Helicopter collective channel control force trend sensing emergency system and control method

Abstract

The present application belongs to the field of helicopter flight control, and particularly relates to a helicopter total distance channel control force trend sensing emergency system and a control method. The system comprises a total distance lever force sensor (1), a data processing module box (3), a control force emergency control module (4), and a total distance rudder (5). The total distance lever force sensor (1) is installed on the total distance lever for measuring the control force of the total distance lever and sending the measured data to the data processing module box. The total distance rudder is connected to the total distance lever through a connecting rod in parallel. The data processing module box sends the processed control force data of the total distance lever to the control force emergency control module. The control force emergency control module controls the total distance rudder (5) according to the control force data of the total distance lever.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of helicopter flight control, and particularly relates to a helicopter collective channel control force trend sensing emergency system and a control method. BACKGROUND

[0002] As an important military and civilian equipment, most of the currently equipped helicopters in China belong to the single-rotor with tail rotor type. The single-rotor with tail rotor type is the most widely used and the most mature type, accounting for about 70% of the total number of helicopters in the world. Most of the helicopter control systems adopt a mechanical-hydraulic configuration, in which the pilot controls the steering column and the collective lever through a mechanical pull rod, and a hydraulic booster transmits the motion through a connected input pull rod.

[0003] The helicopter collective lever is an important control component of the helicopter, and the collective lever is used to control the lift of the helicopter in the helicopter control, and controlling the collective lever makes the helicopter ascend and descend, which is directly related to flight safety. There are strict requirements for the collective control force in design and use. At present, there is a lack of necessary monitoring and auxiliary safety measures in the flight process, and there have been related serious incidents threatening flight safety, such as collective control difficulty in use. In view of the possible problems in collective control, a helicopter collective channel control force trend sensing emergency system is necessary. SUMMARY

[0004] The purpose of the present application is to solve the problems existing in the prior art. The present application discloses a helicopter collective channel control force trend sensing emergency system. The helicopter is additionally provided with a collective channel control force trend sensing emergency system, which collects sensor force signals in real time, is monitored by a control force emergency control program programmed into a flight control computer control module, and drives the collective servo and the series servo when the collective channel control is abnormal, so as to finally change the lift to make the helicopter land safely.

[0005] The technical scheme of the present application is as follows:

[0006] A helicopter collective channel control force trend sensing emergency system, comprising: a collective lever force sensor 1, a booster pull rod sensor 2, a data processing module box 3, a control force emergency control module 4, and a collective servo 5.

[0007] The collective lever force sensor 1 is installed on the collective lever to measure the control force of the collective lever and sends the measurement data to the data processing module box.

[0008] The collective servo is connected in parallel with the collective lever through a connecting rod.

[0009] The data processing module box sends the control force data of the collective lever to the control force emergency control module after processing.

[0010] The steering force emergency control module controls the total distance rudder 5 to work according to the steering force data of the total distance lever.

[0011] Further, the system further comprises: a booster pull rod force sensor 2, a booster pull rod rudder 6;

[0012] The booster pull rod force sensor 2 is installed on the booster pull rod for measuring the steering force of the booster pull rod and sending the measurement data to the data processing module box 3;

[0013] The booster pull rod rudder 6 is connected in series with the booster pull rod sensor 2 through a connecting rod;

[0014] The data processing module box 3 sends the steering force data of the booster pull rod sensor 2 to the steering force emergency control module after processing;

[0015] The steering force emergency control module controls the total distance rudder 5 and the booster pull rod rudder 6 to work according to the steering force data of the total distance lever force sensor 1 and the booster pull rod sensor 2.

[0016] Further, the data processing module box is used for filtering, amplifying, conditioning, analog-digital conversion, scaling conversion and digital filtering processing of the steering force data.

[0017] Further, the steering force emergency control module is used for judging whether the total distance lever and the booster pull rod are stuck;

[0018] The judgment process is as follows:

[0019] When the total distance lever steering force data exceeds the total distance lever threshold value and the total distance lever displacement does not exceed the detection threshold value D1, it is determined that the total distance lever is stuck, and the total distance rudder is controlled to act to try to remove the stuck;

[0020] When the booster pull rod steering force data exceeds the booster pull rod threshold value and the booster pull rod displacement does not exceed the detection threshold value D2, it is determined that the booster pull rod is stuck, and the booster pull rod rudder is controlled to act to try to remove the stuck.

[0021] Further, when the total distance lever steering force data exceeds the total distance lever threshold value and the total distance lever displacement does not exceed the detection threshold value D1, it is determined that the total distance lever is stuck,

[0022] When the booster pull rod steering force data exceeds the booster pull rod threshold value and the booster pull rod displacement does not exceed the detection threshold value D2, it is determined that the booster pull rod is stuck.

[0023] A helicopter total distance channel steering force trend sensing emergency control method, the method is implemented by the system, the method comprises the following steps:

[0024] S1: power supply and voltage supply of the whole machine;

[0025] S2: Collecting the steering force data of the total track rod and the booster rod;

[0026] S3: Interpreting the steering force data of the total track rod and the booster rod, if the steering force of the total track rod and the booster rod are both not exceeding the specified force value, then returning to S2; if the steering force of the total track rod and / or the booster rod exceeds the specified force value, then entering step S4;

[0027] S4: Judging the wheel load switch state: if the result is ground, then ending; if the result is air, then entering step S5;

[0028] S5: Judging whether the output length of the booster rod series steering engine exceeds 30% of the total length of the booster rod series steering engine: if exceeding 30%, then entering step S12; if not exceeding, then entering step S6;

[0029] S6: Interpreting the pilot's intention according to the existing steering force data of the total track rod, if the intention is to press down the total track, then entering step S8; if the intention is to lift up the total track, then entering step S7;

[0030] S7: Rotating the total track rod parallel steering engine clockwise by an angle θ, and extending the length S of the booster rod series steering engine, then entering step S9;

[0031] S8: Rotating the total track rod parallel steering engine counterclockwise by an angle θ, and retracting the length S of the booster rod series steering engine, then entering step S9;

[0032] S9: Detecting the displacement of the total track rod, if the displacement of the total track rod exceeds the detection threshold D1, then entering step 10; if not exceeding, then entering step S11;

[0033] S10: Detecting the displacement of the booster rod, if the displacement of the booster rod exceeds the detection threshold D2, then entering step 13; otherwise, entering step S12;

[0034] S11: Detecting the displacement of the booster rod when there is no displacement of the total track rod, if the displacement of the booster rod exceeds the detection threshold D2, then entering step S14; if there is no displacement and no movement, then entering step S12;

[0035] S12: "Total track failure" alarm;

[0036] S13: "Total track rod force large" alarm;

[0037] S14: "Total track rod stuck" alarm.

[0038] Further, in the step S2, the collected steering force data is further subjected to filtering, amplification, conditioning, analog-digital conversion, scale conversion and digital filtering processing.

[0039] Further, in the step S6, the specific judgment process is as follows: if the adjacent continuous N acquisition values of the total distance lever operating force data are all positive, it is judged that the pilot intends to lift the total distance;

[0040] If the continuous N acquisition values are all negative, it is judged that the pilot intends to press the total distance.

[0041] Further, in the step S8, the movement amount θ and the movement direction of the total distance lever steering engine and the movement amount S and the movement direction of the booster pull rod steering engine are calculated as follows:

[0042]

[0043]

[0044] The total distance lever is lifted, the total distance lever steering engine rotates clockwise, δ θ is positive; the total distance lever is pressed, the total distance lever steering engine rotates counterclockwise, δ θ is negative.

[0045] Further, the movement amount S and the movement direction of the booster pull rod steering engine are calculated as follows:

[0046]

[0047]

[0048] K is the transmission ratio of the total distance lever rotation angle and the pull rod steering engine movement;

[0049] The total distance lever is lifted, the booster pull rod steering engine is extended, δ S is positive; the total distance lever is pressed, the booster pull rod steering engine is retracted, δ S is negative.

[0050] The beneficial technical effects of the present application are:

[0051] The total distance control relates to flight safety, and abnormal total distance control seriously threatens the life of the pilot. The use of the system can improve the survival ability of the helicopter when the total distance force is abnormal or even the total distance is stuck, greatly reduce the flight risk, and protect the property safety of the helicopter and the life safety of the pilot. The system has universality and can be used for the design and development of various models. The system is simple in composition and low in cost, and has good economy. The system can record the operating force, and provide data support and basis for subsequent fault elimination and analysis. BRIEF DESCRIPTION OF DRAWINGS

[0052] Figure 1 . A helicopter total distance channel operating force trend sensing emergency system distribution schematic diagram of the present application;

[0053] Figure 2A block diagram of an emergency system for sensing the collective pitch channel control force of a helicopter according to the present invention;

[0054] Figure 3 Flowchart of an emergency control method for sensing the collective pitch channel control force;

[0055] The specific explanations of the labels in the attached diagram are as follows: 1 is the collective pitch force sensor, 2 is the booster lever force sensor, 3 is the data processing module box, 4 is the emergency control module for steering force, 5 is the collective pitch servo, and 6 is the tandem servo. Detailed Implementation

[0056] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0057] like Figure 1 As shown, a helicopter collective pitch channel control force trend perception and emergency system includes: a collective pitch stick force sensor, a booster stick force sensor, a data processing module box, a collective pitch servo, a tandem servo, and a control force emergency control module. The control force emergency control module belongs to an advanced automatic flight mode. The booster stick force sensor is mechanically connected to the booster input stick, and the collective pitch stick force sensor is mechanically connected to the collective pitch stick connected to the handle.

[0058] The aforementioned emergency control module for maneuvering force will only activate when the triggering conditions are met, based on the collective pitch lever displacement, the collective pitch lever maneuvering force signal, and the booster lever force sensor signal.

[0059] The aforementioned emergency control program for maneuvering force is incorporated into the flight control computer control module.

[0060] When the aforementioned emergency control program is activated, it calculates based on the collective pitch stick displacement, booster extension, and main rotor pitch, causing the flight control computer to output commands to drive the collective pitch servo and tandem servo.

[0061] The aforementioned emergency control program for maneuvering force can detect the maneuvering force processed from the data processing module box in real time.

[0062] The force sensor of the booster lever is mechanically connected to the input lever of the booster.

[0063] The collective pitch force sensor is mechanically connected to the collective pitch rod that is connected to the handle.

[0064] The total pitch servo is installed on the total pitch rod through mechanical connecting rod in parallel, and the serial servo is installed on the booster input rod through mechanical connecting rod in series.

[0065] The serial servo and the booster force sensing rod can be integrated into the main blade control servo.

[0066] The total pitch rod force sensor can collect data signals when the total pitch rod is stressed, the booster rod force sensor can collect data signals when the booster input rod is stressed, the data processing module box can collect and process the data signals of the sensors in real time, and the operating force emergency control program can detect the change of the total pitch operating force in real time.

[0067] As shown in Figure 2 The operating force emergency control program is only put into operation when the total pitch operating force exceeds the threshold value and the total pitch displacement does not exceed the detection threshold value D1, the flight control computer calculates the output driving instruction according to the total pitch rod displacement, the booster extension amount and the main blade pitch, drives the total pitch servo and the serial servo to move, drives the booster to extend and the total pitch rod to displace through mechanical connection, controls the main blade pitch angle, and cooperates with the pilot to operate the cyclic pitch and the foot pedal to adjust the current helicopter flight attitude.

[0068] As shown in Figure 3 A helicopter total pitch channel operating force trend sensing emergency control method, comprising the following steps:

[0069] S1: power supply and pressure supply of the whole machine;

[0070] S2: collecting the operating force data of the total pitch rod and the booster rod;

[0071] S3: judging the operating force data of the total pitch rod and the booster rod, if the operating force of the total pitch rod and the booster rod does not exceed the specified force value, returning to S2; if the operating force of the total pitch rod and / or the booster rod exceeds the specified force value, entering step S4;

[0072] S4: judging the wheel load switch state: if the result is ground, ending; if the result is air, turning to step S5;

[0073] S5: judging whether the output length of the booster rod serial servo exceeds 30% of the total length of the booster rod serial servo: if it exceeds 30%, turning to step S12; if it does not exceed, turning to step S6;

[0074] S6: judging the pilot's intention according to the existing operating force data of the total pitch rod, if the intention is to press down the total pitch, turning to step S8; if the intention is to lift up the total pitch, turning to step S7;

[0075] S7: the total pitch rod parallel servo rotates clockwise by an angle θ, the booster rod serial servo extends by a length S, and enters step S9;

[0076] S8: total distance lever parallel rudder clockwise rotation angle θ, booster pull rod series rudder retract length S, into step S9;

[0077] S9: total distance lever displacement amount is detected, if the total distance lever displacement amount exceeds the detection threshold D1, then turn to step 10; if not, turn to step S11;

[0078] S10: booster pull rod displacement amount is detected, if the booster pull rod displacement amount exceeds the detection threshold D2, then turn to step 13; otherwise, turn to step S12;

[0079] S11: no displacement when the booster displacement amount is detected, if the booster pull rod displacement amount exceeds the detection threshold D2, then turn to step S14; if there is no displacement amount without movement, then turn to step S12;

[0080] S12: "total distance failure" alarm;

[0081] S13: "total distance lever force" alarm;

[0082] S14: "total distance lever card stagnation" alarm.

[0083] The force trend perception judgment process is as follows: if the adjacent continuous N collection values of the total distance lever control force data are all positive, it is judged that the pilot intends to lift the total distance; if the continuous N collection values are all negative, it is judged that the pilot intends to press the total distance.

[0084] The total length 30% in the method can increase or decrease the proportion according to design requirements.

[0085] The data processing module box is used for filtering, amplifying, conditioning, analog-digital conversion, scaling conversion and digital filtering processing of the control force data.

[0086] The helicopter total distance channel control force trend perception emergency system can be used to judge whether the total distance lever and the booster pull rod are carded or not:

[0087] When the total distance lever control force data exceeds the total distance lever threshold and the total distance lever displacement amount does not exceed the detection threshold D1, it is determined that the total distance lever is carded, and the total distance rudder is controlled to act to try to remove the carding;

[0088] When the booster pull rod control force data exceeds the booster pull rod threshold and the booster pull rod displacement amount does not exceed the detection threshold D2, it is determined that the booster pull rod is carded, and the booster pull rod rudder is controlled to act to try to remove the carding.

[0089] The movement amount θ and the movement direction of the total distance lever rudder and the movement amount S and the movement direction of the booster pull rod rudder in the emergency control method are calculated as follows:

[0090]

[0091]

[0092] K is the total distance rod rotation angle and the transmission ratio of the pull rod rudder movement.

[0093]

[0094] The total distance rod is lifted, the total distance rod rudder is rotated clockwise, δ θ is positive; the total distance rod is pressed down, the total distance rod rudder is rotated counterclockwise, δ θ is negative.

[0095]

[0096] The total distance rod is lifted, the total distance rod rudder is rotated clockwise, δ S is positive; the total distance rod is pressed down, the total distance rod rudder is rotated counterclockwise, δ S is negative.

[0097] The above calculation can be adjusted according to the actual operating parameters, and is not limited to the form of the above segmented formula, so as to realize more accurate control.

[0098] The helicopter total distance channel control force trend sensing emergency control method judges the pilot's operation by the deformation of the patch sensor.

[0099] The helicopter total distance channel control force trend sensing emergency control method connects the input pull rod of the series rudder and the main propeller booster of the helicopter in series, the series rudder is stretched out, the pitch is increased, and the retraction represents that the pitch is reduced. The parallel rudder is connected in parallel with the total distance rod of the pilot, the parallel rudder is rotated clockwise, and the total distance rod is rotated to high pitch; the parallel rudder is rotated counterclockwise, and the total distance rod is rotated to low pitch.

[0100] In summary, the helicopter total distance channel control force trend sensing emergency system is added to the helicopter, so that when the pilot's total distance control is abnormal, the emergency control program of the control force is cut in, the helicopter restores the stable state of the heading, and the survival ability of the helicopter in the total distance force abnormality or even total distance jamming is improved.

[0101] The above is only a specific embodiment of the present application, which is described in detail, and the part not described in detail is a conventional technology. However, the protection scope of the present application is not limited to this, any change or replacement easily thought of by those skilled in the art within the technical range disclosed by the present application should be covered in the protection scope of the present application. The protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for helicopter total distance passage control force tendency sensing emergency control, characterized by: The method comprises the following steps: S1: full machine power supply voltage; S2: collect the operating force data of the total distance rod and the booster pull rod; S3: interpret the operating force data of the total distance rod and the booster pull rod, if the operating force of the total distance rod and the booster pull rod does not exceed the specified force value, return to S2; if the operating force of the total distance rod and / or the booster pull rod exceeds the specified force value, proceed to step S4; S4: judge the wheel load switch state: if the result is ground, end; if the result is in the air, proceed to step S5; S5: judge whether the output length of the booster pull rod series steering engine exceeds 30% of the total length of the booster pull rod series steering engine: if it exceeds 30%, proceed to step S12; if it does not exceed, proceed to step S6; S6: judge the pilot's intention according to the existing operating force data of the total distance rod, if the intention is to press down the total distance, proceed to step S8; if the intention is to lift up the total distance, proceed to step S7; In step S6, the specific judgment process is as follows: if the adjacent continuous N collection values of the operating force data of the total distance rod are all positive, it is judged that the pilot's intention is to lift up the total distance; If the continuous N collection values are all negative, it is judged that the pilot's intention is to press down the total distance; S7: the total distance rod parallel steering engine rotates clockwise by an angle θ, the booster pull rod series steering engine extends by a length S, and proceeds to step S9; S8: the total distance rod parallel steering engine rotates counterclockwise by an angle θ, the booster pull rod series steering engine retracts by a length S, and proceeds to step S9; In steps S7 and S8, the rotation angle θ and the movement direction of the total distance rod parallel steering engine are calculated as follows: Total distance bar up, total distance bar servo clockwise, δ θ positive; total distance bar down, total distance bar servo counterclockwise, δ θ negative; The extension and retraction amount S and the movement direction of the booster pull rod series steering engine are calculated as follows: K is the transmission ratio of the total distance rod rotation angle and the pull rod engine movement; δ is positive; total-lever up, booster-pull lever out, δ S δ is negative; total-lever down, booster-pull lever in S δ is negative; total-lever down, booster-pull lever in S9: detect the total distance rod displacement, if the total distance rod displacement exceeds the detection threshold D1, proceed to step 10; if it does not exceed, proceed to step S11; S10: detect the booster pull rod displacement, if the booster pull rod displacement exceeds the detection threshold D2, proceed to step 13; otherwise, proceed to step S12; S11: detect the booster displacement when there is no displacement, if the booster pull rod displacement exceeds the detection threshold D2, proceed to step S14; if there is no displacement and no movement, proceed to step S12; S12: "total distance failure" alarm; S13: "total distance rod force large" alarm; S14: "total distance rod stuck" alarm.

2. The method of claim 1, wherein, In step S2, the collected operating force data is also filtered, amplified, conditioned, analog-digital converted, scaled and digitally filtered.

3. A helicopter collective channel control force trend awareness emergency system for implementing the method of claim 1 or 2, characterized in that, The system comprises: a total distance rod force sensor (1), a data processing module box (3), an operating force emergency control module (4), and a total distance steering engine (5); The total distance rod force sensor (1) is installed on the total distance rod to measure the operating force of the total distance rod and send the measurement data to the data processing module box; The total distance steering engine is connected in parallel with the total distance rod through a connecting rod; The data processing module box processes the operating force data of the total distance rod and sends it to the operating force emergency control module; The operating force emergency control module controls the total distance steering engine (5) according to the operating force data of the total distance rod.

4. The system of claim 3, wherein, The system further comprises: a booster pull rod force sensor (2) and a booster pull rod steering engine (6); The booster pull rod force sensor (2) is installed on the booster pull rod to measure the steering force of the booster pull rod and send the measured data to the data processing module box (3); The booster pull rod steering engine (6) is connected in series with the booster pull rod force sensor (2) through a connecting rod; The data processing module box (3) sends the steering force data of the booster pull rod force sensor (2) to the steering force emergency control module after processing; The steering force emergency control module controls the operation of the total distance lever steering engine (5) and the booster pull rod steering engine (6) according to the steering force data of the total distance lever force sensor (1) and the booster pull rod force sensor (2).

5. The system of claim 4, wherein: The data processing module box is used to filter, amplify, condition, analog-to-digital convert, scale convert and digitally filter the steering force data.

6. The system of claim 5, wherein: The steering force emergency control module is used to determine whether the total distance lever and the booster pull rod are stuck; the determination process is as follows: When the total distance lever steering force data exceeds the total distance lever threshold and the total distance lever displacement does not exceed the detection threshold D1, it is determined that the total distance lever is stuck, and the total distance lever steering engine is controlled to act to try to remove the sticking; When the booster pull rod steering force data exceeds the booster pull rod threshold and the booster pull rod displacement does not exceed the detection threshold D2, it is determined that the booster pull rod is stuck, and the booster pull rod steering engine is controlled to act to try to remove the sticking.

7. The system of claim 6, wherein, When the total distance lever steering force data exceeds the total distance lever threshold and the total distance lever displacement does not exceed the detection threshold D1, it is determined that the total distance lever is stuck, When the booster pull rod steering force data exceeds the booster pull rod threshold and the booster pull rod displacement does not exceed the detection threshold D2, it is determined that the booster pull rod is stuck.

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