Helicopter tail cabin door folding and unfolding dual-redundancy control system and method

Abstract

The invention provides a helicopter tail cabin door folding and unfolding dual-redundancy control system, and the system comprises a first control system which is connected with a helicopter tail cabin door; the second control system is connected with the helicopter tail cabin door; when the first control system fails, the second control system automatically works, and the tail cabin door is retracted and released; during heavy-load expansion, the first control system and the second control system work at the same time, and the tail cabin door is retracted and released in a heavy-load scene; meanwhile, the invention further provides a helicopter tail cabin door folding and unfolding dual-redundancy control method. When one set of control system fails, the other set of control system is automatically started to carry out tail cabin door retracting and releasing control, and the task reliability of tail cabin door retracting and releasing is effectively improved.

Description

Technical Field

[0001] The present application belongs to the technical field of helicopter door control, and in particular relates to a helicopter tail door retraction and extension dual-redundancy control system and method. Background Art

[0002] Transport helicopters use the tail door retraction system to enable personnel entry and exit and cargo loading and unloading. The tail door retraction system is one of the key mission systems of transport helicopters. Most helicopter tail door retraction systems use hydraulic energy, but the existing tail door retraction control system has the following problems:

[0003] A single control system is used. When the system fails, the door cannot be controlled, affecting the execution of the mission. With the heavy load of the transport helicopter door mission, the single hydraulic control system will lead to a corresponding increase in the effective cross-sectional area of ​​the pressure in the actuator, which will cause sealing difficulties, maintenance and a significant increase in the cost of use. The retraction and extension speed of the tail door is adjusted in stages by a fixed value or fixed differential throttle valve to control the flow rate, and the adjustment accuracy and smoothness are poor. This problem is particularly prominent for large helicopters with a long tail door movement stroke. Summary of the invention

[0004] The purpose of the present invention is: in view of the above-mentioned shortcomings of the tail door retraction and extension system in the prior art, a technology is needed to realize a retraction and extension control system of the tail door with high reliability and precise speed adjustment, and to stably and efficiently meet the heavy-load mission requirements of the helicopter.

[0005] In a first aspect, the present application provides a helicopter tail door retraction and extension dual-redundancy control system, the control system comprising:

[0006] A first control system connected to the helicopter tail door;

[0007] The second control system is connected to the helicopter tail door;

[0008] Among them, when the first control system fails, the second control system automatically works to realize the retraction and extension of the tail hatch; when overloaded, the first control system and the second control system work simultaneously to realize the retraction and extension of the tail hatch in the overload scenario.

[0009] Preferably, the first control system comprises:

[0010] A first power source, used to provide hydraulic energy;

[0011] A first switching valve is connected to the first power source, and the first switching valve is used to connect all cavities of the first actuator cylinder and the third actuator cylinder to return oil when the first control system fails;

[0012] A first distribution valve is connected to the first switching valve, and the first distribution valve corresponds to the three gears of the retracting and extending control switch of the tail hatch door: retracting, holding, and lowering;

[0013] a first electric throttle valve connected to the first distribution valve, the first electric throttle valve being used to adjust the retraction and extension speed of the tail hatch;

[0014] a first actuator, connected to the first electric throttle valve, wherein the first actuator is arranged on one side of the tail door;

[0015] The third actuator is connected to the first electric throttle valve and is arranged on the other side of the tail door; wherein the first actuator and the third actuator are used to realize the folding, holding and lowering of the tail door.

[0016] Preferably, the first control system further includes:

[0017] A first actuator cylinder displacement sensor is arranged on the first actuator cylinder, and the first actuator cylinder displacement sensor is used to sense the displacement of the core rod of the first actuator cylinder;

[0018] The third actuating cylinder displacement sensor is arranged on the third actuating cylinder, and is used to sense the displacement of the core rod of the third actuating cylinder.

[0019] Preferably, the first actuator displacement sensor and the third actuator sensor are both connected to the first electric throttle valve.

[0020] Preferably, the second control system comprises:

[0021] A second power source, used to provide hydraulic energy;

[0022] a second switching valve connected to the second power source, the second switching valve being used to connect all cavities of the second actuator cylinder and the fourth actuator cylinder to return oil when the second control system fails;

[0023] A second distribution valve is connected to the second switching valve, and the second distribution valve corresponds to the three gears of the rear hatch retracting and extending control switch: retracting, holding, and lowering;

[0024] a second electric throttle valve connected to the second distributing valve, the second electric throttle valve being used to adjust the retraction and extension speed of the tail hatch;

[0025] a second actuator, connected to the second electric throttle valve, wherein the second actuator is arranged on one side of the tail door;

[0026] A fourth actuator is connected to the second electric throttle valve and is arranged on the other side of the tail door; wherein the second actuator and the fourth actuator are used to realize the folding, holding and lowering of the tail door.

[0027] Preferably, the second control system further includes:

[0028] A second actuator cylinder displacement sensor is arranged on the second actuator cylinder, and the second actuator cylinder displacement sensor is used to sense the displacement of the core rod of the second actuator cylinder;

[0029] The fourth actuating cylinder displacement sensor is arranged on the fourth actuating cylinder, and the fourth actuating cylinder displacement sensor is used to sense the displacement of the core rod of the fourth actuating cylinder.

[0030] Preferably, the second actuator displacement sensor and the fourth actuator sensor are both connected to the second electric throttle valve.

[0031] In a second aspect, the present application also provides a helicopter tail door retraction and extension dual-redundancy control method, the control method comprising:

[0032] Generate a first instruction, and send the first instruction to the first control system and / or the second control system; wherein the first instruction includes a stowage instruction, a speed adjustment instruction, and a lowering instruction, and the speed adjustment instruction is used to control the retraction and lowering speed of the helicopter tail door;

[0033] The first control system and / or the second control system receives the first instruction, and performs corresponding operations on the helicopter tail door based on the first instruction.

[0034] In a third aspect, the present application also provides a helicopter tail door retraction and extension dual-redundancy control method, the control method comprising:

[0035] Generate a first instruction, and send the first instruction to the first control system and the second control system; wherein the first instruction includes a stowage instruction, a speed adjustment instruction, and a lowering instruction, and the speed adjustment instruction is used to control the stowage speed of the helicopter tail door;

[0036] The first control system receives the first instruction, and performs corresponding operations on the helicopter tail door based on the first instruction;

[0037] If the displacement of the helicopter tail door is 0, the first control system generates a switching signal and sends the switching signal to the second control system;

[0038] The second control system performs corresponding operations on the helicopter tail door based on the switching signal and the speed regulation instruction.

[0039] Beneficial technical effects of this application:

[0040] The present application provides a helicopter tail door retraction and extension dual-redundancy control system. When one control system fails, the other control system automatically starts to control the retraction and extension of the tail door, thereby effectively improving the mission reliability of the tail door retraction and extension. The door retraction and extension actuator is reused without increasing the maintenance and use costs, thereby achieving the capability expansion of heavy-duty missions. The actuator retraction and extension displacement is used as an input signal to control the opening of the electric throttle valve, thereby achieving automatic adjustment of the door retraction and extension speed. At the same time, the retraction and extension speed also has a manual stepless adjustment mode, thereby effectively improving the speed adjustment accuracy and smoothness of the retraction and extension. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the principle of a rear hatch door retractable dual-redundancy control system provided in an embodiment of the present application;

[0042] Figure 2 This is a schematic diagram of a tail hatch door retraction and extension control distribution valve provided in an embodiment of the present application;

[0043] Figure 3 This is a schematic diagram of a switching valve provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] See also Figure 1-Figure 3 The present application provides a helicopter tail door retraction and extension dual-redundancy control system, including a tail door retraction and extension control switch, a tail door retraction and extension speed adjustment knob, a first switching valve control button, a first control system and a second control system; the second control system serves as a backup of the first control system. When the first control system fails, the second control system automatically works to realize the retraction and extension of the tail door.

[0045] In addition, when heavy-load expansion is required, the first control system and the second control system work simultaneously to achieve the retraction and extension of the tail hatch in heavy-load scenarios.

[0046] Among them, the tail hatch retraction and extension control switch has three gears: retract, hold, and lower. It has the function of automatically returning to the hold position. When it needs to be retracted, the control switch needs to be continuously turned to retract; when it needs to be lowered, the control switch needs to be continuously turned to lower; releasing the control switch during the movement of the hatch can keep the hatch in this position.

[0047] The first switching valve button is used to control the operation of the first switching valve. When the first control system fails, the system automatically presses the button to connect all the hydraulic chambers of the actuator of the first control system to return oil, so that the first control system is in a follow-up state. At the same time, the button can also be manually pressed to realize the switching function during maintenance and inspection.

[0048] The rear hatch door retraction and extension speed adjustment knob combines the knob and button operation functions. When the knob is pressed, the control system uses the automatic speed regulation function, that is, the output flow is controlled according to the feedback of the actuator displacement, and the hatch door movement speed is automatically adjusted according to different positions according to the preset program; after the knob is pressed again and popped up, the electric throttle valve opening can be adjusted by rotating the knob, and the hatch door movement speed can be manually controlled.

[0049] The first control system includes: a first power source, a first switching valve, a first distributing valve, a first electric throttle valve, a first actuator, a third actuator, a first actuator displacement sensor, and a third actuator displacement sensor.

[0050] Among them, the first power source provides hydraulic energy for the control system and outputs the hydraulic pressure and flow required by the actuator; the first switching valve is a two-position three-way valve controlled by the electromagnetic, having two working positions, I and II, and three oil ports, namely, the pressure port P, the load port A, and the return oil port R; when the switching valve works in position I, the pressure port P is connected with the load port A, and the return oil port R is connected with the oil tank; when the switching valve works in position II, the pressure port P is disconnected, and the load port A is connected with the return oil port R and the oil tank; when the first switching valve is not energized, it works in position I.

[0051] The power on or off of the first switching valve is controlled by the switching valve button, which can be automatically controlled by the program or manually controlled; when the switching valve switch is pressed, the switching valve works to connect all the cavities of the first actuator cylinder and the third actuator cylinder to return oil when the first control system fails to prevent pressure build-up.

[0052] The first distributing valve is a three-position four-way valve controlled by electromagnetics, having three working positions, I, II and III, corresponding to the three gears of retracting, holding and lowering of the rear hatch retraction and extension control switch; the first distributing valve has four oil ports, namely, pressure port P, load port A, load port B and oil return port R; the pressure port P is connected to the power source outlet, the load port A and load port B are connected to the two chambers of the actuator, and the oil return port R is connected to the oil tank.

[0053] The first electric throttle valve has a driving motor and its controller inside, which can steplessly adjust the throttle valve flow opening, and then adjust the retraction and extension speed of the tail hatch door, and can be automatically or manually controlled according to the state of the tail hatch door retraction and extension speed adjustment knob; when the tail hatch door retraction and extension speed adjustment knob is pressed, the first electric throttle valve is in an automatic speed regulation state, and the control signal is the displacement signal X1 of the first actuator cylinder and the displacement signal X3 of the third actuator cylinder; when the tail hatch door retraction and extension speed adjustment knob is popped up, the first electric throttle valve is in a manual speed regulation state, and the control signal is the rotation position of the tail hatch door retraction and extension speed adjustment knob.

[0054] The first actuator cylinder and the third actuator cylinder are respectively arranged on both sides of the cabin door, and are controlled by a control system to move simultaneously; the cylinder body and the core rod are respectively arranged on the tail cabin door structure and the fuselage structure through a connecting mechanism, the A chamber of the actuator cylinder is the folding chamber, and the B chamber is the lowering chamber; when pressure is supplied to the A chamber of the actuator cylinder, the tail cabin door is folded, and when pressure is supplied to the B chamber of the actuator cylinder, the tail cabin door is lowered; when both the A chamber and the B chamber of the actuator cylinder are not supplied with pressure, the position of the tail cabin door is maintained; the first actuator cylinder displacement sensor and the third actuator cylinder displacement sensor are used to sense the displacement of the actuator cylinder core rod.

[0055] In an embodiment of the present application, the second control system includes: a second power source, a second switching valve, a second distributing valve, a second electric throttle valve, a second actuator, a fourth actuator, a second actuator displacement sensor, and a fourth actuator displacement sensor.

[0056] Among them, the second power source, the second distributing valve, the second electric throttle valve, the second actuator, the fourth actuator, the second actuator displacement sensor, and the fourth actuator displacement sensor have the same functions as the corresponding accessories in the first control system.

[0057] The second switching valve is used as a two-position three-way valve controlled by electromagnetics, having two working positions, I and II, and three oil ports, namely, pressure port P, load port A, and oil return port R; when the switching valve works in position I, the pressure port P is connected with the load port A, and the oil return port R is connected with the oil tank; when the switching valve works in position II, the pressure port P is disconnected, and the load port A is connected with the oil return port R and the oil tank; thereby realizing the follow-up of the second actuator cylinder and the fourth actuator cylinder when the second control system is not supplied with pressure; when the second switching valve is not energized, it works in position II.

[0058] The second switching valve is used to automatically control the on-and-off of the oil circuit of the second control system, that is, the energy supply. The control signal comes from the second system switching signal. When the second system switching signal is triggered, the switching valve is energized and works in position I, and the second control system participates in the system energy supply; when the second system switching signal is not triggered, the switching valve is in a power-off state and works in position II, the second control system does not participate in the energy supply, and the second actuator cylinder and the fourth actuator cylinder are in a follow-up state.

[0059] Specifically, the triggering of the second system switching signal means that the first control system fails and cannot retract or extend the tail hatch door, and the second control backup system needs to be started to achieve retraction and extension of the tail hatch door; the triggering of the second system switching signal may also mean that the first control system cannot meet the load requirements, and the second control system needs to be started. The first control system and the second control system work together to achieve retraction and extension control of the tail hatch door under heavy load.

[0060] Specifically, the triggering conditions of the second system switching signal include: the tailgate control switch position is retracted or lowered & the displacement signal X1 of the first actuator is zero & the displacement signal X3 of the third actuator is zero & the opening of the first electric throttle valve is not zero.

[0061] The first actuator and the second actuator are arranged in parallel on one side of the tail hatch, and the third actuator and the fourth actuator are arranged in parallel on the other side of the tail hatch; the first switching valve and the second switching valve are different. For the first switching valve, it works in position I when the power is off, the pressure supply port P and the load port A are connected, and the oil return port R is connected to the oil tank 1; it works in position II when the power is on, the pressure supply port P is disconnected, and the load port A and the oil return port R are connected to the oil tank 1. For the second switching valve, it is the opposite. When the power is on, it works in position I, the pressure supply port P and the load port A are connected, and the oil return port R is connected to the oil tank 2; when the power is off, it works in position II, the pressure supply port P is disconnected, and the load port A and the oil return port R are connected to the oil tank 1.

[0062] During the process of folding or lowering the tail hatch door, preferably, the tail hatch door folding and extending speed adjustment knob is in a pressed state, that is, the first electric throttle valve automatically adjusts the hydraulic flow according to the displacement signals of the first actuator cylinder and the third actuator cylinder, and thus automatically adjusts the folding and extending speed of the tail hatch door; if manual adjustment is required, the tail hatch door folding and extending speed adjustment knob is pressed again to reset it, and the knob is manually rotated to control the flow opening of the first electric throttle valve, and thus the folding and extending speed of the tail hatch door is manually adjusted.

[0063] When the tail hatch retracting and extending control switch is manipulated to the retracted position, if the first control system is normal and the second system switching signal is not triggered, only the first control system completes the tail hatch retracting task, that is: in the first control system, the first distribution valve works in the working position I, the pressure port P is connected with the load port A, the load port B is connected with the return oil port R, the high-pressure oil of the first power source assembly is connected to the distribution valve pressure port P, the pressure oil passes through the load port A and the electric throttle valve to the A cavity of the first actuator cylinder and the third actuator cylinder, the actuator cylinder core rod is retracted, and at the same time, the oil of B of the first actuator cylinder and the third actuator cylinder flows back to the oil tank through the load port B and the return oil port R.

[0064] In the second control system, the second distributing valve works in the working position I, the pressure port P is connected with the load port A, and the load port B is connected with the oil return port R; the switching valve works in the II position, the pressure port P is disconnected, and the load port A is connected with the oil return port R and the oil tank; the A chamber of the second actuator, the A chamber of the fourth actuator, the load port A of the second distributing valve, the pressure port P of the second distributing valve, the A port of the switching valve, the oil return port R of the switching valve, and the oil tank are connected, and the B chamber of the second actuator, the B chamber of the fourth actuator, the load port B of the second distributing valve, the oil return port R of the second distributing valve, the oil return port R of the switching valve, and the oil tank are connected; that is, the A chamber of the second actuator, the B chamber of the second actuator, the A chamber of the fourth actuator, and the B chamber of the fourth actuator are all connected with the oil tank, so as to realize the follow-up of all actuators in the second control system.

[0065] When the tail hatch door retraction and extension control switch is manipulated to the retracted position, if the first control system is normal and the second system switching signal is triggered, the first control system and the second control system work together to complete the retraction of the tail hatch door under heavy load, that is: in the first control system, the first distribution valve works in the working position I, the pressure port P is connected with the load port A, the load port B is connected with the return oil port R, the high-pressure oil of the first power source assembly is connected to the distribution valve pressure port P, the pressure oil passes through the load port A and the electric throttle valve to the A chamber of the first actuator cylinder and the third actuator cylinder, the actuator cylinder core rod is retracted, and at the same time, the oil of B of the first actuator cylinder and the third actuator cylinder flows back to the oil tank through the load port B and the return oil port R.

[0066] In the second control system, the second distributing valve works in the working position I, the pressure port P is connected with the load port A, and the load port B is connected with the return oil port R; the pressure port P of the second switching valve is connected with the load port A, and the return oil port R is connected with the oil tank; the A chamber of the second actuator, the A chamber of the fourth actuator, the load port A of the second distributing valve, the pressure port P of the second distributing valve, the A port of the switching valve, the pressure port P of the switching valve, and the power source are connected, and the B chamber of the second actuator, the B chamber of the fourth actuator, the load port B of the second distributing valve, the return oil port R of the second distributing valve, the return oil port R of the switching valve, and the oil tank are connected; that is, the A chamber of the second actuator and the A chamber of the fourth actuator realize pressure supply; the second electric throttle valve, the B chamber of the second actuator, and the B chamber of the fourth actuator are connected with the oil tank for oil return; the pressure supply work of the actuator in the second control system is realized.

[0067] When the tail hatch retracting and extending control switch is manipulated to the retracted position, if the first control system fails and the second system switching signal is triggered, the second control system will work to complete the retracting of the tail hatch, that is, the controller in the second electric throttle valve senses that the second system is started, but the second and fourth displacements are still 0, then the switching valve control switch is automatically pressed, so that the first switching valve is powered on, and the first switching valve is operated in the II position, so that the pressure port P of the first switching valve is disconnected, and the load port A is connected to the oil return port R and the oil tank; the A cavity of the first actuator and the first The A chambers of the three actuators, the load port A of the first distributing valve, the pressure port P of the first distributing valve, the A port of the first switching valve, the oil return port R of the switching valve, and the oil tank are connected; the B chamber of the first actuator, the B chamber of the third actuator, the load port B of the first distributing valve, the oil return port R of the first distributing valve, the oil return port R of the first switching valve, and the oil tank are connected; that is, the A chamber of the first actuator, the B chamber of the first actuator, the A chamber of the third actuator, and the B chamber of the third actuator are all connected to the oil tank, realizing the follow-up of all the actuators in the first control system.

[0068] In the second control system, the second distributing valve works in the working position I, the pressure port P is connected with the load port A, and the load port B is connected with the return oil port R; the pressure port P of the second switching valve is connected with the load port A, and the return oil port R is connected with the oil tank; the A chamber of the second actuator, the A chamber of the fourth actuator, the load port A of the second distributing valve, the pressure port P of the second distributing valve, the A port of the switching valve, the pressure port P of the switching valve, and the power source are connected, and the B chamber of the second actuator, the B chamber of the fourth actuator, the load port B of the second distributing valve, the return oil port R of the second distributing valve, the return oil port R of the switching valve, and the oil tank are connected; that is, the A chamber of the second actuator and the A chamber of the fourth actuator realize pressure supply; the second electric throttle valve, the B chamber of the second actuator, and the B chamber of the fourth actuator are connected with the oil tank for oil return; the pressure supply work of the actuator in the second control system is realized.

[0069] Similarly, when the tail hatch retraction and extension control switch is manipulated to the lowered position, it is also divided into three situations: the first control system works alone, the first control system and the second control system work together, and the second control system works alone. The pressure is passed through different passages to realize the lowering of the tail hatch.

[0070] In other embodiments of the present application, the method for automatically adjusting the speed of the rear hatch door when it is stowed includes the following steps (similar to the method for stowing the rear hatch door):

[0071] Step 1: Manually place the tailgate switch in the "folded" position and keep it in the "folded" position, and press the tailgate retraction and extension speed adjustment knob;

[0072] Step 2, the first control system starts: the first power source works, the first switching valve is in the power-off state, the first distribution valve is powered on and is in the working position I, the first electric throttle valve is powered on and completes self-check and enters the automatic mode, and the core rods of the first actuator cylinder and the third actuator cylinder are retracted.

[0073] More specifically, the first power source sucks oil from the oil tank 1 and outputs high-pressure hydraulic oil, which reaches the A chambers of the first actuator cylinder and the third actuator cylinder through the pressure supply port P of the first switching valve, the load port A of the first switching valve, the pressure supply port P of the first distributing valve, the load port A of the first distributing valve, and the first electric throttle valve. At the same time, the oil in the B chambers of the first actuator cylinder and the third actuator cylinder flows back to the oil tank 1 through the load port B of the first distributing valve and the oil return port R of the first distributing valve, so that the core rods of the first actuator cylinder and the third actuator cylinder are retracted;

[0074] Step 3, the second control system enters a waiting state: the second switching valve is in a power-off state, the second distribution valve is powered on and is in working position I, and the second electric throttle valve is opened to the maximum opening;

[0075] Step 4: The controller in the first electric throttle valve continuously determines whether the start of the first control system is valid. If the start is valid, the program ends, otherwise it automatically enters step 5. Specifically, if the displacement signal X1 of the first actuator is determined to be zero for 3 consecutive seconds, and the displacement signal X3 of the third actuator is zero, and the position of the tail hatch control switch is continuously in the stowed position, and the opening of the first electric throttle valve is not zero, then it is determined that the start of the first control system is invalid;

[0076] Step 5: The controller in the first electric throttle valve gives a second system switching signal to control the second switching valve to be powered on, and controls the second electric throttle valve to be powered on to complete self-check and enter automatic mode;

[0077] Specifically, the second power source is working, the second switching valve is in the power-on state, the second distributing valve is powered on and is in the working position I, the second electric throttle valve is powered on and completes self-check and enters the automatic mode, and the core rods of the second actuator cylinder and the fourth actuator cylinder are retracted.

[0078] More specifically, the second power source draws oil from the oil tank 2 and outputs high-pressure hydraulic oil, which reaches the A chambers of the second actuator cylinder and the fourth actuator cylinder through the pressure supply port P of the second switching valve, the load port A of the second switching valve, the pressure supply port P of the second distributing valve, the load port A of the second distributing valve, and the second electric throttle valve. At the same time, the oil in the B chambers of the second actuator cylinder and the fourth actuator cylinder flows back to the oil tank 2 through the load port B of the second distributing valve and the oil return port R of the second distributing valve, thereby retracting the core rods of the second actuator cylinder and the fourth actuator cylinder.

[0079] Step 6: The controller in the second electric throttle valve continuously determines whether the start of the second control system is valid. If the start is valid, the program ends, otherwise it automatically enters step 7. Specifically, if the displacement signal X2 of the second actuator is determined to be zero for 3 consecutive seconds, and the displacement signal X4 of the fourth actuator is zero, and the position of the tail door control switch is continuously in the retracted position, and the opening of the second electric throttle valve is not zero, then it is determined that the start of the second control system is invalid, that is, the oil of the first actuator and the third actuator in the first control system has not formed a cycle and cannot follow the movement;

[0080] Step 7: The controller in the second electric throttle valve automatically sends a high-level signal, and the switch valve control button is pressed, so that the first switch valve is powered on and works; at this time, the tailgate should be able to be lowered normally;

[0081] Step 8. End the program.

Claims

1. A helicopter tail door retractable dual-redundancy control system, characterized in that: The control system comprises: A first control system connected to the helicopter tail door; The second control system is connected to the helicopter tail door; Among them, when the first control system fails, the second control system automatically works to realize the retraction and extension of the tail hatch; when overloaded, the first control system and the second control system work simultaneously to realize the retraction and extension of the tail hatch in the overload scenario.

2. The control system according to claim 1, characterized in that: The first control system comprises: A first power source, used to provide hydraulic energy; A first switching valve is connected to the first power source, and the first switching valve is used to connect all cavities of the first actuator cylinder and the third actuator cylinder to return oil when the first control system fails; A first distribution valve is connected to the first switching valve, and the first distribution valve corresponds to the three gears of the retracting and extending control switch of the tail hatch door: retracting, holding, and lowering; a first electric throttle valve connected to the first distribution valve, the first electric throttle valve being used to adjust the retraction and extension speed of the tail hatch; a first actuator, connected to the first electric throttle valve, wherein the first actuator is arranged on one side of the tail door; The third actuator is connected to the first electric throttle valve and is arranged on the other side of the tail door; wherein the first actuator and the third actuator are used to realize the folding, holding and lowering of the tail door.

3. The control system according to claim 2, characterized in that: The first control system further comprises: A first actuator cylinder displacement sensor is arranged on the first actuator cylinder, and the first actuator cylinder displacement sensor is used to sense the displacement of the core rod of the first actuator cylinder; The third actuating cylinder displacement sensor is arranged on the third actuating cylinder, and is used to sense the displacement of the core rod of the third actuating cylinder.

4. The control system according to claim 3, characterized in that: The first actuator displacement sensor and the third actuator sensor are both connected to the first electric throttle valve.

5. The control system according to claim 1, characterized in that: The second control system comprises: A second power source, used to provide hydraulic energy; A second switching valve is connected to the second power source, and the second switching valve is used to connect all cavities of the second actuator cylinder and the fourth actuator cylinder to return oil when the second control system fails; A second distribution valve is connected to the second switching valve, and the second distribution valve corresponds to the three gears of the rear hatch door retraction and extension control switch: retracting, holding, and lowering; a second electric throttle valve connected to the second distributing valve, the second electric throttle valve being used to adjust the retraction and extension speed of the tail hatch; a second actuator cylinder connected to the second electric throttle valve, wherein the second actuator cylinder is arranged on one side of the tail door; A fourth actuator is connected to the second electric throttle valve and is arranged on the other side of the tail door; wherein the second actuator and the fourth actuator are used to realize the folding, holding and lowering of the tail door.

6. The control system according to claim 5, characterized in that: The second control system further includes: A second actuator cylinder displacement sensor is arranged on the second actuator cylinder, and the second actuator cylinder displacement sensor is used to sense the displacement of the core rod of the second actuator cylinder; The fourth actuating cylinder displacement sensor is arranged on the fourth actuating cylinder, and the fourth actuating cylinder displacement sensor is used to sense the displacement of the core rod of the fourth actuating cylinder.

7. The control system according to claim 6, characterized in that: The second actuator displacement sensor and the fourth actuator sensor are both connected to the second electric throttle valve.

8. A method for controlling the retraction and extension of a helicopter tail door with double redundancy, characterized in that: The control method comprises: Generate a first instruction, and send the first instruction to the first control system and / or the second control system; wherein the first instruction includes a stowage instruction, a speed adjustment instruction, and a lowering instruction, and the speed adjustment instruction is used to control the retraction and lowering speed of the helicopter tail door; The first control system and / or the second control system receives the first instruction, and performs corresponding operations on the helicopter tail door based on the first instruction.

9. A method for controlling the retraction and extension of a helicopter tail door with double redundancy, characterized in that: The control method comprises: Generate a first instruction, and send the first instruction to the first control system and the second control system; wherein the first instruction includes a stowage instruction, a speed adjustment instruction, and a lowering instruction, and the speed adjustment instruction is used to control the stowage speed of the helicopter tail door; The first control system receives the first instruction, and performs corresponding operations on the helicopter tail door based on the first instruction; If the displacement of the helicopter tail door is 0, the first control system generates a switching signal and sends the switching signal to the second control system; The second control system performs corresponding operations on the helicopter tail door based on the switching signal and the speed regulation instruction.

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