / or away from the rotating structure 3; a control unit 6 enabling control of the amount of current supplied to the electric motor E; and more than one braking level 7 varying according to the amount of current supplied to the electric motor E and representing the magnitude of the braking force applied to the air vehicle V, by which the rotating structure 3 and the friction elements 4 contact each other ( Figure 1 ).

[0055] When switching between multiple braking levels 7 according to braking commands given by the user and / or control unit 6, the control unit 6 of the braking system 1 according to the invention prevents contact between the rotating structure 3 and the friction element 4 for a period of time as predetermined by the manufacturer, thereby reducing losses due to the power transmission elements and thus enabling the application of a predetermined braking force to the wheel 2. Figure 2 ).

[0056] The air vehicle V moves on the ground Z via wheels 2, and the braking system 1 enables the air vehicle V to decelerate and / or stop. A rotating structure 3 is detachably mounted to a recess located inside the wheels 2 on the air vehicle V and shaped to fit the rotating structure 3 via fasteners. Friction elements 4 are located on the braking system 1, facing the surfaces forming the thickness of the rotating structure 3, and are able to press the rotating structure 3 against these surfaces. Braking is performed by bringing one side of the friction element 4 closer to the rotating structure 3, or by bringing it closer from both sides, while one side of the friction element 4 remains constant. Actuation of the friction element 4 is achieved via an electric motor E, a piston-shaped actuator 5, and a transmission element disposed therebetween. The magnitude of the braking force applied to the air vehicle V is scaled to so-called braking levels 7, each braking level having a predetermined force magnitude, wherein the determination of the braking level 7 corresponding to inputs given by the user and / or control unit 6 is performed by the control unit 6. The control unit 6 enables the electric motor E to receive a sufficient amount of current for the corresponding braking level 7.

[0057] For the braking process to be performed, the rotating structure 3 and the friction element 4 need to be in contact with each other. The clamping force applied to the rotating structure 3 by the friction element 4 increases or decreases proportionally to the amount of current obtained by the electric motor E. When switching between multiple braking levels 7, the contact between the friction element 4 and the rotating structure 3 is immediately interrupted, where each braking level has braking force and current parameters predetermined by the manufacturer. In this way, the problem of applying the desired braking force to the air vehicle V in a delayed manner due to power loss caused by static friction in the gearbox of the electric motor E when switching between multiple braking levels 7 is almost completely eliminated.

[0058] In an embodiment of the invention, the braking system 1 includes an actuator 5 that increases the distance between the friction element 4 and the rotating structure 3 according to a manufacturer-predetermined time command received from the control unit 6, and moves the friction element 4 only in a time-dependent manner to move it away from the rotating structure 3 when the brake is in a release position R in which the rotating structure 3 is not in contact with the friction element 4, thereby ensuring that the generated braking force is independent of the wear degree of the friction element 4 and / or the rotating structure 3 and / or the thickness of the friction element 4. The actuator 5 provides the energy required for actuation from the electric motor E and ensures that the movement transmitted by the electric motor E is delivered to the friction element 4. The removal of the friction element 4 from the rotating structure 3 is determined solely by time, not by any positional data, and involves moving the friction element 4 for a period of time and then terminating its contact with the rotating structure 3. After the period of time has ended, following a change in braking level 7, the friction element 4 is brought into contact with the rotating structure 3, and braking is applied to the air vehicle V.

[0059] In an embodiment of the braking system 1 of the present invention, the control unit 6 enables the friction element 4 to be moved to a remote position U, where the distance between the friction element 4 and the rotating structure 3 is maximized during takeoff after the wheels 2 have just ceased contact with the ground Z, or during landing before the wheels 2 have just contacted the ground Z. This allows the friction element 4 on the air vehicle V to apply nearly the same force to the wheels 2 when in the same position before braking. When no braking force is applied to the air vehicle V, the friction element 4 retracts and is moved to the remote position U, where movement is terminated by the limiter 10. This ensures that the user-preferred braking level 7 can be applied to all wheels 2 during landing. When the air vehicle V lands on the ground Z, the friction element 4 is moved toward the rotating structure 3 to apply braking force. When the friction element 4 contacts the rotating structure 3, the electric motor E begins to receive current and can switch between braking levels 7 by changing the current value.

[0060] In an embodiment of the invention, the braking system 1 includes a limiter 10 disposed on the actuator 5 to terminate movement of the friction element 4 when the distance between the friction element 4 and the rotating structure 3 reaches a maximum value determined by the user. The limiter 10 is disposed on the braking system 1 to restrict movement of the actuator 5. The limiter 10 prevents the piston-shaped actuator 5 from moving beyond a certain level and prevents it from reaching unwanted positions that could damage the system.

[0061] In an embodiment of the invention, the braking system 1 includes: a first braking level 701, wherein the braking force applied to the wheel 2 and the current used by the electric motor E are kept constant at a predetermined level; and more than one second braking level 702, 703, wherein when a constant command is given by the user and / or the control unit 6, the friction element 4 is brought from the first braking level 701 to the second braking level by increasing the braking force and the corresponding current value. When switching from the first braking level 701 to the second braking level 702, the current value and the braking force value of the electric motor E increase. When it is desired to reduce the braking force applied to the air vehicle V, the braking force and the corresponding current value decrease, causing it to switch from the second braking level 702 to the first braking level 701.

[0062] In an embodiment of the invention for the braking system 1, the control unit 6 prevents contact between the rotating structure 3 and the friction element 4 for the same time period, as predetermined by the manufacturer, between each braking level 7. The time period during which contact between the friction element 4 and the rotating structure 3 is interrupted when switching from one braking level 7 to another may be the same in other switching events occurring between different braking levels 7.

[0063] In an embodiment of the invention for the braking system 1, the control unit 6 prevents contact between the rotating structure 3 and the friction element 4 for different time periods, as predetermined by the manufacturer, between each braking level 7. The time range during which contact between the friction element 4 and the rotating structure 3 is interrupted when switching from one braking level 7 to another can be determined to be different in other switching events occurring between different braking levels 7. Once the current of the electric motor E and the braking force applied to the airborne vehicle V reach their desired values, contact between the friction element 4 and the rotating structure 3 can be restored, and the application of braking force can be resumed.

[0064] In an embodiment of the invention, when the braking level 7 changes, the braking system 1 causes the electric motor E to operate in the opposite direction for a predetermined time period, and the actuator 5 moves in its extending direction to increase the distance between the friction element 4 and the rotating structure 3. The friction element 4 is triggered by the electric motor E and the actuator 5 to move linearly away from the rotating structure 3, and to prevent contact between the friction element 4 and the rotating structure 3 for the predetermined time period.

[0065] In an embodiment of the invention relating to the braking system 1, the control unit 6 has a maintenance mode in which, during maintenance operations and component replacements of the air vehicle V, the friction element 4 is moved to a remote position U for easy access when commanded by the user and / or the control unit 6. In the air vehicle V, which enters maintenance mode via the control unit 6, providing convenient access to the braking system 1 facilitates component maintenance and repair operations for maintenance personnel. When the air vehicle V enters maintenance mode, the friction element 4 is moved to a remote position U away from the rotating structure 3.

[0066] In an embodiment of the invention, the braking system 1 includes at least one input unit 8, enabling a user to select a braking level 7. The user can determine the amount of braking force to be applied to the air vehicle V via the input unit 8. The control unit 6 enables the supply of the amount of current required for the corresponding braking level 7 to the electric motor E.

[0067] In an embodiment of the invention, the braking system 1 includes a plurality of brake level indicators 9 to indicate to the user the applied braking level 7. Through the brake level indicators 9, the user is informed of the real-time braking level 7, which refers to the braking force that varies according to the current value obtained from the electric motor E.

[0068] In the embodiment of the braking system 1 of the present invention, when the user gives the input unit 8 a repeated brake application and release command exceeding a specified threshold, the control unit 6 protects the system from freezing by moving the friction element 4 to the distal position U. When continuous brake application and subsequent brake release actions occur at a frequency exceeding the frequency determined by the user, the friction element 4 must constantly move away from the rotating structure 3, which may lead to system failure and malfunction. By means of the control unit 6, when encountering repeated squeeze-release commands, the system is protected from possible errors and damage by moving the friction element 4 to the distal position U.

[0069] In an embodiment of the invention for the braking system 1, the control unit 6 moves the friction element 4 within a time period of less than one second to move the friction element away from the rotating structure 3 when the braking level 7 changes. By controlling the control unit 6, the friction element 4 moves away from the rotating structure 3 within a short time period, thereby reducing static friction in the electric motor E and power loss caused by the transmission elements. By keeping the time period preventing contact between the friction element 4 and the rotating structure 3 on the order of milliseconds, at least partially preventing changes in braking force from negatively impacting the airborne vehicle V.

[0070] In an embodiment of the invention relating to the braking system 1, the control unit 6 has an autonomous mode and a manual mode. In autonomous mode, control commands for the air vehicle V are issued by the control unit 6, while in manual mode, the air vehicle V is controlled by the pilot. To enable the air vehicle V to move autonomously, it can be switched to autopilot via the control unit 6, and when the operator wants to command the air vehicle V, it can be switched to manual mode via the control unit 6.

[0071] In an embodiment of the present invention concerning the braking system 1, if the user does not give a command to change the braking level 7 during taxiing after landing in manual mode, the control unit 6 automatically applies braking force and / or warns the user via the braking level indicator 9. For the air vehicle V to move safely on the ground Z, the user must input the braking level 7. When the user does not input the braking level 7, the control unit 6 will apply a corresponding braking force value to brake the air vehicle V and / or the braking level indicator 9 will inform the user of the braking level 7 based on the amount of force applied, under the command of the control unit 6.

Claims

1. A braking system (1) configured for an air vehicle (V), the air vehicle comprising: More than one wheel (2) enables the air vehicle (V) to move on the ground (Z); At least one rotating structure (3) is disposed on the air vehicle (V) to be concentric with the wheel (2) and to perform rotational motion together with the wheel (2); a friction element (4) contacts and presses against the rotating structure (3) to generate a braking force that decelerates the air vehicle (V); at least one actuator (5) is triggered by an electric motor (E) to actuate the friction element (4) so ​​that the friction element moves toward and / or away from the rotating structure (3); a control unit (6) is capable of controlling the amount of current supplied to the electric motor (E); and more than one braking level (7) is provided according to the amount of current supplied to the electric motor (E). The change in the current of the vehicle (E) indicates the magnitude of the braking force applied to the air vehicle (V). The rotating structure (3) contacts the friction element (4) according to the braking level. The rotating structure (3) is characterized in that when switching between multiple braking levels (7) according to the braking command given by the user and / or the control unit (6), the control unit (6) is configured to prevent contact between the rotating structure (3) and the friction element (4) for a predetermined time period, thereby enabling the reduction of losses due to the power transmission element and thus enabling the application of a predetermined braking force to the wheel (2). The actuator (5) increases the distance between the friction element (4) and the rotating structure (3) according to a manufacturer-predetermined time command received by the actuator from the control unit (6). The actuator causes the friction element (4) to move only in a time-related manner to move the friction element (4) away from the rotating structure (3) and to move the friction element (4) closer to the rotating structure (3) in equal time intervals. This causes the friction element (4) to move away from the rotating structure (3) when the braking system is in the release position (R) where the rotating structure (3) is not in contact with the friction element (4), thereby causing the friction element (4) to move away from the rotating structure (3). This results in the braking force generated not varying according to the wear of the friction element (4) and / or the rotating structure (3) and / or according to the thickness of the friction element (4).

2. The braking system (1) according to claim 1, characterized in that, The control unit (6) enables the friction element (4) to be brought to a remote position (U), where the distance between the friction element (4) and the rotating structure (3) is maximized during takeoff after the wheel (2) has just stopped contacting the ground (Z) or during landing before the wheel (2) has just contacted the ground (Z), thereby enabling the friction element (4) on the air vehicle (V) to apply almost the same force to the wheel (2) while in the same position before braking.

3. The braking system (1) according to claim 1 or claim 2, characterized in that, The braking system also includes a limiter (10) disposed on the actuator (5) to terminate the movement of the friction element (4) when the distance between the friction element (4) and the rotating structure (3) reaches its maximum value.

4. The braking system (1) according to claim 1 or claim 2, characterized in that, The braking system includes a first braking level (701) and more than one second braking level (702, 703). At the first braking level, the braking force applied to the wheel (2) and the current used by the electric motor (E) are kept constant at a predetermined level. When a constant command is given by the user and / or the control unit (6), the friction element (4) is brought from the first braking level (701) to the second braking level by increasing the braking force and the corresponding current value.

5. The braking system (1) according to claim 1 or claim 2, characterized in that, The control unit (6) is configured to prevent contact between the rotating structure (3) and the friction element (4) during a predetermined equal time period between each braking level (7).

6. The braking system (1) according to claim 1 or claim 2, characterized in that, The control unit (6) is configured to prevent contact between the rotating structure (3) and the friction element (4) at predetermined different time periods between each braking level (7).

7. The braking system (1) according to claim 1 or claim 2, characterized in that, When the braking level (7) changes, the electric motor (E) is operated in the opposite direction for a predetermined time period, and the actuator (5) moves the friction element (4) in its extending direction to increase the distance between the friction element (4) and the rotating structure (3).

8. The braking system (1) according to claim 2, characterized in that, The control unit (6) has a maintenance mode in which, during maintenance operations and component replacements of the air vehicle (V), the friction element (4) is brought to the distal position (U) for easy access when commanded by the user and / or the control unit (6).

9. The braking system (1) according to claim 2, characterized in that, The braking system also includes at least one input unit (8) that enables the user to determine the braking level (7).

10. The braking system (1) according to claim 1 or claim 2, characterized in that, The braking system also includes multiple braking level indicators (9) to indicate to the user the applied braking level (7).

11. The braking system (1) according to claim 9, characterized in that, When a user gives the input unit (8) a repeated braking application and release command exceeding a specified threshold, the control unit (6) is configured to protect the braking system from freezing by bringing the friction element (4) to the distal position (U).

12. The braking system (1) according to claim 1 or claim 2, characterized in that, The control unit (6) is configured to move the friction element (4) over a period of less than one second to move the friction element away from the rotating structure (3) when the braking level (7) changes.

13. The braking system (1) according to claim 1 or claim 2, characterized in that, The control unit (6) has an autonomous mode and a manual mode. In the autonomous mode, the control commands for the air vehicle (V) are given by the control unit (6), and in the manual mode, the air vehicle (V) is controlled by the pilot.

14. The braking system (1) according to claim 10, characterized in that, In manual mode, if the user does not give a command to change the braking level (7) when performing a gliding operation after landing, the control unit (6) is configured to automatically apply braking force and / or warn the user via the braking level indicator (9).

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