Aircraft ground fixed-point braking control system and control method

Abstract

The present invention relates to a ground fixed-point braking control system architecture and control method for an aircraft. The control system architecture mainly includes an external cross-linking signal processing module, a fixed-point braking control module and an automatic braking module. The aircraft ground fixed-point braking control system of the present invention is suitable for a variety of taxiing braking environments, and can automatically control the aircraft braking system so that the aircraft can smoothly reach the target speed at the target position. The control method of the present invention divides the aircraft fixed-point braking process into a ground protection stage, a rapid deceleration stage, a slow deceleration stage and a buffer stage. The fixed-point braking control module controls the automatic braking module in the rapid and slow deceleration stages to ensure that the aircraft can complete the fixed-point braking efficiently and safely. The control system and control method of the present invention avoid the aircraft from decelerating too early or too late, reduce the loss of the braking device, reduce the runway occupancy time, and improve the airport runway utilization rate.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft ground taxiing brake control, and in particular to an aircraft ground fixed-point brake control system and a control method. Background Art

[0002] Currently, most accidents occur during the aircraft's approach and landing phases. The braking system in the landing gear system is a crucial component of the aircraft's landing rollout and braking phase, and its control strategy is directly related to the safety and efficiency of the aircraft's braking process. Furthermore, strict restrictions are placed on each runway's rollout position, which also imposes requirements on braking distance. If the aircraft's speed is reduced too quickly, the aircraft will need more time to leave the runway, and may even require the engine to continue generating thrust to accelerate the aircraft. This not only prolongs the runway occupancy time and reduces braking efficiency, but also increases the aircraft's fuel consumption, shortens the service life of the brake device, and increases carbon emissions during the braking process. Therefore, the present invention designs an aircraft ground fixed-point braking control system that automatically and efficiently distributes braking pressure during the aircraft's ground braking process, enabling the aircraft to smoothly reach the target speed at the target position, thereby improving the safety and efficiency of the aircraft's braking process.

[0003] There are relatively few patents in China for fixed-point braking control systems. Patent number CN116486657A, "A Ground Deceleration Automatic Control Method and Architecture," designs an automatic braking control method and architecture based on a preset aircraft braking time threshold at a runway exit target point. During the braking process, the aircraft's braking time is calculated in real time and compared with the preset threshold, adjusting the aircraft's preset deceleration rate based on the comparison result. However, this system requires calculating the braking time based on the aircraft's current deceleration rate, then determining the braking time and outputting a preset deceleration rate control strategy. This results in a complex judgment process and a delayed control effect. The fixed-point braking control system of the present invention directly determines and outputs a target deceleration rate control strategy based on the aircraft's real-time deceleration rate, eliminating the need for braking time calculations and providing faster response times. Patent number CN115959286B, "A Civil Aircraft Landing Automatic Braking Control System and Control Method Thereof," designs an automatic control system that dynamically performs PID control of the three deceleration systems—the speed brake, engine reverse thrust, and aircraft brakes—based on the target position, target speed, and real-time aircraft parameters. This ensures smooth deceleration rather than abrupt deceleration, improving passenger comfort and landing safety. The target deceleration value in this automatic braking control system is fixed, which is feasible at civil airports with good pavement conditions. However, its applicability is limited in complex environments with variable pavement conditions. The patented fixed-point braking control system adjusts the aircraft's target deceleration rate based on the aircraft's real-time parameters to adapt to complex and changing braking roll environments, and selects an appropriate target position based on the aircraft's real-time parameters. Summary of the Invention

[0004] To address these shortcomings, the present invention has designed a ground-based fixed-point braking system for aircraft braking in various rolling environments. This system automatically controls the aircraft's braking system, enabling the aircraft to smoothly reach the target speed at the target location, completing fixed-point braking. Compared to existing fixed-point braking systems, the system streamlines the judgment process, acquires target values ​​more quickly, and offers a faster response speed. Furthermore, the system is adaptable to various braking rolling environments and can select the target runway location based on the aircraft's real-time condition, expanding the application scope and scenarios of fixed-point braking systems.

[0005] The technical solution of the present invention:

[0006] An aircraft ground fixed-point brake control system includes an external cross-link signal processing module, a fixed-point brake control module, and an automatic brake module. The external system cross-link signal processing module is based on the aircraft's onboard bus communication technology and receives external cross-link signals transmitted from the flight control system, including obtaining the aircraft's real-time deceleration rate a from the aircraft's inertial navigation system in real time. b 、Aircraft real-time taxiing speed V b , aircraft wheel real-time speed V t , aircraft rolling distance S b , and obtain the target distance S of the fixed-point braking in real time from the airport ground navigation system m Target speed V m and airport runway status information, and the external cross-linking signals obtained are summarized and input into the fixed-point brake control module; the fixed-point brake control module is based on the input V b 、S b 、S m 、V m Perform fixed-point braking control and output the target deceleration rate a m To the automatic brake module; the automatic brake module root a m 、a b and V t Generate automatic braking force for spot braking.

[0007] As a preference, a m Expressed as:

[0008]

[0009] Where a m1 is a fixed target deceleration rate, a m2 is the target deceleration rate, V0 is the conversion speed, V b is the aircraft speed, V m is the target speed, S m is the target distance, S h is the buffer distance.

[0010] As a preference, further determine a m2 With the maximum deceleration rate of the aircraft a max and minimum deceleration rate a min The size of

[0011] If a m2 >a max , indicating that the maximum deceleration rate provided by the aircraft's braking device cannot meet the aircraft's target speed at the current target position. To protect the safety of the aircraft's braking process, the fixed-point brake control system will automatically switch to the next target position and recalculate the target deceleration rate a during the slow deceleration phase. m2 ;

[0012] If a m2 <a min , which indicates that the aircraft can achieve the target deceleration rate without braking, and the fixed-point brake control module is closed;

[0013] If a min ≤a m2 ≤a max , the fixed-point brake control module outputs the target deceleration rate a m2 Go to the automatic braking module to perform fixed-point braking.

[0014] Preferably, the automatic braking module includes a fixed-point braking module, an anti-skid braking module and a reference braking module.

[0015] The fixed-point brake module outputs the target deceleration rate a according to the fixed-point brake control module. m The real-time deceleration rate of the aircraft output by the external system cross-linking signal processing module a b The difference is adjusted dynamically by PID to generate the fixed-point braking amount U1;

[0016] The reference brake module is based on the friction characteristics of the aircraft brake device and the relationship curve between the deceleration rate and the reference brake amount, and the target deceleration rate a m Generate a reference braking amount U2 required to achieve the target deceleration rate;

[0017] The anti-skid brake module is based on the real-time speed V of the aircraft wheels. t The reference rate-speed difference anti-skid brake control algorithm is used to set the target deceleration rate a m Generate anti-skid braking amount U3 as reference deceleration rate;

[0018] The superposition of U1, U2, and U3 generates the automatic braking amount U. The braking device adjusts the braking pressure according to the automatic braking amount to perform braking operation, driving the braking device to generate braking torque to brake and decelerate the aircraft, completing the fixed-point braking process.

[0019] As a preference, the deceleration rates in the fixed-point braking system satisfy: a max ≥a m1 ≥a m2 ≥a min , a max is the maximum deceleration rate of the aircraft, a min is the minimum deceleration rate of the aircraft, a m1 is the fixed target deceleration rate, a m2 is the target deceleration rate that varies.

[0020] This application also discloses a method for controlling ground fixed-point braking of an aircraft, comprising the following steps:

[0021] Step 1: Based on the aircraft's onboard bus communication technology, receive the external cross-link signal transmitted from the flight control system and the real-time information obtained from the airport ground navigation system;

[0022] Step 2: The aircraft deceleration process is divided into four stages: touchdown protection stage, rapid deceleration stage, slow deceleration stage, and buffer stage. The deceleration stage is determined based on the information obtained in step 1, and the target deceleration rate is obtained accordingly, and fixed-point braking control is performed.

[0023] Step 3: Generate an automatic braking amount based on the information obtained in step 1 and the target deceleration rate obtained in step 2 to perform a fixed-point braking operation.

[0024] As an example, in step 1, the external cross-linking signal includes obtaining the aircraft's real-time deceleration rate a from the aircraft's inertial navigation system in real time. b 、Aircraft real-time taxiing speed V b , aircraft wheel real-time speed V t , aircraft rolling distance S b ; Real-time information obtained from the airport ground navigation system includes the target distance S for fixed-point braking m Target speed V m and airport runway condition information.

[0025] Preferably, in step 2,

[0026] When the aircraft just lands, the wheel speed gradually increases from zero to the aircraft taxiing speed, which is the touchdown protection stage. When the aircraft wheel real-time speed V t The aircraft's real-time taxiing speed V b When the difference between them is less than 1m / s, the aircraft enters the rapid deceleration stage;

[0027] During the rapid deceleration phase, the aircraft decelerates at a fixed target rate a m1 Rapidly decelerate to the conversion speed V0, when the aircraft's real-time taxiing speed V b When it is less than the conversion speed V0, the aircraft enters the slow deceleration stage;

[0028] During the slow deceleration phase, the aircraft decelerates at a variable target deceleration rate a m2 , slowly decelerate and roll to the buffer position, the aircraft enters the buffer stage,

[0029]

[0030] Where V0 is the conversion speed, V b is the aircraft's real-time taxiing speed, V m is the target speed, S m is the target distance, S h is the buffer distance, S b is the aircraft's rolling distance. b Distance to target S m The distance between them is less than the buffer distance S h When , the aircraft enters the buffer stage;

[0031] During the buffer phase, no fixed-point braking maneuver is performed. The aircraft gradually reduces the deceleration rate to 0 through the buffer distance. The aircraft smoothly reaches the target speed at the target position and remains stable.

[0032] As a preference, further determine a m2 With the maximum deceleration rate of the aircraft a max and minimum deceleration rate a min To adjust the size of a m2 size.

[0033] If a m2 >a max , automatically switch to the next target position and recalculate the target deceleration rate a in the slow deceleration stage m2 ;

[0034] If a m2 <a min , no fixed-point braking control;

[0035] If a min ≤a m2 ≤a max , continuing at the target deceleration rate a m2 Perform fixed-point braking.

[0036] Preferably, in step 3, the automatic braking amount includes a fixed-point braking amount U1, a reference braking amount U2 and an anti-skid braking amount U3.

[0037] According to the target deceleration rate a output by the fixed-point brake control module m and the aircraft real-time deceleration rate a in the external system cross-linking signal b The difference is adjusted dynamically by PID to generate the fixed-point braking amount U1;

[0038] According to the relationship curve between the friction characteristics of the aircraft brake device and the deceleration rate and the reference braking amount, according to the target deceleration rate a m Generate a reference braking amount U2 required to achieve the target deceleration rate;

[0039] According to the real-time speed V of the aircraft wheels t The reference rate-speed difference anti-skid brake control algorithm is used to set the target deceleration rate a m Generate anti-skid braking amount U3 as reference deceleration rate;

[0040] U1, U2, and U3 are superimposed to generate the automatic braking amount U. The braking device adjusts the braking pressure according to the automatic braking amount to perform braking operation, driving the braking device to generate braking torque to brake and decelerate the aircraft, completing fixed-point braking.

[0041] Beneficial effects

[0042] 1. Ability to dynamically adjust the aircraft deceleration rate according to the aircraft's rolling braking environment and the pilot's needs, so that the aircraft reaches the target speed at the preset target position;

[0043] 2. It avoids the aircraft from slowing down too early or too late, reduces the wear of the brake device, shortens the runway occupancy time, and improves the airport runway utilization rate;

[0044] 3. The fixed-point braking control system can automatically determine whether the fixed-point braking process can be completed at the currently selected target position and maintain or switch the target position based on the judgment result to ensure the safety of the aircraft's fixed-point braking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is an architecture diagram of a fixed-point braking control system according to an embodiment of the present invention;

[0046] Figure 2 is a schematic diagram of a runway exit location according to an embodiment of the present invention;

[0047] Figure 3 This is a logic diagram of a fixed-point brake control module according to an embodiment of the present invention.

[0048] Figure 4 This is a diagram of the automatic braking module architecture according to one embodiment of the present invention;

[0049] Figure 5 is a graph showing the relationship between the reference braking amount and the deceleration rate according to an embodiment of the present invention;

[0050] Figure 6 1 is a schematic diagram showing the relationship between the rolling distance and the rolling speed during the fixed-point braking process of an aircraft according to an embodiment of the present invention; reference numerals:

[0051] 1. Maximum deceleration rate a max, 2. Minimum deceleration rate of the aircraft a min , 3. Ground protection stage, 4. Rapid deceleration stage, 5. Slow deceleration stage, 6. Buffer stage, 7. Conversion speed, 8. Target speed, 9. Buffer position, 10. Target position. DETAILED DESCRIPTION

[0052] The technical solution of the present invention is described in detail below with reference to the accompanying drawings and an embodiment.

[0053] Figure 1 The figure shows an embodiment of an aircraft ground fixed-point brake control system, which mainly includes an external system cross-link signal processing module, a fixed-point brake control module, and an automatic brake module. The external system cross-link signal processing module is based on the aircraft's onboard bus communication technology and receives external cross-link signals transmitted from the flight control system, including obtaining the aircraft's real-time deceleration rate a from the aircraft's inertial navigation system in real time. b 、Aircraft real-time taxiing speed V b , aircraft wheel real-time speed V t And the aircraft's rolling distance S b , and obtain the target distance S of the fixed-point braking in real time from the airport ground navigation system m Target speed V m The obtained external cross-linking signals are summarized and input into the fixed-point brake control module, which performs fixed-point brake control according to the input signals and outputs the target deceleration rate a. m To the automatic braking module; the automatic braking module according to the target deceleration rate a m and real-time deceleration rate a b Generate automatic braking force for spot braking.

[0054] Figure 2 The diagram shows an airport runway diagram according to one embodiment. When an aircraft lands on the runway, the fixed-point braking control system requires the airport navigation system to provide information on the runway surface conditions and the locations of three runway exits (using three exits as an example). The pilot selects a target exit (#1, #2, and #3) and sets it as the target location for the fixed-point braking control system. The smaller the target location number, the smaller the distance value. When the fixed-point braking control module switches target locations, it sequentially switches according to the target exit number until the system determines that the aircraft can safely complete the fixed-point braking task. Once this information is obtained, the preset values ​​within the fixed-point braking system are also determined. This set of preset values ​​applies only to the present embodiment.

[0055] Figure 3 The control logic of the fixed-point brake control module of an embodiment is shown. The fixed-point brake control module firstly calculates the real-time taxiing speed V of the aircraft. bIf it is greater than the conversion speed V0, it means that the aircraft is in the rapid deceleration stage, and the fixed target deceleration rate a is output. m1 To the automatic braking module for fixed-point braking; if it is less than the conversion speed V0, it means that the aircraft is in the slow deceleration stage at this time, and the slow stage target deceleration rate a is calculated according to formula (2) m2 , and then to a m2 With the maximum deceleration rate of the aircraft a max and minimum deceleration rate a min The system makes a judgment. When the slow phase target deceleration rate is greater than the maximum deceleration rate of the aircraft, it indicates that the maximum deceleration rate provided by the aircraft's braking device cannot meet the aircraft's target speed at the current target position. To protect the safety of the aircraft's braking process, the system will automatically switch to the next target position and recalculate the slow deceleration phase target deceleration rate. When the slow phase target deceleration rate is less than the aircraft's minimum deceleration rate, it indicates that the aircraft can reach this target deceleration rate without braking, and the fixed-point braking system is turned off. Only when the slow phase target deceleration rate is between the aircraft's maximum and minimum deceleration rates, the fixed-point braking control module outputs a changing target deceleration rate a. m2 Through the above control logic, the aircraft's fixed-point braking process can be fully monitored and controlled to ensure that the aircraft can complete the fixed-point braking process safely.

[0056]

[0057] Where V0 is the conversion speed, V b is the aircraft's real-time taxiing speed, V m is the target speed, S m is the target distance, S h is the buffer distance, S b The aircraft's rolling distance.

[0058] Figure 4 The figure shows the automatic braking module architecture of an embodiment, which mainly consists of three parts: fixed-point braking module, anti-skid braking module and reference braking module. The fixed-point braking module can output the target deceleration rate a according to the fixed-point braking control module. m The real-time deceleration rate of the aircraft output by the external system cross-linking signal processing module a b The reference brake module is based on the friction characteristics of the aircraft brake device and the relationship curve between the deceleration rate and the reference brake amount, and the target deceleration rate a is used to adjust the PID dynamically to generate the fixed-point brake amount U1; the reference brake module is based on the relationship curve between the friction characteristics of the aircraft brake device and the deceleration rate and the reference brake amount, and the target deceleration rate a is used to adjust the PID dynamically to generate the fixed-point brake amount U1; the reference brake module is based on the relationship curve between m Generate the reference braking amount U2 required to achieve the target deceleration rate; the anti-skid brake module is based on the real-time speed V of the aircraft wheel. t The reference rate-speed difference anti-skid brake control algorithm is used to set the target deceleration rate a mThe anti-skid braking amount U3 is generated as a reference deceleration rate. The braking amounts generated by the three modules are superimposed on each other to generate the automatic braking amount U. The braking device adjusts the braking pressure according to the automatic braking amount to perform braking operation, and drives the braking device to generate braking torque to brake and decelerate the aircraft, completing the fixed-point braking process.

[0059] Figure 5 The graph shows the relationship between the reference braking amount and the aircraft deceleration rate of a braking device according to an embodiment. When the reference braking amount reaches the maximum value, it corresponds to the maximum deceleration rate a that the braking device can provide. max ; When the reference braking amount is 0, it corresponds to the minimum deceleration rate a of the aircraft min , that is, the deceleration rate of the aircraft without braking. Different aircraft models and braking devices have different relationship curves, but the architecture and control method of the fixed-point braking system are the same, and the deceleration rates in the fixed-point braking system meet the following size relationship: a max ≥a m1 ≥a m2 ≥a min In the figure, the maximum deceleration rate of the aircraft is a max 1. Minimum deceleration rate of the aircraft a min 2.

[0060] Figure 6 The figure shows the relationship between the aircraft taxiing speed and taxiing distance during the fixed-point braking process of an embodiment. The fixed-point braking control method divides the aircraft fixed-point braking process into four stages: touchdown protection stage, rapid deceleration stage, slow deceleration stage and buffer stage. When the aircraft has just landed, the wheel speed will gradually increase from zero to the aircraft taxiing speed. This process is called the touchdown protection stage. When the difference between the real-time speed of the aircraft wheels and the real-time taxiing speed of the aircraft is less than 1m / s, the touchdown protection stage ends, the aircraft ground fixed-point braking system is activated, and the aircraft enters the rapid deceleration stage. In the rapid deceleration stage, the fixed-point braking control module outputs a fixed target deceleration rate a. m1 , so that the aircraft quickly decelerates to the conversion speed V0. When the aircraft's real-time taxiing speed is lower than the conversion speed (V b ≤V0), the aircraft enters the slow deceleration stage; in the slow deceleration stage, the fixed-point brake control module outputs the target deceleration rate a m2 , so that the aircraft slowly decelerates and rolls to the buffer position (S m -S b ≤S h), the aircraft enters the buffer phase. During this phase, the aircraft's fixed-point braking system is disabled, and the aircraft's deceleration rate gradually decreases to near zero over the buffer distance, ensuring that the aircraft can smoothly reach the target speed at the target position and maintain stability, thereby improving the control accuracy of fixed-point braking. The figure shows the touchdown protection phase 3, the rapid deceleration phase 4, the slow deceleration phase 5, the buffer phase 6, the transition speed 7, the target speed 8, the buffer position 9, and the target position 10.

[0061] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An aircraft ground fixed-point braking system, characterized in that: Including external system cross-linking signal processing module, fixed-point brake control module and automatic brake module: The external system cross-link signal processing module is based on the aircraft's onboard bus communication technology and receives external cross-link signals transmitted from the flight control system, including obtaining the aircraft's real-time deceleration rate from the aircraft's inertial navigation system. , aircraft real-time taxiing speed , Real-time speed of aircraft wheels , aircraft takeoff distance , and obtain the target distance for fixed-point braking in real time from the airport ground navigation system Target speed and airport runway status information, and summarize the external cross-linking signals obtained and input them into the fixed-point brake control module; The fixed-point brake control module is based on the input 、 、 、 Perform fixed-point braking control and output the target deceleration rate To the automatic braking module, the fixed-point braking control module outputs Expressed as: （1） （2） Where, is a fixed target deceleration rate, is the target deceleration rate of change, ≥ , is the conversion speed, is the real-time taxiing speed of the aircraft, is the target speed, is the target distance, is the buffer distance; Automatic brake module according to 、 and Generate automatic braking force for spot braking.

2. The aircraft ground fixed-point braking system according to claim 1, characterized in that: judge Maximum deceleration rate of the aircraft and minimum deceleration rate To further adjust the output of the fixed-point brake control module: like > , automatically switch to the next target position and recalculate the target deceleration rate in the slow deceleration stage ; like < , the fixed-point brake control module is closed; like ≤ ≤ , the fixed-point brake control module outputs the target deceleration rate Go to the automatic braking module to perform fixed-point braking.

3. The aircraft ground fixed-point braking system according to claim 2, characterized in that: The deceleration rates in the fixed-point braking system meet the following requirements: , is the maximum deceleration rate of the aircraft, is the minimum deceleration rate of the aircraft, is a fixed target deceleration rate, is the target deceleration rate that varies.

4. The aircraft ground fixed-point braking system according to claim 1, characterized in that: The automatic braking module includes a fixed-point braking module, an anti-skid braking module and a reference braking module. The fixed-point brake module is based on the target deceleration rate output by the fixed-point brake control module. The real-time deceleration rate of the aircraft output by the signal processing module of the external system cross-linking The difference is used to perform PID dynamic adjustment to generate a fixed-point braking amount. ; The reference brake module is based on the relationship curve between the friction characteristics of the aircraft brake device and the deceleration rate and the reference brake amount, and the target deceleration rate is used. Generates the baseline braking amount required to achieve the target deceleration rate ; The anti-skid brake module is based on the real-time speed of the aircraft wheels. The reference rate-speed difference anti-skid brake control algorithm is used to set the target deceleration rate Generates anti-skid braking amount as a reference deceleration rate ; 、 、 Superposition to generate automatic braking amount The brake device adjusts the brake pressure according to the automatic braking amount to perform braking operation, drives the brake device to generate braking torque to brake and decelerate the aircraft, and completes the fixed-point braking process.

5. A method for controlling ground fixed-point braking of an aircraft, characterized in that: The steps include: Step 1: Based on the aircraft's onboard bus communication technology, receive the external cross-link signal transmitted from the flight control system and the real-time information obtained from the airport ground navigation system. Specifically, the external cross-link signal includes the real-time deceleration rate of the aircraft obtained from the aircraft's inertial navigation system. , aircraft real-time taxiing speed , Real-time speed of aircraft wheels , aircraft takeoff distance ; Real-time information obtained from the airport ground navigation system includes the target distance for fixed-point braking Target speed and airport runway condition information; Step 2: Divide the aircraft deceleration process into four stages: ground protection stage, rapid deceleration stage, slow deceleration stage, and buffer stage. According to the information obtained in step 1, the deceleration stage is judged, and the target deceleration rate is obtained accordingly, and fixed-point braking control is performed. Specifically, When the aircraft first lands, the wheel speed gradually increases from zero to the aircraft's taxiing speed, which is the touchdown protection stage. Real-time taxiing speed of the aircraft When the difference between them is less than 1m / s, the aircraft enters the rapid deceleration stage; During the rapid deceleration phase, the aircraft decelerates at a fixed target rate. Rapidly decelerate to conversion speed , when the aircraft's real-time taxiing speed Less than conversion speed When , the aircraft enters the slow deceleration stage; During the slow deceleration phase, the aircraft decelerates at a variable target rate. , slowly decelerate and roll to the buffer position, the aircraft enters the buffer stage, ， Where, is the conversion speed, is the real-time taxiing speed of the aircraft, is the target speed, is the target distance, is the buffer distance, is the aircraft's rolling distance. Distance to target The distance between them is less than the buffer distance When , the aircraft enters the buffer stage; During the buffer phase, no fixed-point braking is performed. The aircraft gradually reduces the deceleration rate to 0 over the buffer distance, and the aircraft steadily reaches the target speed at the target position and remains stable. Step 3: Generate an automatic braking amount based on the information obtained in step 1 and the target deceleration rate obtained in step 2 to perform a fixed-point braking operation.

6. The aircraft ground fixed-point braking control method according to claim 5, characterized in that: During the slow deceleration phase, real-time judgment Maximum deceleration rate of the aircraft and minimum deceleration rate to adjust the size Size: like > , automatically switch to the next target position and recalculate the target deceleration rate in the slow deceleration stage ; like < , no fixed-point braking control; like ≤ ≤ , continue at the target deceleration rate Perform fixed-point braking.

7. The aircraft ground fixed-point braking control method according to claim 5 or 6, characterized in that: In step 3, the automatic braking amount includes the fixed-point braking amount , baseline braking amount and anti-skid braking , According to the target deceleration rate output by the fixed-point brake control module and the aircraft real-time deceleration rate in the external system cross-link signal The difference is used to perform PID dynamic adjustment to generate a fixed-point braking amount. ; According to the relationship curve between the friction characteristics of the aircraft brake device and the deceleration rate and the reference braking amount, according to the target deceleration rate Generates the baseline braking amount required to achieve the target deceleration rate ; According to the real-time speed of the aircraft wheels The reference rate-speed difference anti-skid brake control algorithm is used to set the target deceleration rate Generates anti-skid braking amount as a reference deceleration rate ; 、 、 Superposition to generate automatic braking amount The brake device adjusts the brake pressure according to the automatic braking amount to perform braking operation, drives the brake device to generate braking torque to brake and decelerate the aircraft, and completes fixed-point braking.

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