Aircraft ground sliding brake test system based on virtual-real interaction

Abstract

The invention relates to an aircraft ground taxiing brake test system based on virtual-real interaction, and the system comprises an equivalent taxiing device, the rotating end of the equivalent taxiing device is in contact with at least one pair of symmetrically arranged aircraft wheels, the aircraft wheels are rotatably arranged at the movable end of a buffer, and the top end of the buffer is fixedly installed at the bottom end of a load collection platform. The top end of the load acquisition platform is fixedly mounted on the undercarriage vertical loading and deflection system; a brake system is arranged in the airplane wheel and used for controlling the rotating speed of the airplane wheel; a wheel speed sensor is arranged on the airplane wheel and used for detecting the rotating speed of the airplane wheel; the undercarriage vertical loading and deflection system comprises a main undercarriage deflection system and an undercarriage loading system; the movable end of the main undercarriage deflection system is connected with the fixed end of the buffer and is used for driving the buffer to rotate to adjust the deflection angle of the airplane wheel; and the movable end of the undercarriage loading system is connected with the fixed end of the buffer through the load acquisition platform and is used for extruding the airplane wheel and the rotating end of the equivalent skating device and detecting load data at the same time.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft ground taxiing safety testing, and in particular relates to an aircraft ground taxiing brake testing system based on virtual-reality interaction. Background Art

[0002] The aircraft braking system is an important part of ensuring flight safety. It can provide the necessary braking force when the aircraft lands, allowing the aircraft to quickly decelerate and stop safely. Through the ground run braking test, the performance of the braking system can be optimized to ensure that the aircraft can quickly decelerate when landing, reduce dependence on runway length, and thus reduce landing risks. At the same time, the ground run braking test can also provide a verification and testing platform for the development and application of new braking systems.

[0003] The semi-physical simulation platform combines the brake test bench with the aircraft's six-degree-of-freedom taxiing dynamics simulation model, significantly reducing the cost of the experiment. The semi-physical simulation platform shortens the experimental cycle and improves the experimental efficiency by simulating the operation of the target machine and the operation of the brake system hardware in real time. This real-time simulation method enables researchers to obtain experimental results more quickly, and then analyze and optimize the braking performance in a timely manner. In addition, the semi-physical simulation platform also has a certain degree of safety and reliability. Since some physical components are used, it can simulate the behavior of the real system to a certain extent, thereby avoiding the risks and dangers that may be brought about by full physical experiments.

[0004] Traditional braking tests mainly focus on the braking performance test of a single landing gear, while the braking performance test of the left and right main landing gears can reflect the effect of differential braking. In addition, traditional braking tests only consider the loading of the vertical force of the tire, without considering the effect of the tire's side slip angle on the tire's ground force. Considering both the tire's side slip angle and the loading of the vertical force of the tire will more realistically reflect the friction characteristics of the tire. Therefore, based on the difference between the test structure and the actual working conditions, we propose an aircraft ground taxiing braking test system based on virtual-real interaction. Summary of the invention

[0005] The purpose of the present invention is to provide an aircraft ground taxiing brake test system based on virtual-reality interaction to solve the above problems.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] An aircraft ground taxiing brake test system based on virtual-reality interaction, comprising:

[0008] An equivalent taxiing device, wherein the rotating end of the equivalent taxiing device is contacted with at least one pair of symmetrically arranged wheels, the equivalent taxiing device is used to drive the wheels to rotate, the wheels are rotatably arranged at the movable end of the buffer, the top end of the buffer is fixedly mounted on the bottom end of the load collection platform, and the top end of the load collection platform is fixedly mounted on the landing gear vertical loading and deflection system;

[0009] The wheel is provided with a brake system for controlling the wheel speed;

[0010] The wheel is provided with a wheel speed sensor for detecting the wheel speed;

[0011] The landing gear vertical loading and deflection system comprises a main landing gear deflection system and a landing gear loading system; the fixed end of the main landing gear deflection system is installed on the main support, and the movable end of the main landing gear deflection system is connected to the fixed end of the buffer and is used to drive the buffer to rotate to adjust the deflection angle of the wheel;

[0012] The fixed end of the landing gear loading system is mounted on the main support, and the movable end of the landing gear loading system is connected to the fixed end of the buffer through the load collection platform and is used to squeeze the wheel and the rotating end of the equivalent taxiing device, while detecting load data;

[0013] A simulation analysis system is used for data processing, wherein the simulation analysis system is electrically connected to the equivalent taxiing device, the landing gear vertical loading and deflection system, the wheel speed sensor, the load collection platform and the braking system.

[0014] According to the above-mentioned aircraft ground taxiing brake test system based on virtual-reality interaction, the equivalent taxiing device includes:

[0015] Turntable support;

[0016] A turntable is rotatably arranged on the turntable support, and cement for simulating a runway pavement is fixedly connected to the top of the turntable, and the cement is in contact with the wheel;

[0017] The driving unit is used to drive the turntable to rotate; the driving unit is installed on the first bracket.

[0018] According to the above-mentioned aircraft ground taxiing brake test system based on virtual-reality interaction, the driving unit includes a driving motor, a motor housing of the driving motor is fixed to the first bracket through a motor bracket, a motor main shaft of the driving motor is axially connected to the top of the turntable through a coupling, and the motor main shaft is electrically connected to a motor controller.

[0019] According to the above-mentioned aircraft ground taxiing brake test system based on virtual-reality interaction, the top axis of the turntable support is connected to a bearing support, and a plurality of thrust ball bearings are rollingly arranged in the bearing support, and the plurality of thrust ball bearings are in contact with the bottom of the turntable.

[0020] According to the above-mentioned aircraft ground taxiing brake test system based on virtual-reality interaction, cement baffles are fixedly connected to the inner and outer sides of the cement, and the cement baffles are fixedly connected to the turntable.

[0021] According to the above-mentioned aircraft ground taxiing brake test system based on virtual-reality interaction, the buffer includes a buffer outer tube and a buffer piston rod, the buffer outer tube and the buffer piston rod are coaxially arranged, and the buffer outer tube and the buffer piston rod are rotationally and slidingly matched;

[0022] The buffer piston rod is in transmission connection with the main landing gear deflection system, and one end of the buffer piston rod away from the buffer outer tube is rotationally connected to the wheel through a wheel axle;

[0023] The buffer outer tube is drivingly connected to the landing gear loading system.

[0024] According to the above-mentioned aircraft ground taxiing brake test system based on virtual-reality interaction, the main landing gear deflection system includes:

[0025] A gear coaxially fixed to the buffer piston rod;

[0026] a rack meshing with the gear;

[0027] The first telescopic cylinder has a movable end fixedly connected to the end of the rack, and the fixed end of the first telescopic cylinder is fixedly connected to the main support through a second bracket.

[0028] According to the above-mentioned aircraft ground taxiing brake test system based on virtual-reality interaction, the landing gear loading system includes:

[0029] A hydraulic cylinder is fixedly connected to the main support through a third bracket, and a movable end of the hydraulic cylinder is fixedly connected to the outer cylinder of the buffer through a triaxial load sensor;

[0030] The hydraulic cylinder includes a hydraulic cylinder barrel, which is fixedly connected to the third bracket; one end of a hydraulic cylinder piston rod is slidably connected in an oil chamber of the hydraulic cylinder barrel, and the other end of the hydraulic cylinder piston rod is fixedly connected to the three-axis load sensor, the oil chamber is connected with an oil inlet and outlet, and an end of the hydraulic cylinder barrel away from the hydraulic cylinder piston rod is sealed and fixedly connected to a hydraulic cylinder cover.

[0031] According to the above-mentioned aircraft ground taxiing brake test system based on virtual-reality interaction, the brake system includes:

[0032] There is at least one brake disc and a static disc, the brake disc and the static disc are radially limited and arranged on the wheel axle, the brake disc and the static disc are coaxial with the wheel axle and slide axially;

[0033] Brake disc moving discs, the number of which matches that of the brake disc static discs, the brake disc moving discs being movably sleeved on the wheel axle, the brake disc moving discs being frictionally matched with the brake disc static discs, and the brake disc moving discs being axially connected to the inner wall of the wheel;

[0034] One end of the brake disc static disc is fixedly connected to one end of an actuating rod, and the other end of the actuating rod is slidably arranged in an actuating outer cylinder. The actuating outer cylinder is fixedly connected to the wheel axle. The outer cylinder is connected to a valve, and the valve is electrically connected to the simulation analysis system.

[0035] According to the above-mentioned aircraft ground taxiing brake test system based on virtual-reality interaction, the wheel speed sensor includes a laser receiver and a laser source fixedly connected to the wheel axle, the laser source is optically connected to the laser receiver, and the laser source emits laser light that passes through the small holes on the brake disc moving disc and the brake disc static disc and is received by the laser receiver to calculate the wheel speed.

[0036] According to the above-mentioned aircraft ground taxiing brake test system based on virtual-reality interaction, the simulation analysis system includes:

[0037] The semi-physical simulation platform collects the lateral and yaw loads of the left and right main landing gears during the taxiing and braking phase, and then solves the built-in aircraft six-degree-of-freedom taxiing dynamics model. The semi-physical simulation platform is electrically connected to the equivalent taxiing device, the landing gear vertical loading and deflection system, the wheel speed sensor, the three-axis load sensor and the braking system.

[0038] The visual platform can realize the requirements of realistic simulation environment, collection and analysis of auxiliary test data, etc. by relying on the data provided by the semi-physical simulation platform. The visual platform is electrically connected to the semi-physical simulation platform.

[0039] The working principle of the present invention is:

[0040] At the beginning of the ground taxiing brake test of the aircraft, the motor controller sends a signal to the motor, which then rotates, driving the turntable to drive the wheels of the left and right main landing gears to rotate. At this time, the three-axis load sensor begins to collect the lateral and longitudinal loads of the main landing gear, and the wheel speed sensor begins to collect the wheel speed of the main landing gear. The semi-physical simulation platform first processes the collected data, then solves its built-in aircraft six-degree-of-freedom taxiing dynamics model, and finally outputs the real-time state of the aircraft. The brake controller adjusts the brake control effect according to the aircraft state, the hydraulic cylinder adjusts the positive pressure of the main landing gear wheel on the road surface according to the aircraft state, and the main landing gear deflection system adjusts the actual side slip angle of the main landing gear wheel during taxiing according to the aircraft state. After the closed-loop semi-physical simulation experiment of data collection, model solution and state adjustment, not only can the braking performance and braking control effect of the aircraft under different working conditions be tested, but also the effect of differential braking can be tested by adjusting the braking force of the wheels on both sides. In addition, the entire process of the braking test system can be observed through the visual platform.

[0041] Compared with the prior art, the present invention has the following advantages and technical effects:

[0042] 1. Compared with the ground taxiing brake test of the whole aircraft, it does not require a large amount of hardware equipment and materials, and the test cost is low;

[0043] 2. Compared with pure brake simulation, the involvement of real brake devices and wheel assemblies can improve the authenticity of brake system performance verification, and provide an effective means for the design, experimentation and verification of aircraft brake control laws.

[0044] 3. Compared with the loading of tire vertical force in traditional braking tests, the tire slip angle and tire vertical force loading are considered more carefully, which can reflect the real lateral and longitudinal friction characteristics of the tire;

[0045] 4. Compared with the braking function test of a single landing gear, this device can effectively simulate the dynamic response of the aircraft under the braking action of the main landing gear on both sides, and assess the differential braking control capability of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor:

[0047] Figure 1 It is a schematic diagram of the structure of the present invention;

[0048] Figure 2 This is a front view of the structure of the present invention;

[0049] Figure 3 It is a cross-sectional view of an equivalent sliding device of the present invention;

[0050] Figure 4 It is a cross-sectional view of the hydraulic cylinder of the present invention;

[0051] Figure 5 This is a structural diagram of the main landing gear deflection system of the present invention;

[0052] Figure 6 is a cross-sectional view of the wheel of the present invention;

[0053] Figure 7 This is a structural diagram of the wheel speed sensor of the present invention;

[0054] Figure 8 This is a flow chart of the aircraft ground taxiing brake test program of the present invention;

[0055] Among them, 1. Semi-physical simulation platform; 2. Main support; 3. Third bracket; 4. Second bracket; 5. Motor bracket; 6. First bracket; 7. Hydraulic cylinder; 8. Equivalent taxiing device; 9. Motor; 10. Motor controller; 11. Disc brake; 12. Brake controller; 13. Wheel; 14. Axle; 15. Buffer; 16. Main landing gear deflection system; 17. Three-axis load sensor; 18. Wheel speed sensor; 19. Visual platform; 20. Turntable support; 21. Bearing support; 22. Thrust ball bearing; 23. Turntable; 24. Cement baffle; 25. Cement; 26. Motor housing; 27. Motor main shaft; 28. Hydraulic cylinder barrel; 29. ​​Hydraulic cylinder head; 30. Oil inlet and outlet; 31. Hydraulic cylinder piston rod; 32. Gear; 33. Rack; 34. First telescopic cylinder; 35. Buffer outer cylinder; 36. Buffer piston rod; 37. Brake disc moving disc; 38. Brake disc static disc; 39. Actuating rod; 40. Actuating outer cylinder; 41. Valve; 42. Laser source; 43. Laser receiver. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0058] Reference Figures 1 to 8The present invention discloses an aircraft ground taxiing brake test system based on virtual-real interaction, comprising:

[0059] An equivalent taxiing device 8, the rotating end of the equivalent taxiing device 8 is contacted with at least one pair of symmetrically arranged wheels 13, the equivalent taxiing device 8 is used to drive the wheels 13 to rotate, the wheels 13 are rotatably arranged at the movable end of the buffer 15, the top end of the buffer 15 is fixedly installed at the bottom end of the load collection platform, and the top end of the load collection platform is fixedly installed on the landing gear vertical loading and deflection system;

[0060] A brake system is provided inside the wheel 13 to control the rotation speed of the wheel 13;

[0061] A wheel speed sensor is provided on the wheel 13 for detecting the rotation speed of the wheel 13;

[0062] The landing gear vertical loading and deflection system includes a main landing gear deflection system 16 and a landing gear loading system; the fixed end of the main landing gear deflection system 16 is installed on the main support 2, and the movable end of the main landing gear deflection system 16 is connected to the fixed end of the buffer 15 and is used to drive the buffer 15 to rotate to adjust the deflection angle of the wheel 13;

[0063] The fixed end of the landing gear loading system is mounted on the main support 2, and the movable end of the landing gear loading system is connected to the fixed end of the buffer 15 through the load collection platform and is used to squeeze the wheel 13 and the rotating end of the equivalent taxiing device 8, while detecting the load data;

[0064] The simulation analysis system is used for data processing. The simulation analysis system is electrically connected to the equivalent taxiing device 8, the landing gear vertical loading and deflection system, the wheel speed sensor, the load collection platform and the brake system.

[0065] Among them, the simulation and analysis system includes a visual platform 19 and a semi-physical simulation platform 1. The entire process of the aircraft ground taxiing and braking experiment can be seen through the visual platform 19, including the simulation process provided by the semi-physical simulation platform 1 and the experimental process of the aircraft taxiing and braking.

[0066] The semi-physical simulation platform 1 is provided with a six-degree-of-freedom taxiing dynamics model of the aircraft, which can be used for the collation, calculation and analysis of collected data.

[0067] The main landing gear mounting frame includes a main strut 2, a first bracket 6, a second bracket 4 and a third bracket 3. The main strut 2 and the first bracket 6 are fixed to the ground, and the second bracket 4 and the third bracket 3 are fixed to the main strut 2. Since the braking test of a single landing gear cannot effectively simulate the dynamic response of the aircraft under the braking action of the main landing gears on both sides, the device is provided with two sets of main landing gear mounting frames.

[0068] As an optional embodiment, the equivalent sliding device 8 includes:

[0069] Turntable support 20;

[0070] A turntable 23 is rotatably disposed on the turntable support 20, and a cement 25 for simulating a runway surface is fixedly connected to the top of the turntable 23, and the cement 25 is in contact with the wheel 13;

[0071] The driving unit is used to drive the turntable 23 to rotate; the driving unit is installed on the first bracket 6.

[0072] As an optional embodiment, the driving unit includes a driving motor, the motor housing 26 of the driving motor is fixed to the first bracket 6 through the motor bracket 5, the motor main shaft 27 of the driving motor is axially connected to the top of the turntable 23 through a coupling, and the motor main shaft is electrically connected to the motor controller 10.

[0073] As an optional implementation, a bearing support 21 is axially connected to the top of the turntable support 20 , a plurality of thrust ball bearings 22 are rollingly arranged in the bearing support 21 , and the plurality of thrust ball bearings 22 are in contact with the bottom of the turntable 23 .

[0074] As an optional implementation, cement baffles 24 are fixedly connected to the inner and outer sides of the cement 25 , and the cement baffles 24 are fixedly connected to the turntable 23 .

[0075] The first bracket 6 crosses the equivalent taxiing device 8 and is fixed to the ground, and the motor bracket 5 is fixed to the first bracket 6. The equivalent taxiing device 8 fixed to the ground is driven by the motor 9 fixed to the motor bracket 5, thereby rotating the wheels 13 on the left and right sides, simulating the taxiing process of the aircraft on the ground.

[0076] The turntable support 20 is fixed on the ground, supporting the turntable 23 to rotate with the motor main shaft 27. First, the bearing support 21 is fixedly connected to the turntable support 20, and then the thrust ball bearing 22 is locked and connected inside the bearing support 21. Finally, the turntable 23 can roll smoothly through the smooth rolling of the bottom of the turntable 23 and the thrust ball bearing 22. Among them, a cement baffle 24 is fixed on the turntable 23, and the cement spread on the turntable 23 can simulate the real ground effect. The motor housing 26 is fixed on the motor bracket 5, and the motor bracket 5 is fixed on the first bracket 6. The motor main shaft 27 is coaxially connected to the turntable 23, thereby driving the turntable 23 to rotate.

[0077] As an optional embodiment, the buffer 15 includes a buffer outer tube 35 and a buffer piston rod 36, the buffer outer tube 35 and the buffer piston rod 36 are coaxially arranged, and the buffer outer tube 35 and the buffer piston rod 36 are rotationally and slidingly matched;

[0078] The buffer piston rod 36 is in transmission connection with the main landing gear deflection system 16, and one end of the buffer piston rod 36 away from the buffer outer tube 35 is rotationally connected to the wheel 13 through the wheel axle 14;

[0079] The buffer outer tube 35 is drivingly connected to the landing gear loading system.

[0080] As an optional implementation, the main landing gear deflection system 16 includes:

[0081] The gear 32 is coaxially fixed to the buffer piston rod 36;

[0082] A rack 33 meshing with the gear 32;

[0083] The first telescopic cylinder 34 has a movable end fixedly connected to the end of the rack 33 , and a fixed end of the first telescopic cylinder 34 is fixedly connected to the main support 2 via the second bracket 4 .

[0084] The gear 32 is fixedly connected to the buffer piston rod 36, the rack 33 is meshed with the gear 32, the first telescopic cylinder 34 is coaxially connected to the rack 33, and the buffer piston rod 36 is coaxially connected to the buffer outer cylinder 35. By controlling the air inlet and outlet of the first telescopic cylinder 34, the linear motion of the rack 33 can be adjusted, thereby causing the gear 32 to rotate through meshing, and then causing the wheel 13 to rotate, so as to adjust the actual side slip angle of the main wheels 13 on both sides during the sliding process with the ground speed.

[0085] As an optional implementation, the rack 32 is a servo line displacer, and the deflection angle can be known by observing its displacement.

[0086] As an optional implementation, the landing gear loading system includes:

[0087] The hydraulic cylinder 7 is fixedly connected to the main support 2 through the third bracket 3, and the movable end of the hydraulic cylinder 7 is fixedly connected to the buffer outer cylinder 35 through the triaxial load sensor 17;

[0088] The hydraulic cylinder 7 includes a hydraulic cylinder barrel 28, which is fixedly connected to the third bracket 3; one end of a hydraulic cylinder piston rod 31 is slidably connected in the oil chamber of the hydraulic cylinder barrel 28, and the other end of the hydraulic cylinder piston rod 31 is fixedly connected to the three-axis load sensor 17. The oil chamber is connected to an oil inlet and outlet 30, and one end of the hydraulic cylinder barrel 28 away from the hydraulic cylinder piston rod 31 is sealed and fixedly connected to a hydraulic cylinder cover 29.

[0089] The hydraulic cylinder cover 29 is fixed on the hydraulic cylinder barrel 28, and the hydraulic cylinder piston rod 31 is coaxially connected to the hydraulic cylinder barrel 28. By adjusting the oil pressure of the oil inlet and outlet 30, the hydraulic cylinder piston rod 31 can be pushed back to move, thereby achieving the effect of adjusting the vertical force of the main landing gear wheels on both sides.

[0090] As an optional implementation, the braking system includes:

[0091] At least one brake disc and static disc 38 is provided, and the brake disc and static disc 38 is radially limited and set on the wheel shaft 14, and the brake disc and static disc 38 are coaxial with the wheel shaft 14 and axially slide;

[0092] The number of brake disc moving discs 37 matches that of brake disc static discs 38. The brake disc moving discs 37 are movably sleeved on the wheel axle 14. The brake disc moving discs 37 and the brake disc static discs 38 are frictionally matched. The brake disc moving discs 37 are axially connected to the inner wall of the wheel 13.

[0093] One end of the brake disc static disc 38 is fixedly connected to one end of an actuating rod 39, and the other end of the actuating rod 39 is slidably set in an actuating outer cylinder 40. The actuating outer cylinder 40 is fixedly connected to the wheel axle 14. The outer cylinder 40 is connected to a valve 41, and the valve 41 is electrically connected to the simulation analysis system.

[0094] As an optional embodiment, the wheel speed sensor includes a laser receiver 43 and a laser source 42 fixed on the wheel axle 14. The laser source 42 is optically connected to the laser receiver 43. The laser source 42 emits laser light that passes through the small holes on the brake disc 37 and the brake disc 38 and is then received by the laser receiver 43 to calculate the wheel speed.

[0095] The brake disc moving disc 37 is fixedly connected to the wheel 13, one end of the brake disc static disc 38 is coaxially connected to the wheel axle 14, and the other end is fixedly connected to the actuating rod 39. The actuating outer cylinder 40 is fixedly connected to the wheel axle 14, the actuating rod 39 is coaxially connected to the actuating outer cylinder 40, and the valve 41 is installed on the actuating outer cylinder 40. By adjusting the valve 41 on the actuating outer cylinder 40, the air intake and exhaust of the inner chamber of the actuating outer cylinder 40 are controlled, and then the actuating rod 39 moves back and forth in the actuating outer cylinder 40, thereby causing the brake disc static disc 38 and the brake disc moving disc 37 to rub against each other, thereby generating a braking force.

[0096] Furthermore, a spring for driving the actuating rod 39 to return to its original position is sleeved on the actuating rod 39 , and the spring is arranged in the actuating outer cylinder 40 .

[0097] The triaxial load sensor 17 is fixedly connected to the upper end of the buffer outer tube 35, the laser source 42 is fixedly connected to the wheel axle 14, and the laser receiver 43 is fixedly connected to the wheel axle 14. The triaxial load sensor 17 calculates the lateral load by detecting the small deformation caused by the force from three directions. The laser source 42 emits laser light, and the laser receiver 43 receives the laser light passing through the small hole of the brake disc, thereby calculating the wheel speed.

[0098] At the beginning of the ground taxiing brake experiment of the aircraft, the motor controller 10 fixed on the first bracket 6 controls the motor 9 fixed on the motor bracket 5 according to the instruction, driving the left and right main landing gear wheels 13 to rotate. At this time, the lateral and directional loads of the left and right main landing gears in the taxiing brake stage are collected by the three-axis load sensor 17 fixed on the lower end of the hydraulic cylinder 7 and the upper end of the buffer 15, and the left and right wheel speeds are collected by the wheel speed sensor 18 fixed on the wheel axle 14. The semi-physical simulation platform 1 first processes the collected data, then solves its built-in aircraft six-degree-of-freedom taxiing dynamics model, and finally outputs the real-time state of the aircraft. The brake controller 12 fixed on the first bracket 6 controls the disc brake fixed on the wheel axle 14 according to the aircraft state, thereby adjusting the braking control effect on the left and right sides. The motor controller 10 fixed on the first bracket 6 controls the motor 9 fixed on the motor bracket 5 according to the aircraft state, and adjusts the left and right main landing gear wheel speeds. The hydraulic cylinder 7 and the main landing gear deflection system 16 adjust the positive pressure of the left and right main landing gear wheels 13 on the road surface and the actual slip angle of the main wheels with the ground speed during taxiing according to the aircraft state. Through the closed-loop semi-physical simulation experiment of data collection, model solution and state adjustment, it is possible to test the braking performance of the wheels on both sides under different working conditions and adjust the braking control effect in real time. In addition, by adjusting the braking pressure of the main landing gear disc brakes 11 on both sides, the differential braking effect can be tested.

[0099] Compared with the prior art, the present invention has the following technical effects:

[0100] 1. Compared with the ground taxiing brake test of the whole aircraft, it does not require a large amount of hardware equipment and materials, and the test cost is low;

[0101] 2. Compared with pure brake simulation, the involvement of real brake devices and wheel assemblies can improve the authenticity of brake system performance verification, and provide an effective means for the design, experimentation and verification of aircraft brake control laws.

[0102] 3. Compared with the loading of tire vertical force in traditional braking tests, the tire slip angle and tire vertical force loading are considered more carefully, which can reflect the real lateral and longitudinal friction characteristics of the tire;

[0103] 4. Compared with the braking function test of a single landing gear, this device can effectively simulate the dynamic response of the aircraft under the braking action of the main landing gear on both sides, and assess the differential braking control capability of the aircraft.

[0104] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0105] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An aircraft ground taxiing brake test system based on virtual-reality interaction, characterized in that: include: An equivalent taxiing device (8), wherein the rotating end of the equivalent taxiing device (8) is contacted with at least one pair of symmetrically arranged wheels (13), the equivalent taxiing device (8) is used to drive the wheels (13) to rotate, the wheels (13) are rotatably arranged on the movable end of a buffer (15), the top end of the buffer (15) is fixedly mounted on the bottom end of a load collection platform, and the top end of the load collection platform is fixedly mounted on a landing gear vertical loading and deflection system; The wheel (13) is provided with a brake system for controlling the rotation speed of the wheel (13); The wheel (13) is provided with a wheel speed sensor for detecting the rotation speed of the wheel (13); The landing gear vertical loading and deflection system comprises a main landing gear deflection system (16) and a landing gear loading system; the fixed end of the main landing gear deflection system (16) is mounted on the main support (2), and the movable end of the main landing gear deflection system (16) is connected to the fixed end of the buffer (15) and is used to drive the buffer (15) to rotate to adjust the deflection angle of the wheel (13); The fixed end of the landing gear loading system is mounted on the main support (2), and the movable end of the landing gear loading system is connected to the fixed end of the buffer (15) through the load collection platform and is used to squeeze the wheel (13) and the rotating end of the equivalent taxiing device (8) and detect load data at the same time; A simulation analysis system is used for data processing, wherein the simulation analysis system is electrically connected to the equivalent taxiing device (8), the landing gear vertical loading and deflection system, the wheel speed sensor, the load collection platform and the brake system.

2. The aircraft ground taxiing brake test system based on virtual-reality interaction according to claim 1, characterized in that: The equivalent sliding device (8) comprises: Turntable support (20); A turntable (23) is rotatably arranged on the turntable support (20), and a cement (25) for simulating a runway surface is fixedly connected to the top of the turntable (23), and the cement (25) is in contact with the wheel (13); A driving unit is used to drive the rotating disk (23) to rotate; the driving unit is mounted on the first bracket (6).

3. The aircraft ground taxiing brake test system based on virtual-reality interaction according to claim 2, characterized in that: The driving unit comprises a driving motor, a motor housing (26) of the driving motor being fixed to the first bracket (6) via a motor bracket (5), a motor main shaft (27) of the driving motor being axially connected to the top of the turntable (23) via a coupling, and the motor main shaft being electrically connected to a motor controller (10).

4. The aircraft ground taxiing brake test system based on virtual-reality interaction according to claim 2, characterized in that: The top of the turntable support (20) is axially connected to a bearing support (21), a plurality of thrust ball bearings (22) are rotatably arranged in the bearing support (21), and the plurality of thrust ball bearings (22) are in contact with the bottom of the turntable (23).

5. The aircraft ground taxiing brake test system based on virtual-reality interaction according to claim 2, characterized in that: Cement baffles (24) are fixedly connected to the inner and outer sides of the cement (25), and the cement baffles (24) are fixedly connected to the rotating disk (23).

6. The aircraft ground taxiing brake test system based on virtual-reality interaction according to claim 1, characterized in that: The buffer (15) comprises a buffer outer cylinder (35) and a buffer piston rod (36), wherein the buffer outer cylinder (35) and the buffer piston rod (36) are coaxially arranged, and the buffer outer cylinder (35) and the buffer piston rod (36) are rotationally and slidably matched; The buffer piston rod (36) is transmission-connected to the main landing gear deflection system (16), and one end of the buffer piston rod (36) away from the buffer outer tube (35) is rotationally connected to the wheel (13) via a wheel axle (14); The buffer outer cylinder (35) is drivingly connected to the landing gear loading system.

7. The aircraft ground taxiing brake test system based on virtual-reality interaction according to claim 6, characterized in that: The main landing gear deflection system (16) comprises: A gear (32) coaxially fixed to the buffer piston rod (36); a rack (33) meshing with the gear (32); The first telescopic cylinder (34) has a movable end fixedly connected to the end of the rack (33), and the fixed end of the first telescopic cylinder (34) is fixedly connected to the main support (2) via a second bracket (4).

8. The aircraft ground taxiing brake test system based on virtual-reality interaction according to claim 6, characterized in that: The landing gear loading system comprises: The hydraulic cylinder (7) is fixedly connected to the main support (2) via a third bracket (3), and the movable end of the hydraulic cylinder (7) is fixedly connected to the buffer outer cylinder (35) via a triaxial load sensor (17).

9. The aircraft ground taxiing brake test system based on virtual-reality interaction according to claim 6, characterized in that: The brake system comprises: At least one brake disc and static disc (38) is provided, the brake disc and static disc (38) is radially limited and arranged on the wheel axle (14), and the brake disc and static disc (38) are coaxial with the wheel axle (14) and can slide axially; The number of brake disc moving discs (37) matches that of the brake disc static discs (38), the brake disc moving discs (37) are movably sleeved on the wheel axle (14), the brake disc moving discs (37) are frictionally matched with the brake disc static discs (38), and the brake disc moving discs (37) are axially connected to the inner wall of the wheel (13); One end of the brake disc static disc (38) is fixedly connected to one end of an actuating rod (39), and the other end of the actuating rod (39) is slidably arranged in an actuating outer cylinder (40). The actuating outer cylinder (40) is fixedly connected to the wheel axle (14). The outer cylinder (40) is connected to a valve (41), and the valve (41) is electrically connected to the simulation analysis system.

10. The aircraft ground taxiing brake test system based on virtual-reality interaction according to claim 9, characterized in that: The wheel speed sensor comprises a laser receiver (43) and a laser source (42) fixedly connected to the wheel axle (14); the laser source (42) is optically connected to the laser receiver (43); the laser source (42) emits laser light which passes through small holes on the brake disc (37) and the brake disc (38) and is then received by the laser receiver (43) to calculate the wheel speed.

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