An aircraft ground taxiing braking test system based on virtual-real interaction

Abstract

The present invention relates to an aircraft ground taxiing brake test system based on virtual-reality interaction, comprising: 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 wheels are arranged to rotate at the movable end of a buffer, the top end of the buffer 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; a braking system is arranged in the wheel for controlling the wheel rotation speed; a wheel speed sensor is arranged on the wheel for detecting the wheel rotation speed; the landing gear vertical loading and deflection system comprises a main landing gear deflection system and a landing gear loading system; 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; 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, and simultaneously detect load data.

Description

Technical Field

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

[0002] An aircraft's braking system is a crucial component of flight safety. It provides the necessary braking force during landing, enabling the aircraft to quickly decelerate and come to a safe stop. Ground runway braking tests can optimize braking system performance, ensuring rapid deceleration during landing, reducing reliance on runway length, and thus minimizing landing risks. Furthermore, ground runway braking tests provide a verification and testing platform for the development and application of new braking systems.

[0003] The semi-physical simulation platform combines a brake test bench with a six-degree-of-freedom taxiing dynamics simulation model of the aircraft, significantly reducing experimental costs. By simulating the operation of the target aircraft and the braking system hardware in real time, the semi-physical simulation platform shortens experimental cycles and improves experimental efficiency. This real-time simulation approach enables researchers to obtain experimental results more quickly, enabling timely analysis and optimization of braking performance. Furthermore, the semi-physical simulation platform offers a certain level of safety and reliability. By partially utilizing physical components, it can simulate the behavior of the real system to a certain extent, thus avoiding the risks and dangers associated with full physical experiments.

[0004] Traditional braking tests primarily focus on the braking performance of a single landing gear. Testing the braking performance of both the left and right main landing gear demonstrates the effectiveness of differential braking. Furthermore, traditional braking tests only consider the vertical force applied to the tires, ignoring the effect of the tire's slip angle on the ground force. Considering both the slip angle and the vertical force applied provides a more realistic representation of tire friction characteristics. Therefore, based on the discrepancy between the test setup and actual operating conditions, we propose an aircraft ground taxi braking test system based on virtual-reality 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 and braking test system based on virtual-reality interaction includes:

[0008] An equivalent running device, wherein the rotating end of the equivalent running device is contacted with at least a pair of symmetrically arranged wheels, the equivalent running device is used to drive the wheels to rotate, and 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 includes 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 strut, 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 strut, and the movable end of the landing gear loading system is connected to the fixed end of the buffer via the load acquisition platform and is used to squeeze the wheel and the rotating end of the equivalent running 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 acquisition 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 mounted on the turntable support, wherein cement for simulating a runway surface 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, the motor housing of the driving motor is fixed to the first bracket through a motor bracket, the motor main shaft of the driving motor is connected to the top axis of the turntable through a coupling, and the motor main shaft is electrically connected to the 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 arranged in a rolling manner 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 rotated and slidably engaged;

[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 rotatably connected to the wheel via a wheel axle;

[0023] The buffer outer tube is transmission-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 via a third bracket, and a movable end of the hydraulic cylinder is fixedly connected to the outer cylinder of the buffer via a triaxial load sensor;

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

[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 being radially limited and arranged on the wheel axle, the brake disc and the static disc being coaxial and axially sliding;

[0033] Brake disc rotors, the number of which matches the number of the brake disc static discs, the brake disc rotors being movably sleeved on the wheel axle, the brake disc rotors being frictionally engaged with the brake disc static discs, and the brake disc rotors 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 fixed to the wheel axle, and 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. The laser emitted by the laser source passes through the small holes on the brake disc dynamic 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 and braking test system based on virtual-reality interaction, the simulation and analysis system includes:

[0037] A semi-physical simulation platform collects the lateral and yaw loads of the left and right main landing gear 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 realistic simulation environment, auxiliary test data collection and analysis and other requirements 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] During the initial phase of the ground taxi braking test, the motor controller sends a signal to the motor, which then rotates, driving the turntable and, in turn, the wheels of the left and right main landing gear. At this point, triaxial load sensors begin collecting the lateral and longitudinal loads on the main landing gear, while wheel speed sensors begin collecting the main landing gear wheel speeds. The physical-in-the-loop simulation platform first processes the collected data, then solves its built-in six-degree-of-freedom taxi dynamics model, ultimately outputting the aircraft's real-time state. The brake controller adjusts the braking control effect based on the aircraft's state, while the hydraulic cylinder adjusts the positive pressure of the main landing gear wheels against the road surface. The main landing gear deflection system adjusts the actual slip angle of the main landing gear wheels relative to ground speed during taxiing based on the aircraft's state. This closed-loop physical-in-the-loop simulation experiment, encompassing data collection, model solution, and state adjustment, not only tests the aircraft's braking performance and control under various operating conditions but also tests the effectiveness of differential braking by adjusting the braking force on both wheels. Furthermore, the entire braking test system process 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 full-aircraft ground taxi brake test, 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 vertical force loading of the tire in traditional braking tests, this method takes into account the tire slip angle and the vertical force loading of the tire in more detail, which can reflect the true 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 evaluate 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 following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive work.

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

[0048] Figure 2 This is the main 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 This 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 braking 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 tube; 36. Buffer piston rod; 37. Brake disc; 38. Brake disc; 39. Actuating rod; 40. Actuating outer tube; 41. Valve; 42. Laser source; 43. Laser receiver. DETAILED DESCRIPTION

[0056] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts 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-reality interaction, comprising:

[0059] An equivalent taxiing device 8, the rotating end of which is in contact with at least a pair of symmetrically arranged wheels 13, and 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 a buffer 15, the top of which is fixedly mounted on the bottom end of a load collection platform, and the top of which is fixedly mounted 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 mounted on the main strut 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 strut 2, and the movable end of the landing gear loading system is connected to the fixed end of the buffer 15 via the load collection platform and is used to squeeze the wheel 13 against the rotating end of the equivalent runner 8 while detecting 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 braking system.

[0065] Among them, the simulation analysis system includes a visual platform 19 and a semi-physical simulation platform 1. The entire process of the aircraft ground taxiing and braking test 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, while 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 an aircraft under the braking action of the main landing gear on both sides, this device is equipped 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 mounted on the turntable support 20. Cement 25 for simulating a runway surface is fixed to the top of the turntable 23. The cement 25 contacts 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 connected to the top axis of the turntable 23 through a coupling, and the motor main shaft is electrically connected to the motor controller 10.

[0073] As an optional embodiment, a bearing support 21 is axially connected to the top of the turntable support 20 , and 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 embodiment, cement baffles 24 are fixed to the inner and outer sides of the cement 25 , and the cement baffles 24 are fixed to the turntable 23 .

[0075] The first bracket 6 spans the equivalent taxiing device 8 and is fixed to the ground. 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 left and right wheels 13, simulating the taxiing process of the aircraft on the ground.

[0076] The turntable support 20 is fixed to the ground, supporting the turntable 23 to rotate along with the motor main shaft 27. First, the bearing support 21 is fixedly connected to the turntable support 20, and secondly, 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 to the motor bracket 5, and the motor bracket 5 is fixed to 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 rotated and slidably matched;

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

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

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

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

[0082] Rack 33, meshing with 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] Gear 32 is fixedly connected to the buffer piston rod 36, rack 33 meshes with gear 32, and first telescopic cylinder 34 is coaxially connected to rack 33. Furthermore, buffer piston rod 36 is coaxially connected to buffer outer cylinder 35. By controlling the air flow in and out of first telescopic cylinder 34, the linear motion of rack 33 can be adjusted, thereby meshing and causing gear 32 to rotate, which in turn causes wheels 13 to rotate. This adjusts the actual slip angle of the main wheels 13 relative to the ground speed during taxiing.

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

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

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

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

[0089] The hydraulic cylinder head 29 is fixed to 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 at the oil inlet and outlet 30, the hydraulic cylinder piston rod 31 can be pushed back to adjust the vertical force of the main landing gear wheels on both sides.

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

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

[0092] The number of brake discs 37 matches that of brake discs 38. The brake discs 37 are movably sleeved on the wheel axle 14. The brake discs 37 and the brake discs 38 are frictionally engaged. The brake 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 the actuating rod 39, and the other end of the actuating rod 39 is slidably set in the 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 to the wheel axle 14. The laser source 42 is optically connected to the laser receiver 43. The laser source 42 emits laser light through the small holes on the brake disc 37 and the brake disc 38 and is received by the laser receiver 43 to calculate the wheel speed.

[0095] The brake disc 37 is fixedly connected to the wheel 13. The brake disc 38 has one end coaxially connected to the wheel axle 14 and the other end fixedly connected to the actuating rod 39. An actuating outer cylinder 40 is fixedly connected to the wheel axle 14, and the actuating rod 39 is coaxially connected to the actuating outer cylinder 40. A valve 41 is mounted 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, thereby causing the actuating rod 39 to move back and forth within the actuating outer cylinder 40, causing friction between the brake disc 38 and the brake disc 37, generating braking force.

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

[0097] The triaxial load sensor 17 is fixedly connected to the upper end of the damper 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 and directional loads by detecting the tiny deformations caused by forces in three directions. The laser source 42 emits laser light, and the laser receiver 43 receives the laser light that passes through the small holes in the brake disc, thereby calculating the wheel speed.

[0098] During the initial phase of the aircraft's ground taxiing braking test, the motor controller 10, mounted on the first bracket 6, controls the motor 9 mounted on the motor bracket 5 according to instructions, driving the left and right main landing gear wheels 13 to rotate. At this point, the triaxial load sensors 17, mounted on the lower end of the hydraulic cylinder 7 and the upper end of the buffer 15, collect the lateral and yaw loads on the left and right main landing gear during the taxiing braking phase. The wheel speed sensors 18, mounted on the wheel axle 14, collect the left and right wheel rotational speeds. The semi-physical simulation platform 1 first processes the collected data, then solves its built-in six-degree-of-freedom taxiing dynamics model, ultimately outputting the aircraft's real-time state. The brake controller 12, mounted on the first bracket 6, controls the disc brakes mounted on the wheel axle 14 according to the aircraft's state, thereby adjusting the braking control effect on both sides. The motor controller 10, mounted on the first bracket 6, controls the motor 9 mounted on the motor bracket 5 according to the aircraft's state, adjusting the left and right main landing gear wheel rotational speeds. Hydraulic cylinders 7 and the main landing gear deflection system 16 adjust the normal pressure exerted by the left and right main landing gear wheels 13 on the road surface, as well as the actual slip angle relative to ground speed during taxiing, based on the aircraft's state. Through closed-loop semi-physical simulation experiments involving data acquisition, model calculation, and state adjustment, the braking performance of both wheels under different operating conditions can be tested and brake control effectiveness can be adjusted in real time. Furthermore, differential braking effectiveness can be tested by adjusting the brake pressure of the main landing gear disc brakes 11 on both sides.

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

[0100] 1. Compared with the full-aircraft ground taxi brake test, 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 vertical force loading of the tire in traditional braking tests, this method takes into account the tire slip angle and the vertical force loading of the tire in more detail, which can reflect the true 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 evaluate the differential braking control capability of the aircraft.

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

[0105] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. An aircraft ground taxiing and braking test system based on virtual-reality interaction, characterized in that: include: An equivalent sliding device (8), wherein the rotating end of the equivalent sliding device (8) is contacted with at least one pair of symmetrically arranged wheels (13), the equivalent sliding 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) while detecting load data; 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 acquisition platform and the braking 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 mounted on the turntable support (20), and a top portion of the turntable (23) is fixed with cement (25) for simulating a runway surface, wherein the cement (25) is in contact with the wheel (13); A driving unit is used to drive the turntable (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 includes a driving motor, a motor housing (26) of the driving motor is fixed to the first bracket (6) through a motor bracket (5), a 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 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), and 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).

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 slidingly matched; 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 shaft (14); The buffer outer cylinder (35) is in transmission connection with 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) is 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 includes: 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, wherein the brake disc and static disc (38) is radially limited and arranged on the wheel shaft (14), and the brake disc and static disc (38) are coaxial with the wheel shaft (14) and 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) and the brake disc static discs (38) are frictionally matched, 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 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.

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