A control system and control method for improving the safety of an aircraft foot brake

Abstract

A kind of control system and control method for improving the safety of aircraft foot brake, through foot displacement sensor increase foot down confirmation module, brake controller and selector judge whether to implement foot brake by the displacement of pilot stepping on foot, according to different foot displacement, judge whether to implement foot brake, the safety of foot brake is improved by 8%. Brake controller only judges whether to implement brake according to foot displacement, compared with the judgment of whether to implement brake by experience through wheel load signal, throttle lever signal and other system signals, the availability of foot brake is improved by 24%. At the same time, cut-off valve pressure sensor is added after cut-off valve to judge whether the actual output and command of cut-off valve are consistent, and the fault detection rate and fault isolation rate are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft, in particular to a method and system for improving the safety of aircraft foot brake. BACKGROUND

[0002] The wheel brake system is one of the most important systems of the aircraft, and plays an important role in the process of take-off and landing of the aircraft. In the process of take-off and landing of the aircraft, non-instruction brake may be caused due to mechanical jamming of the foot brake, false output of the brake instruction sensor or software error of the brake control unit, and such non-instruction brake may cause unnecessary use and wear of the brake control system, and may directly cause catastrophic events to occur in the process of take-off (after V1), so it is necessary to improve the safety of the foot brake to avoid the occurrence of catastrophic events.

[0003] The application disclosed in the publication CN108177644A discloses a non-instruction brake inhibition method and system, which uses software and hardware to cooperatively control the state of the cut-off valve, and the software is used to judge whether to open the cut-off valve in the process of self-detection and ground brake. The hardware is used to judge whether to close the cut-off valve when the aircraft is in the take-off state after V1 and receives the brake instruction. However, the FPGA is added in the control box in the application, and the system external signal is relied on to judge whether to inhibit the brake, which reduces the availability of the brake.

[0004] The application disclosed in the publication CN108216597A discloses a non-instruction brake inhibition system, which uses software and hardware to cooperatively control the state of the cut-off valve, and the software is used to judge whether to open the cut-off valve in the process of self-detection and ground brake. The hardware is used to judge whether to close the cut-off valve when the aircraft is in the take-off state after V1 and receives the brake instruction. However, the FPGA is added in the control box in the application, and the system external signal is relied on to judge whether to inhibit the brake, which reduces the availability of the brake. SUMMARY

[0005] In order to overcome the problems of cost increase caused by the addition of FPGA control and low availability of the brake caused by the dependence on the wheel load signal and other system signals of the brake inhibition, and to avoid the problem of loss of foot brake, the present application provides a control system and control method for improving the safety of the aircraft foot brake.

[0006] The control system for improving the safety of the aircraft foot brake provided by the present application comprises a left foot brake displacement sensor of the main pilot, a right foot brake displacement sensor of the main pilot, a left foot brake displacement sensor of the co-pilot, a right foot brake displacement sensor of the co-pilot, a first brake controller or a second brake controller, a cut-off valve, a cut-off valve pressure sensor, a brake pressure sensor, a wheel, a servo valve and a selector.

[0007] The electrical signal input end of the first brake controller is electrically connected with the first output end of the left footrest displacement sensor of the main driver, the first output end of the right footrest displacement sensor of the main driver, the first output end of the left footrest displacement sensor of the deputy driver, the first output end of the right footrest displacement sensor of the deputy driver, the output end of the cut-off valve pressure sensor and the brake pressure sensor, respectively receiving the footrest displacement signals provided by the footrest displacement sensors, the cut-off valve pressure signals provided by the cut-off valve pressure sensor and the brake pressure signals provided by the brake pressure sensor.

[0008] When the first brake controller is selected, the electrical signal output end of the first brake controller is electrically connected with the first input end of the cut-off valve and the input end of the servo valve, respectively providing control voltage to the cut-off valve and control current to the servo valve.

[0009] When the second brake controller is selected, the electrical signal input end of the second brake controller is electrically connected with the first output end of the left footrest displacement sensor of the main driver, the first output end of the right footrest displacement sensor of the main driver, the first output end of the left footrest displacement sensor of the deputy driver, the first output end of the right footrest displacement sensor of the deputy driver, the second output end of the left footrest displacement sensor of the main driver, the second output end of the right footrest displacement sensor of the main driver, the second output end of the left footrest displacement sensor of the deputy driver, the second output end of the right footrest displacement sensor of the deputy driver, the output end of the cut-off valve pressure sensor and the brake pressure sensor, respectively receiving the footrest displacement signals provided by the footrest displacement sensors, the footrest stepping confirmation signals, the cut-off valve pressure signals provided by the cut-off valve pressure sensor and the brake pressure signals provided by the brake pressure sensor.

[0010] When the selector is selected, the electrical signal input end of the selector is electrically connected with the second output end of the left footrest displacement sensor of the main driver, the second output end of the right footrest displacement sensor of the main driver, the second output end of the left footrest displacement sensor of the deputy driver and the second output end of the right footrest displacement sensor of the deputy driver, respectively receiving the footrest stepping confirmation signals provided by the footrest displacement sensors. The electrical signal output end of the selector is electrically connected with the second input end of the cut-off valve, providing control signals to the cut-off valve.

[0011] The hydraulic output end of the cut-off valve is communicated with the hydraulic input end of the servo valve, providing hydraulic pressure for the servo valve. The hydraulic output end of the servo valve is communicated with the machine wheel through the hydraulic pipeline, providing hydraulic pressure for the machine wheel. The hydraulic input end of the cut-off valve pressure sensor is communicated with the hydraulic pipeline between the cut-off valve and the servo valve, used for detecting the output pressure of the cut-off valve. The hydraulic input end of the brake pressure sensor is communicated with the hydraulic pipeline between the servo valve and the machine wheel, used for detecting the actual brake pressure.

[0012] The foot pedal displacement sensor comprises a displacement detection module and a foot pedal stepping confirmation module. The output end of the displacement detection module is communicated with the input end of the first brake controller, and the displacement detection module converts the displacement of the foot pedal stepped by the pilot into a corresponding foot pedal displacement signal and sends the signal to the instruction signal conversion module. The output end of the foot pedal stepping confirmation module is communicated with the input end of the selector, and the foot pedal stepping confirmation module sends a foot pedal stepping confirmation signal to the selector.

[0013] The first brake controller comprises an instruction signal conversion module, a pressure signal conversion module, a foot pedal control module and a fault confirmation module. The output end of the instruction signal conversion module is communicated with the input end of the foot pedal control module, and the instruction signal conversion module provides the foot pedal control module with a foot pedal displacement signal. The input end of the pressure signal conversion module is communicated with the output end of the pressure sensor, and the output end of the pressure signal conversion module is communicated with the input end of the fault confirmation module, which provides the fault confirmation module with a cut-off valve pressure signal. The input end of the fault confirmation module is communicated with the output end of the foot pedal control module, and the foot pedal control module provides the fault confirmation module with a cut-off valve control signal. The output end of the fault confirmation module is communicated with the input end of the foot pedal control module, which provides the foot pedal control module with a cut-off valve fault signal.

[0014] The second brake controller comprises an instruction signal conversion module, a selection module, a pressure signal conversion module, a fault confirmation module and a foot pedal control module. The output end of the instruction signal conversion module is communicated with the input end of the foot pedal control module, and the instruction signal conversion module provides the foot pedal control module with a foot pedal displacement signal. The input end of the pressure signal conversion module is communicated with the output end of the cut-off valve pressure sensor, and the output end of the pressure signal conversion module is communicated with the input end of the fault confirmation module, which provides the fault confirmation module with a cut-off valve pressure signal. The output end of the fault confirmation module is communicated with the input end of the selection module, which provides the selection module with a fault signal. The output end of the selection module is communicated with the second input end of the cut-off valve, and the selection module provides the cut-off valve with a control instruction. The output end of the foot pedal control module is communicated with the first input end of the cut-off valve, and the foot pedal control module provides the cut-off valve with a control instruction.

[0015] The control method of the control system for improving the safety of the aircraft foot pedal brake is based on the selector to improve the safety of the aircraft foot pedal brake or based on the selection module to improve the safety of the aircraft foot pedal brake, and the specific process is as follows:

[0016] Step one, judging whether the foot pedal is stepped down or not:

[0017] Whether the foot pedal is stepped down or not is judged by the foot pedal displacement sensor.

[0018] When the foot pedal displacement sensor detects that the pilot steps on the foot pedal ≥ the stepping threshold, the foot pedal stepping confirmation module of the foot pedal displacement sensor outputs the foot pedal stepping confirmation signal as 1, that is, the foot pedal is stepped on; otherwise, when the foot pedal displacement sensor detects that the pilot steps on the foot pedal < the stepping threshold, the foot pedal stepping confirmation module of the foot pedal displacement sensor outputs the foot pedal stepping confirmation signal as 0, that is, the foot pedal is not stepped on.

[0019] Step two, receiving the foot pedal stepping confirmation signal sent by the foot pedal stepping confirmation module:

[0020] When the selector receives the foot pedal stepping confirmation signal sent by the foot pedal stepping confirmation module, the selector receives the foot pedal stepping confirmation signal sent by the left foot pedal displacement sensor of the main pilot, the foot pedal stepping confirmation signal sent by the right foot pedal displacement sensor of the main pilot, the foot pedal stepping confirmation signal sent by the left foot pedal displacement sensor of the co-pilot and the foot pedal stepping confirmation signal sent by the right foot pedal displacement sensor of the co-pilot respectively.

[0021] When the second brake controller selection module receives the foot pedal stepping confirmation signal sent by the foot pedal stepping confirmation module, the second brake controller selection module receives the foot pedal stepping confirmation signal sent by the left foot pedal displacement sensor of the main pilot, the foot pedal stepping confirmation signal sent by the right foot pedal displacement sensor of the main pilot, the foot pedal stepping confirmation signal sent by the left foot pedal displacement sensor of the co-pilot and the foot pedal stepping confirmation signal sent by the right foot pedal displacement sensor of the co-pilot

[0022] Step three, judging whether to open the cut-off valve:

[0023] Whether to open the cut-off valve is judged by the selector and / or the first brake controller; or whether to open the cut-off valve is judged by the second brake controller.

[0024] When judging whether to open the cut-off valve:

[0025] When judging whether to open the cut-off valve by the selector, if any one of the four foot pedal stepping confirmation signals received by the selector is 1, the selector judges that the cut-off valve is opened; otherwise, when the four foot pedal stepping confirmation signals are all 0, the selector judges that the cut-off valve is closed.

[0026] When the selector and the first brake controller simultaneously determine that the cut-off valve is open, the cut-off valve is open; if either the selector or the first brake controller determines that the cut-off valve is closed, the cut-off valve is not open.

[0027] When the selector and the first brake controller simultaneously determine that the cut-off valve is open, the cut-off valve is open; if either the selector or the first brake controller determines that the cut-off valve is closed, the cut-off valve is not open.

[0028] When the selector and the first brake controller simultaneously determine that the cut-off valve is open, the cut-off valve is open; if either the selector or the first brake controller determines that the cut-off valve is closed, the cut-off valve is not open.

[0029] When the selector and the first brake controller simultaneously determine that the cut-off valve is open, the cut-off valve is open; if either the selector or the first brake controller determines that the cut-off valve is closed, the cut-off valve is not open.

[0030] When the selector and the first brake controller simultaneously determine that the cut-off valve is open, the cut-off valve is open; if either the selector or the first brake controller determines that the cut-off valve is closed, the cut-off valve is not open.

[0031] When the selector and the first brake controller simultaneously determine that the cut-off valve is open, the cut-off valve is open; if either the selector or the first brake controller determines that the cut-off valve is closed, the cut-off valve is not open.

[0032] Step four, determine whether the cut-off valve is open fault:

[0033] The first brake controller or the second brake controller receives the pressure output by the cut-off valve detected by the cut-off valve pressure sensor.

[0034] When the first brake controller or the second brake controller receives the cut-off valve pressure detected by the cut-off valve pressure sensor ≤ pressure deviation threshold, and the first brake controller judges the cut-off valve to be open in step three, when both conditions are met, the fault confirmation module of the first brake controller judges the cut-off valve to be open fault; otherwise, the first brake controller judges that there is no cut-off valve opening fault.

[0035] Step five, judge whether the cut-off valve is closed fault:

[0036] The first brake controller or the second brake controller receives the pressure output by the cut-off valve pressure sensor.

[0037] When the first brake controller or the second brake controller receives the cut-off valve pressure detected by the cut-off valve pressure sensor ≥ pressure deviation threshold, and the first brake controller judges the cut-off valve to be closed in step three, when both conditions are met, the fault confirmation module of the first brake controller judges the cut-off valve to be closed fault; otherwise, the first brake controller judges that there is no cut-off valve closing fault.

[0038] Step six, close the cut-off valve:

[0039] The first brake controller or the brake controller foot pedal control module receives the cut-off valve closing fault and the cut-off valve opening fault signal sent by the fault confirmation module, when the cut-off valve closing fault or the cut-off valve opening fault is detected, the first brake controller or the second brake controller closes the cut-off valve; otherwise, the first brake controller or the second brake controller continues to open the cut-off valve.

[0040] Compared with the prior art, the present application has the following advantages:

[0041] The foot pedal displacement sensor adds a foot pedal depression confirmation module, and the brake controller and the selector determine whether to implement the foot pedal brake according to the displacement of the foot pedal depressed by the pilot. According to different foot pedal displacement conditions, it is determined whether to implement the foot pedal brake, and the safety of the foot pedal brake is improved by 8%. The brake controller only determines whether to implement the brake according to the foot pedal displacement, and compared with the experience of determining whether to implement the brake through other system signals such as wheel load signals and throttle lever signals, the availability of the foot pedal brake is improved by 24%. At the same time, a cut-off valve pressure sensor is added behind the cut-off valve to determine whether the actual output and the command of the cut-off valve are consistent, thereby improving the fault detection rate and the fault isolation rate. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 The structure diagram of the brake controller using the selector;

[0043] Figure 2 The cooperation diagram of the foot pedal displacement sensor and the brake controller using the selector;

[0044] Figure 3 Structure diagram of brake controller with use selection module

[0045] Figure 4 Structure diagram of brake controller with use selection module

[0046] In the figure: 1. left foot pedal displacement sensor of the main driver; 2. right foot pedal displacement sensor of the main driver; 3. left foot pedal displacement sensor of the co-driver; 4. right foot pedal displacement sensor of the co-driver; 5. first brake controller; 6. cut-off valve; 7. cut-off valve pressure sensor; 8. brake pressure sensor; 9. wheel; 10. servo valve; 11. selector; 12. foot pedal depression confirmation module; 13. displacement detection module; 14. instruction signal conversion module; 15. pressure signal conversion module; 16. fault confirmation module; 17. foot pedal control module; 18. second brake controller; 19. selection module; 20. brake controller. DETAILED DESCRIPTION

[0047] Example 1

[0048] This example is a brake system based on a selector that can improve the safety of the foot pedal brake of an airplane. The brake controller 20 used includes a left foot pedal displacement sensor 1 of the main driver, a right foot pedal displacement sensor 2 of the main driver, a left foot pedal displacement sensor 3 of the co-driver, a right foot pedal displacement sensor 4 of the co-driver, a first brake controller 5, a cut-off valve 6, a cut-off valve pressure sensor 7, a brake pressure sensor 8, a wheel 9, a servo valve 10, and a selector 11.

[0049] The electrical signal input end of the first brake controller 5 is electrically connected to the first output end of the left foot pedal displacement sensor 1 of the main driver, the first output end of the right foot pedal displacement sensor 2 of the main driver, the first output end of the left foot pedal displacement sensor 3 of the co-driver, the first output end of the right foot pedal displacement sensor 4 of the co-driver, the output end of the cut-off valve pressure sensor 7, and the output end of the brake pressure sensor 8, respectively, to receive the foot pedal displacement signals provided by the foot pedal displacement sensors, the cut-off valve pressure signals provided by the cut-off valve pressure sensor, and the brake pressure signals provided by the brake pressure sensor.

[0050] The electrical signal output end of the first brake controller 5 is electrically connected to the first input end of the cut-off valve 6 and the input end of the servo valve 10, respectively, to provide a control voltage to the cut-off valve 6 and a control current to the servo valve 10.

[0051] The electrical signal input end of the selector 11 is electrically connected with the second output end of the left footrest displacement sensor of the main driver 1, the second output end of the right footrest displacement sensor of the main driver 2, the second output end of the left footrest displacement sensor of the deputy driver 3 and the second output end of the right footrest displacement sensor of the deputy driver 4 respectively, and receives the footrest stepping confirmation signal provided by each footrest displacement sensor.

[0052] The electrical signal output end of the selector 11 is electrically connected with the second input end of the cut-off valve 6, and provides the control signal to the cut-off valve 6.

[0053] The hydraulic output end of the cut-off valve 6 is communicated with the hydraulic input end of the servo valve 10, and provides the hydraulic pressure to the servo valve 10. The hydraulic output end of the servo valve 10 is communicated with the hydraulic pipeline of the machine wheel, and provides the hydraulic pressure to the machine wheel 9. The hydraulic input end of the cut-off valve pressure sensor 7 is communicated with the hydraulic pipeline between the cut-off valve 6 and the servo valve 10, and is used for detecting the output pressure of the cut-off valve 6. The hydraulic input end of the brake pressure sensor 8 is communicated with the hydraulic pipeline between the servo valve 10 and the machine wheel 9, and is used for detecting the actual brake pressure.

[0054] Figure 2 In the embodiment, the footrest displacement sensor comprises a displacement detection module 13 and a footrest stepping confirmation module 12. The output end of the displacement detection module 13 is communicated with the input end of the first brake controller 5, and the footrest displacement stepped by the pilot is converted into the corresponding footrest displacement signal by the displacement detection module 13 and sent to the instruction signal conversion module 14. The output end of the footrest stepping confirmation module 12 is communicated with the input end of the selector 5, and the footrest stepping confirmation signal is sent to the selector 5 by the footrest stepping confirmation module 12.

[0055] The first brake controller 5 comprises an instruction signal conversion module 14, a pressure signal conversion module 15, a footrest control module 17 and a fault confirmation module 16. The output end of the instruction signal conversion module is communicated with the input end of the footrest control module, and the instruction signal conversion module provides the footrest displacement signal for the footrest control module. The input end of the pressure signal conversion module is communicated with the output end of the pressure sensor, the output end of the pressure signal conversion module is communicated with the input end of the fault confirmation module, and the pressure signal conversion module provides the cut-off valve pressure signal for the fault confirmation module. The input end of the fault confirmation module is communicated with the output end of the footrest control module, the footrest control module provides the cut-off valve control signal for the fault confirmation module, and the output end of the fault confirmation module is communicated with the input end of the footrest control, and the fault confirmation module provides the cut-off valve fault signal for the footrest control module.

[0056] The foot pedal displacement sensor used in this embodiment can be a linear displacement sensor, an angular displacement sensor, a potentiometer, or other device capable of converting displacement into a voltage signal. The foot pedal displacement sensor used in this embodiment is different from the foot pedal displacement sensor used in previous models. The foot pedal sensor in this embodiment has added a switch signal to confirm whether the foot pedal is depressed, in order to inhibit non-command braking of the foot pedal. The selector is a relay or an analog circuit or other device. This embodiment adds a cut-off valve pressure sensor, which can be a current-type pressure sensor or a voltage-type pressure sensor, to determine whether the cut-off valve is non-command opened.

[0057] Embodiment Two

[0058] This embodiment is a system based on a selection module that can improve the safety of airplane foot pedal brakes. The brake controller 20 used includes a left foot pedal displacement sensor 1 for the main pilot, a right foot pedal displacement sensor 2 for the main pilot, a left foot pedal displacement sensor 3 for the co-pilot, a right foot pedal displacement sensor 4 for the co-pilot, a second brake controller 18, a cut-off valve 6, a cut-off valve pressure sensor 7, a brake pressure sensor 8, a wheel 9, and a servo valve 10.

[0059] The electrical signal input end of the second brake controller 18 is electrically connected to the first output end of the left foot pedal displacement sensor 1 for the main pilot, the first output end of the right foot pedal displacement sensor 2 for the main pilot, the first output end of the left foot pedal displacement sensor 3 for the co-pilot, the first output end of the right foot pedal displacement sensor 4 for the co-pilot, the second output end of the left foot pedal displacement sensor 1 for the main pilot, the second output end of the right foot pedal displacement sensor 2 for the main pilot, the second output end of the left foot pedal displacement sensor 3 for the co-pilot, the second output end of the right foot pedal displacement sensor 4 for the co-pilot, the output end of the cut-off valve pressure sensor 7, and the output end of the brake pressure sensor 8, respectively, to receive the foot pedal displacement signals, the foot pedal depression confirmation signals, the cut-off valve pressure signals provided by the cut-off valve pressure sensor 7, and the brake pressure signals provided by the brake pressure sensor 8.

[0060] The electrical signal output end of the second brake controller 18 is electrically connected to the first input end of the cut-off valve 6, the second input end of the cut-off valve 6, and the input end of the servo valve 10, respectively, to provide control voltage to the cut-off valve 6 and control current to the servo valve 10.

[0061] The hydraulic output end of the cut-off valve 6 is connected to the hydraulic input end of the servo valve 10 to provide hydraulic pressure to the servo valve 40. The hydraulic output end of the servo valve 10 is connected to the wheel 9 through a hydraulic pipeline to provide hydraulic pressure to the wheel 9. The hydraulic input end of the cut-off valve pressure sensor 7 is connected to the hydraulic pipeline between the cut-off valve 6 and the servo valve 10 to detect the cut-off valve pressure. The hydraulic input end of the brake pressure sensor 8 is connected to the hydraulic pipeline between the servo valve 10 and the wheel 9 to detect the actual brake pressure.

[0062] Figure 4 In the embodiment, the foot pedal displacement sensor comprises a displacement detection module 13 and a foot pedal depression confirmation module 11. The output end of the displacement detection module 13 is connected with the input end of the second brake controller 18, and the displacement detection module 13 is used to convert the displacement of the foot pedal depressed by the pilot into a corresponding foot pedal displacement signal and send the signal to the instruction signal conversion module 14. The output end of the foot pedal depression confirmation module 12 is connected with the input end of the second brake controller 18, and the foot pedal depression confirmation module 12 is used to send a foot pedal depression confirmation signal to the selection module 19.

[0063] The second brake controller comprises an instruction signal conversion module 14, a selection module 19, a pressure signal conversion module 15, a fault confirmation module 16 and a foot pedal control module 17. The output end of the instruction signal conversion module 14 is connected with the input end of the foot pedal control module 17, and the instruction signal conversion module 14 is used to provide the foot pedal control module 17 with a foot pedal displacement signal. The input end of the pressure signal conversion module 15 is connected with the output end of the cut-off valve pressure sensor, and the output end of the pressure signal conversion module 15 is connected with the input end of the fault confirmation module 16, which is used to provide the fault confirmation module 16 with a cut-off valve pressure signal. The output end of the fault confirmation module 16 is connected with the input end of the selection module 19, which is used to provide the selection module 19 with a fault signal. The output end of the selection module 19 is connected with the second input end of the cut-off valve 6, and the selection module 19 is used to provide the cut-off valve 6 with a control instruction. The output end of the foot pedal control module 17 is connected with the first input end of the cut-off valve 6, and the foot pedal control module 17 is used to provide the cut-off valve 6 with a control instruction.

[0064] The foot pedal displacement sensor used in the embodiment can be a linear displacement sensor, an angular displacement sensor, a potentiometer or other devices capable of converting displacement into a voltage signal. Different from the foot pedal displacement sensor used in previous models, the foot pedal sensor in the embodiment is provided with a switch signal used to confirm whether the foot pedal is depressed or not, so as to inhibit non-instruction braking of the foot pedal. The second brake controller is provided with a selection module, which is used to receive the switch signal sent by the four foot pedal displacement sensors, so as to determine whether it is non-instruction braking. The cut-off valve pressure sensor in the embodiment can be a current type pressure sensor or a voltage type pressure sensor, which is used to determine whether the cut-off valve is non-instructionally opened.

[0065] Embodiment three

[0066] The embodiment is based on the method for improving the safety of the aircraft foot pedal brake by using a selector, and the specific process is as follows:

[0067] Step one, the foot pedal displacement sensor determines whether the foot pedal is depressed or not:

[0068] When the foot pedal displacement sensor detects that the pilot steps on the foot pedal is greater than or equal to the threshold value, the foot pedal step-down confirmation module of the foot pedal displacement sensor outputs a foot pedal step-down confirmation signal as 1, that is, the foot pedal is stepped down; otherwise, when the foot pedal displacement sensor detects that the pilot steps on the foot pedal is less than the threshold value, the foot pedal step-down confirmation module of the foot pedal displacement sensor outputs a foot pedal step-down confirmation signal as 0, that is, the foot pedal is not stepped down.

[0069] In this embodiment, the threshold value is 8% of the foot pedal displacement.

[0070] Step two, the selector receives the foot pedal step-down confirmation signal sent by the foot pedal step-down confirmation module:

[0071] The selector receives the foot pedal step-down confirmation signal sent by the left foot pedal displacement sensor of the main driver, the foot pedal step-down confirmation signal sent by the right foot pedal displacement sensor of the main driver, the foot pedal step-down confirmation signal sent by the left foot pedal displacement sensor of the co-driver, and the foot pedal step-down confirmation signal sent by the right foot pedal displacement sensor of the co-driver.

[0072] Step three, determine whether to open the cut-off valve:

[0073] Whether to open the cut-off valve is determined by the selector and the first brake controller.

[0074] When determining whether to open the cut-off valve by the selector, among the four foot pedal step-down confirmation signals received by the selector: if any one signal is 1, the selector determines that the cut-off valve is open; otherwise, when the four foot pedal step-down confirmation signals are all 0, the selector determines that the cut-off valve is closed.

[0075] When determining whether to open the cut-off valve by the first brake controller instruction signal conversion module, the first brake controller instruction signal conversion module receives the foot pedal displacement signal sent by the left foot pedal displacement sensor of the main driver, the foot pedal displacement signal sent by the right foot pedal displacement sensor of the main driver, the foot pedal displacement signal sent by the left foot pedal displacement sensor of the co-driver, and the foot pedal displacement signal sent by the right foot pedal displacement sensor of the co-driver. When any one of the four foot pedal displacement signals is greater than or equal to the foot pedal displacement threshold value, the foot pedal control module of the first brake controller determines that the cut-off valve is open; otherwise, when all four foot pedal displacement signals are less than the foot pedal displacement threshold value, the foot pedal control module of the first brake controller determines that the cut-off valve is closed.

[0076] When the selector and the first brake controller simultaneously determine that the cut-off valve is open, the cut-off valve is open; if any of the selector or the first brake controller determines that the cut-off valve is closed, the cut-off valve is not open.

[0077] In this embodiment, the foot pedal displacement threshold value is 10%.

[0078] Step four, determine whether the cut-off valve is open failure:

[0079] The first brake controller receives the pressure outputted by the cutout valve detected by the cutout valve pressure sensor.

[0080] When the cutout valve pressure received by the first brake controller detected by the cutout valve pressure sensor is less than or equal to the pressure lower deviation threshold value, and the first brake controller judges that the cutout valve is open in step three, when both conditions are met, the fault confirmation module of the first brake controller judges that the cutout valve is open fault; otherwise, the first brake controller judges that there is no cutout valve open fault.

[0081] In this embodiment, the pressure lower deviation threshold value is 120 psi.

[0082] Step five, judge whether the cutout valve is closed fault:

[0083] The first brake controller receives the pressure outputted by the cutout valve detected by the cutout valve pressure sensor.

[0084] When the cutout valve pressure received by the first brake controller detected by the cutout valve pressure sensor is greater than or equal to the pressure upper deviation threshold value, and the first brake controller judges that the cutout valve is closed in step three, when both conditions are met, the fault confirmation module of the first brake controller judges that the cutout valve is closed fault; otherwise, the first brake controller judges that there is no cutout valve closed fault.

[0085] In this embodiment, the pressure upper deviation threshold value is 2000 psi.

[0086] Step six, the first brake controller closes the cutout valve:

[0087] The footrest control module of the first brake controller receives the cutout valve closed fault and the cutout valve open fault signals sent by the fault confirmation module, and when the cutout valve closed fault or the cutout valve open fault is detected, the first brake controller closes the cutout valve; otherwise, the first brake controller continues to open the cutout valve.

[0088] Embodiment four

[0089] This embodiment is a method for improving the safety of the aircraft footrest brake based on the selection module, and the specific process is:

[0090] Step one, the footrest displacement sensor judges whether the footrest is stepped down:

[0091] When the footrest displacement sensor detects that the pilot steps down the footrest greater than or equal to the stepping down threshold value, the footrest stepping down confirmation module of the footrest displacement sensor outputs the footrest stepping down confirmation signal as 1, that is, the footrest is stepped down; otherwise, when the footrest displacement sensor detects that the pilot steps down the footrest is less than the stepping down threshold value, the footrest stepping down confirmation module of the footrest displacement sensor outputs the footrest stepping down confirmation signal as 0, that is, the footrest is not stepped down.

[0092] In this embodiment, the threshold of the pedal displacement is 8%.

[0093] Step two, the second brake controller selection module receives the pedal down confirmation signal sent by the pedal down confirmation module.

[0094] The second brake controller selection module receives the pedal down confirmation signal sent by the left pedal displacement sensor of the main driver, the pedal down confirmation signal sent by the right pedal displacement sensor of the main driver, the pedal down confirmation signal sent by the left pedal displacement sensor of the co-driver, and the pedal down confirmation signal sent by the right pedal displacement sensor of the co-driver.

[0095] Step three, determine whether to open the cut-off valve:

[0096] Determine whether to open the cut-off valve through the second brake controller.

[0097] When the second brake controller determines whether to open the cut-off valve, among the four pedal down confirmation signals received by the selection module: if any one signal is 1, the second brake controller selection module determines that the cut-off valve is open; otherwise, when the four pedal down confirmation signals are all 0, the second brake controller selection module determines that the cut-off valve is closed.

[0098] When determining whether to open the cut-off valve through the second brake controller instruction signal conversion module, the second brake controller instruction signal conversion module receives the pedal displacement signal sent by the left pedal displacement sensor of the main driver, the pedal displacement signal sent by the right pedal displacement sensor of the main driver, the pedal displacement signal sent by the left pedal displacement sensor of the co-driver, and the pedal displacement signal sent by the right pedal displacement sensor of the co-driver. When any one of the four pedal displacement signals is greater than or equal to the pedal displacement threshold, the pedal control module of the second brake controller determines that the cut-off valve is open; otherwise, when all four pedal displacement signals are less than the pedal displacement threshold, the pedal control module of the second brake controller determines that the cut-off valve is closed.

[0099] When the selection module and the instruction signal conversion module of the second brake controller simultaneously determine that the cut-off valve is open, the cut-off valve is open; if any of the selection module or the instruction signal conversion module of the second brake controller determines that the cut-off valve is closed, the cut-off valve is not open.

[0100] In this embodiment, the pedal displacement threshold is 10%.

[0101] Step four, determine whether the cut-off valve is open:

[0102] The second brake controller receives the pressure output by the cut-off valve detected by the cut-off valve pressure sensor.

[0103] When the second brake controller receives the cut valve pressure detected by the cut valve pressure sensor is less than or equal to the pressure lower deviation threshold, and the second brake controller judges the cut valve open in step three, when both conditions are met, the second brake controller fault confirmation module judges the cut valve open fault; otherwise, the second brake controller judges no cut valve open fault.

[0104] In this embodiment, the pressure lower deviation threshold is 120 psi.

[0105] Step five, judge whether the cut valve is closed fault:

[0106] The second brake controller receives the pressure output by the cut valve detected by the cut valve pressure sensor.

[0107] When the second brake controller receives the cut valve pressure detected by the cut valve pressure sensor is greater than or equal to the pressure upper deviation threshold, and the second brake controller judges the cut valve close in step three, when both conditions are met, the second brake controller fault confirmation module judges the cut valve close fault; otherwise, the second brake controller judges no cut valve close fault.

[0108] In this embodiment, the pressure upper deviation threshold is 2000 psi.

[0109] Step six, the second brake controller closes the cut valve:

[0110] The second brake controller's foot control module receives the cut valve close fault and the cut valve open fault signals sent by the fault confirmation module, and when the cut valve close fault or the cut valve open fault is detected, the second brake controller closes the cut valve; otherwise, the second brake controller continues to open the cut valve.

Claims

1. A control system for improving the safety of aircraft foot-operated brakes, characterized in that, Includes driver's left foot pedal displacement sensor (1), driver's right foot pedal displacement sensor (2), passenger's left foot pedal displacement sensor (3), passenger's right foot pedal displacement sensor (4), first brake controller (5) or second brake controller (18), shut-off valve (6), shut-off valve pressure sensor (7), brake pressure sensor (8), wheel (9) and servo valve (10); The electrical signal input terminal of the first brake controller (5) is electrically connected to the first output terminal of the driver's left foot pedal displacement sensor (1), the first output terminal of the driver's right foot pedal displacement sensor (2), the first output terminal of the passenger's left foot pedal displacement sensor (3), the first output terminal of the passenger's right foot pedal displacement sensor (4), the cut-off valve pressure sensor (7), and the brake pressure sensor (8), respectively, and receives the foot pedal displacement signal provided by each foot pedal displacement sensor, the cut-off valve pressure signal provided by the cut-off valve pressure sensor, and the brake pressure signal provided by the brake pressure sensor; When the first brake controller (5) is selected, the control system also includes a selector (11); the electrical signal output terminal of the first brake controller is electrically connected to the first input terminal of the cut-off valve (6) and the input terminal of the servo valve (10) respectively, providing control voltage to the cut-off valve and control current to the servo valve (10); the electrical signal input terminal of the selector (11) is electrically connected to the second output terminal of the driver's left pedal displacement sensor (1), the second output terminal of the driver's right pedal displacement sensor (2), the second output terminal of the passenger's left pedal displacement sensor (3), and the second output terminal of the passenger's right pedal displacement sensor (4) respectively, receiving pedal depress confirmation signals provided by each pedal displacement sensor; the electrical signal output terminal of the selector is electrically connected to the second input terminal of the cut-off valve (6), providing control signals to the cut-off valve; When the second brake controller (18) is selected, the second brake controller includes a selection module (19); the electrical signal input terminals of the second brake controller are respectively connected to the first output terminal of the driver's left foot pedal displacement sensor (1), the first output terminal of the driver's right foot pedal displacement sensor (2), the first output terminal of the passenger's left foot pedal displacement sensor (3), the first output terminal of the passenger's right foot pedal displacement sensor (4), the second output terminal of the driver's left foot pedal displacement sensor (1), the second output terminal of the driver's right foot pedal displacement sensor, the second output terminal of the passenger's left foot pedal displacement sensor (4), and the second output terminal of the passenger's right foot pedal displacement sensor (1). The second output terminal of the sensor, the output terminal of the shut-off valve pressure sensor (7) and the output terminal of the brake pressure sensor (8) are electrically connected to receive the pedal displacement signal, the pedal pressing confirmation signal, the shut-off valve pressure signal and the brake pressure signal provided by each pedal displacement sensor, respectively; the electrical signal output terminal of the second brake controller (18) is electrically connected to the first input terminal of the shut-off valve (6), the second input terminal of the shut-off valve (6) and the input terminal of the servo valve (10), respectively, to provide control voltage to the shut-off valve (6) and control current to the servo valve (10).

2. The control system for improving the safety of aircraft foot brakes as described in claim 1, characterized in that, The pedal displacement sensor includes a displacement detection module (13) and a pedal depressing confirmation module (12); the output of the displacement detection module is connected to the input of the first brake controller (5), and the displacement of the pedal depressing by the pilot is converted into a corresponding pedal displacement signal and sent to the command signal conversion module (14) through the displacement detection module; the output of the pedal depressing confirmation module is connected to the input of the selector, and the pedal depressing confirmation signal is sent to the selector through the pedal depressing confirmation module.

3. The control system for improving the safety of aircraft foot brakes as described in claim 1, characterized in that, The first brake controller (5) includes a command signal conversion module (14), a pressure signal conversion module (15), a pedal control module (17), and a fault confirmation module (16). The output of the command signal conversion module is connected to the input of the pedal control module, and the command signal conversion module provides the pedal displacement signal to the pedal control module. The input of the pressure signal conversion module is connected to the output of the shut-off valve pressure sensor, and the output of the pressure signal conversion module is connected to the input of the fault confirmation module, providing the shut-off valve pressure signal to the fault confirmation module. The input of the fault confirmation module is connected to the output of the pedal control module, and the pedal control module provides the shut-off valve control signal to the fault confirmation module. The output of the fault confirmation module is connected to the input of the pedal control module, providing the shut-off valve fault signal to the pedal control module.

4. The control system for improving the safety of aircraft foot brakes as described in claim 1, characterized in that, The second brake controller further includes a command signal conversion module (14), a pressure signal conversion module (15), a fault confirmation module (16), and a pedal control module (17); the output of the command signal conversion module (14) is connected to the input of the pedal control module (17), and the command signal conversion module (14) provides the pedal displacement signal to the pedal control module (17); the input of the pressure signal conversion module (15) is connected to the output of the shut-off valve pressure sensor, and the output of the pressure signal conversion module (15) is connected to the output of the fault confirmation module (17). The input terminal of block (16) is connected to provide the shut-off valve pressure signal to the fault confirmation module; the output terminal of the fault confirmation module is connected to the input terminal of foot pedal control module (17) to provide the shut-off valve fault signal to the foot pedal control module (17); the output terminal of selection module (19) is connected to the second input terminal of shut-off valve (6) and selection module (19) provides control command to shut-off valve (6); the output terminal of foot pedal control module (17) is connected to the first input terminal of shut-off valve (6) and foot pedal control module (17) provides control command to shut-off valve (6).

5. A control method for the control system as described in claim 1, characterized in that, Improving aircraft pedal brake safety based on selectors or selection modules involves the following process: Ⅰ When improving aircraft foot brake safety based on selectors: Step 1: Determine if the pedal is pressed down: The foot pedal displacement sensor determines whether the pedal is being pressed. When the pedal displacement sensor detects that the pilot has pressed the pedals at a level greater than or equal to the pedal depressing threshold, the pedal depressing confirmation module of the pedal displacement sensor outputs a pedal depressing confirmation signal of 1, indicating that the pedals have been pressed. Conversely, when the pedal displacement sensor detects that the pilot has pressed the pedals at a level less than the pedal depressing threshold, the pedal depressing confirmation module of the pedal displacement sensor outputs a pedal depressing confirmation signal of 0, indicating that the pedals have not been pressed. Step 2: Receive the pedal press confirmation signal from the pedal press confirmation module: When the selector receives the pedal press confirmation signal sent by the pedal press confirmation module, it receives the pedal press confirmation signals sent by the driver's left pedal displacement sensor, the driver's right pedal displacement sensor, the passenger's left pedal displacement sensor, and the passenger's right pedal displacement sensor, respectively. Step 3: Determine whether to open the shut-off valve: The selector and the first brake controller determine whether to open the shut-off valve; Step 4: Determine if the shut-off valve is open or malfunctioning. The first brake controller receives the pressure output from the shut-off valve, detected by the shut-off valve pressure sensor. When the shut-off valve pressure detected by the shut-off valve pressure sensor received by the first brake controller is less than or equal to the pressure deviation threshold, and the first brake controller determines that the shut-off valve is open in step three, the fault confirmation module of the first brake controller determines that the shut-off valve is open; otherwise, the first brake controller determines that the shut-off valve is not open. Step 5: Determine if the shut-off valve is closed due to a fault. The first brake controller receives the pressure output from the shut-off valve, detected by the shut-off valve pressure sensor. When the shut-off valve pressure detected by the shut-off valve pressure sensor received by the first brake controller is greater than or equal to the pressure deviation threshold, and the first brake controller determines that the shut-off valve is closed in step three, the fault confirmation module of the first brake controller determines that the shut-off valve is closed due to a fault; otherwise, the first brake controller determines that the shut-off valve is not closed due to a fault. Step 6: Close the shut-off valve. The pedal control module of the first brake controller receives shut-off valve closing fault and shut-off valve opening fault signals sent by the fault confirmation module. When a shut-off valve closing fault or a shut-off valve opening fault is detected, the first brake controller closes the shut-off valve; otherwise, the first brake controller continues to open the shut-off valve. II. When improving aircraft foot brake safety based on selection modules: Step 1: Determine if the pedal is pressed down: The foot pedal displacement sensor determines whether the pedal is being pressed. When the pedal displacement sensor detects that the pilot has pressed the pedals at a level greater than or equal to the pedal depressing threshold, the pedal depressing confirmation module of the pedal displacement sensor outputs a pedal depressing confirmation signal of 1, indicating that the pedals have been pressed. Conversely, when the pedal displacement sensor detects that the pilot has pressed the pedals at a level less than the pedal depressing threshold, the pedal depressing confirmation module of the pedal displacement sensor outputs a pedal depressing confirmation signal of 0, indicating that the pedals have not been pressed. Step 2: Receive the pedal press confirmation signal from the pedal press confirmation module: When the second brake controller selection module receives the pedal depress confirmation signal sent by the pedal depress confirmation module, the second brake controller selection module receives the pedal depress confirmation signal sent by the driver's left pedal displacement sensor, the driver's right pedal displacement sensor, the passenger's left pedal displacement sensor, and the passenger's right pedal displacement sensor. Step 3: Determine whether to open the shut-off valve: The second brake controller determines whether to open the shut-off valve; Step 4: Determine if the shut-off valve is open or malfunctioning. The second brake controller receives the pressure output from the shut-off valve, detected by the shut-off valve pressure sensor. When the shut-off valve pressure detected by the shut-off valve pressure sensor received by the second brake controller is less than or equal to the pressure deviation threshold, and the second brake controller determines that the shut-off valve is open in step three, the fault confirmation module of the second brake controller determines that the shut-off valve is open; otherwise, the second brake controller determines that the shut-off valve is not open. Step 5: Determine if the shut-off valve is closed due to a fault. The second brake controller receives the pressure output from the shut-off valve, detected by the shut-off valve pressure sensor. When the shut-off valve pressure detected by the shut-off valve pressure sensor received by the second brake controller is greater than or equal to the pressure deviation threshold, and the second brake controller determines that the shut-off valve is closed in step three, the fault confirmation module of the second brake controller determines that the shut-off valve is closed due to both conditions being met; otherwise, the second brake controller determines that the shut-off valve is not closed due to the other conditions. Step 6: Close the shut-off valve. The pedal control module (17) of the second brake controller receives the shut-off valve (6) closing fault and shut-off valve opening fault signals sent by the fault confirmation module (16). When a shut-off valve closing fault or a shut-off valve opening fault is detected, the second brake controller closes the shut-off valve; otherwise, the second brake controller continues to open the shut-off valve.

6. The control method of the control system as described in claim 5, characterized in that, When using a selector to improve the safety of the aircraft's pedal brakes, the selector determines whether to open the shut-off valve based on the four pedal depress confirmation signals it receives: if any one of the four pedal depress confirmation signals is 1, the selector determines that the shut-off valve is open; otherwise, if all four pedal depress confirmation signals are 0, the selector determines that the shut-off valve is closed. When the first brake controller command signal conversion module determines whether to open the shut-off valve, it receives pedal displacement signals from the driver's left pedal displacement sensor, the driver's right pedal displacement sensor, the passenger's left pedal displacement sensor, and the passenger's right pedal displacement sensor. When any one of the four pedal displacement signals is greater than or equal to the pedal displacement threshold, the pedal control module of the first brake controller determines that the shut-off valve is open. Conversely, when all four pedal displacement signals are less than the pedal displacement threshold, the pedal control module of the first brake controller determines that the shut-off valve is closed. When the selector and the first brake controller simultaneously determine that the shut-off valve is open, the shut-off valve opens. If either the selector or the first brake controller determines that the shut-off valve is closed, the shut-off valve will not open.

7. The control method of the control system as described in claim 5, characterized in that, When the safety of the aircraft's foot brake is improved based on the selection module, the second brake controller determines whether to open the shut-off valve. The second brake controller selects the valve to open if any one of the four pedal press confirmation signals received by the selection module is 1; otherwise, the valve to close is determined to be closed if all four pedal press confirmation signals are 0. When determining whether to open the shut-off valve via the second brake controller command signal conversion module, the second brake controller command signal conversion module receives pedal displacement signals sent by the driver's left pedal displacement sensor, the driver's right pedal displacement sensor, the passenger's left pedal displacement sensor, and the passenger's right pedal displacement sensor. When any one of the four pedal displacement signals is greater than or equal to the pedal displacement threshold, the pedal control module of the second brake controller determines that the shut-off valve is open; conversely, when all four pedal displacement signals are less than the pedal displacement threshold, the pedal control module of the second brake controller determines that the shut-off valve is closed. When both the selection module and the command signal conversion module of the second brake controller determine that the shut-off valve is open, the shut-off valve opens; if either the selection module or the command signal conversion module of the second brake controller determines that the shut-off valve is closed, the shut-off valve does not open.

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