Attitude adjusting system and method for automatically adjusting attitude of airplane
The closed-loop control system, which uses three sets of jacks working in tandem, solves the problems of long time consumption and low accuracy in aircraft attitude adjustment, and achieves efficient and accurate aircraft attitude adjustment, while recording data in real time.
Patent Information
- Application Number
- CN202411381214.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-30
- Publication Date
- 2025-01-10
AI Technical Summary
Existing aircraft attitude adjustment methods are time-consuming, lack precision, and are prone to errors, making them unsuitable for demanding application scenarios.
The system employs three sets of jacks working in tandem, and utilizes a closed-loop control structure consisting of a servo motor, an absolute encoder, and a PID controller, combined with a laser tracker or displacement sensor, to achieve automatic adjustment of the aircraft's attitude.
It enables efficient and precise adjustment of aircraft attitude, reduces errors, improves the reliability and stability of attitude adjustment, and records adjustment process data in real time.
Smart Images
Figure CN119292323A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of aircraft attitude adjustment, and in particular refers to an attitude adjustment system and method for automatic aircraft attitude adjustment. Background Art
[0002] During the commissioning and maintenance of the aircraft, the aircraft attitude needs to be adjusted to meet the requirements. At present, in actual production, the aircraft is first lifted up with a jack, and tools such as a level and a tape measure are prepared. The position relationship between several groups of horizontal measurement points on the aircraft is measured, and then the aircraft attitude is adjusted and determined.
[0003] However, due to factors such as the level position, tape measure accuracy, and lighting conditions, this method is usually time-consuming and inaccurate when used to adjust the aircraft attitude, and cannot meet the use scenarios with high requirements for aircraft attitude. In addition, the above method requires recording a large amount of data, which is a large workload, and is prone to errors during the adjustment process, which is time-consuming and labor-intensive. Summary of the invention
[0004] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides an attitude adjustment system and method for automatic aircraft attitude adjustment, which are used to solve the problem that the aircraft attitude cannot be adjusted autonomously.
[0005] The technical solutions adopted in this application are as follows:
[0006] The present invention provides a method for automatically adjusting the attitude of an aircraft, and the method comprises the following steps:
[0007] S1: Two sets of main jacks are symmetrically set under the wings or fuselage of the aircraft, and one set of tail jacks is set at the tail of the aircraft;
[0008] S2: After the three sets of jacks are ready, the aircraft target attitude is set, and the sensors measure the current initial height data of the three sets of jacks respectively. The aircraft target attitude data is converted into the lifting displacement of the three sets of jacks after calculation processing;
[0009] S3: Implement synchronous adjustment of the electric jack displacement in a closed-loop control structure composed of a servo motor, an absolute encoder, and a PID controller until the aircraft attitude adjustment is completed.
[0010] As a preferred solution, the sensor is a laser tracker or a displacement sensor.
[0011] Furthermore, the present solution also provides an attitude adjustment system for automatic attitude adjustment of an aircraft, comprising: an attitude adjustment module, a PLC controller and a host computer;
[0012] The attitude adjustment module is arranged under the aircraft to adjust the aircraft attitude. The attitude adjustment module can also feedback the aircraft attitude and transmit it to the host computer. The host computer calculates the partition height in combination with the sensor data read from the PLC controller, and the PLC controller performs closed-loop control of the attitude adjustment module to adjust the partition height.
[0013] As a preferred solution, the attitude adjustment module is composed of three groups of electric jacks, two groups of main jacks are symmetrically arranged under the wings or fuselage of the aircraft, and a group of tail jacks is arranged at the tail of the aircraft; the jacks are controlled by PID algorithm to achieve precise and stable lifting operations, and when the three groups of jacks work together, data interaction between the three is realized through Ethernet communication.
[0014] Furthermore, the electric jack uses a servo motor connected to a reducer to drive the trapezoidal lead screw to rotate, and converts the rotational motion of the lead screw into linear motion of the lifting rod through a thread, thereby achieving lifting. The servo motor uses an absolute encoder for position feedback, and there is no need to add an additional position feedback device. The jack includes a control system, which limits the maximum lifting speed of the lifting rod to prevent a certain lifting speed of the lifting rod from being too fast and causing severe shaking of the aircraft.
[0015] Furthermore, the posture adjustment system also includes a touch screen, and the touch screen and PLC controller used by the jack both have Ethernet communication interfaces, and the PLC controller and the touch screen are built in the same communication network through an Ethernet switch device. Before the synchronous working process starts, the control system includes a master control system and a slave control system. Any jack control system can be designated as the master control system. After the master control system is determined, the remaining two jacks are automatically assigned as slave control systems and accept the dispatching control of the master control system.
[0016] The beneficial effects achieved by the present invention using the above scheme are as follows:
[0017] 1. The attitude adjustment system of the present application is converted into the lifting displacement of three groups of jacks after calculation processing, and the online closed-loop control is used to realize the synchronous adjustment of the jack displacement until the aircraft attitude adjustment is completed. The attitude adjustment has strong reliability and high efficiency.
[0018] 2. Through the setting of the control system, the lifting speed is limited during the synchronous lifting process to prevent the aircraft from vigorous shaking due to the lifting speed of a certain lifting rod being too fast, thereby improving the stability of attitude adjustment.
[0019] 3. The posture adjustment system of this application can record the data during the adjustment process in real time, providing a basis for subsequent quality tracing and optimization. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1A flow chart of synchronous adjustment control of displacement of three groups of electric jacks provided in this embodiment;
[0021] Figure 2 A communication network structure diagram of the electric jack provided in this embodiment;
[0022] Figure 3 This is a flow chart of the lifting control of the electric jack provided in this embodiment. DETAILED DESCRIPTION
[0023] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.
[0024] Example 1
[0025] Please refer to Figure 1 As shown, this embodiment provides an attitude adjustment system for automatic attitude adjustment of an aircraft, including an attitude adjustment module, a PLC controller and a host computer. The attitude adjustment module is arranged under the aircraft to adjust the aircraft attitude. The attitude adjustment module can also feedback the aircraft attitude and transmit it to the host computer. The host computer calculates the partition height in combination with the sensor data read from the PLC controller, and the PLC controller performs closed-loop control of the attitude adjustment module to adjust the partition height.
[0026] Among them, the posture adjustment system also includes a touch screen, and the touch screen and PLC controller used in the jack both have Ethernet communication interfaces, and the PLC controller and touch screen are built in the same communication network through an Ethernet switch device.
[0027] refer to Figure 1 As shown, the attitude adjustment module is composed of three groups of electric jacks, two groups of main jacks are symmetrically arranged under the wings or fuselage of the aircraft, and a group of tail jacks is arranged at the tail of the aircraft; the jacks realize precise and stable lifting operations through PID algorithm control, and when the three groups of jacks work together, the data exchange among the three is realized through Ethernet communication.
[0028] Among them, the electric jack uses a servo motor connected to a reducer to drive the trapezoidal screw to rotate, and converts the rotational motion of the screw into the linear motion of the lifting rod through a thread, thereby achieving lifting and lowering. The servo motor uses an absolute encoder for position feedback, and there is no need to add an additional position feedback device.
[0029] By reading the encoder position, the current extension height H of the electric jack can be calculated:
[0030] H=pulse / PPR / i*P,
[0031] Among them, pulse - servo motor position
[0032] PPR——Servo encoder resolution, constant 131072
[0033] i——reduction ratio of reducer
[0034] P——Lead screw pitch.
[0035] In a further solution, the jack includes a control system, which limits the maximum lifting speed of the lifting rod to prevent the aircraft from vigorous shaking due to excessive lifting speed of a certain lifting rod.
[0036] Example 2
[0037] This embodiment provides a method for automatically adjusting the attitude of an aircraft, and the method comprises the following steps:
[0038] S1: Two sets of main jacks are symmetrically set under the wings or fuselage of the aircraft, and one set of tail jacks is set at the tail of the aircraft;
[0039] S2: After the three sets of jacks are ready, the target attitude of the aircraft is set, and the laser tracker measures the current initial height data of the three sets of jacks respectively. The target attitude data of the aircraft is converted into the lifting displacement of the three sets of jacks after calculation processing;
[0040] S3: Implement synchronous adjustment of the electric jack displacement in a closed-loop control structure composed of a servo motor, an absolute encoder, and a PID controller until the aircraft attitude adjustment is completed.
[0041] refer to Figure 2 As shown in the figure, when the three groups of electric jacks work together, the data exchange between the three is realized through Ethernet communication. The PLC controller and touch screen device used by the electric jacks all have Ethernet communication interfaces, and the PLC controller and touch screen hardware are built in the same communication network through Ethernet switch devices. Before the synchronous working process starts, any jack control system can be designated as the main control system. After the main control system is determined, the remaining two jacks are automatically assigned as slave control systems and accept the scheduling control of the main control system.
[0042] During the synchronous lifting of the electric jacks, the control system limits the maximum lifting speed of each lifting rod to prevent the aircraft from shaking violently due to excessive lifting speed of a certain lifting rod.
[0043] refer to Figure 3 As shown, during the adjustment process, the control system sets a time limit for the displacement adjustment. If the adjustment of the height difference of the three sets of lifting rods is not completed within the specified time, the control system outputs an alarm message to prompt the operator whether to continue the lifting action.
[0044] It should be noted that although the embodiments of the present invention have been shown and described, for ordinary technicians in this field, without departing from the purpose of the invention, structural methods and embodiments similar to the technical solution are designed without creativity and should all fall within the scope of protection of the present invention.
Claims
1. An attitude adjustment system for automatic attitude adjustment of an aircraft, characterized in that: It includes an attitude adjustment module, a PLC controller and a host computer; the attitude adjustment module is arranged under the aircraft to adjust the aircraft attitude, and the attitude adjustment module can also feedback the aircraft attitude and transmit it to the host computer. The host computer calculates the partition height in combination with the sensor data read from the PLC controller, and the PLC controller performs closed-loop control of the attitude adjustment module to adjust the partition height.
2. The attitude adjustment system for automatic attitude adjustment of an aircraft according to claim 1, characterized in that: The attitude adjustment module is composed of three groups of electric jacks, two groups of main jacks are symmetrically arranged under the wings or fuselage of the aircraft, and a group of tail jacks is arranged at the tail of the aircraft; the jacks are controlled by the algorithm of the PID controller to achieve precise and stable lifting operations. When the three groups of jacks work together, data interaction between the three is realized through Ethernet communication.
3. The attitude adjustment system for automatic attitude adjustment of an aircraft according to claim 2, characterized in that: The electric jack uses a servo motor connected to a reducer to drive the trapezoidal lead screw to rotate, and converts the rotational motion of the lead screw into the linear motion of the lifting rod through a thread, thereby achieving lifting; the servo motor uses an absolute encoder for position feedback, and there is no need to add an additional position feedback device; the jack includes a control system, which limits the maximum lifting speed of the lifting rod to prevent a certain lifting rod from lifting too fast and causing severe shaking of the aircraft.
4. The attitude adjustment system for automatic attitude adjustment of an aircraft according to claim 3, characterized in that: The control system sets a time limit for displacement adjustment. If the height difference adjustment of the three lifting rods is not completed within the specified time, the control system outputs an alarm message to prompt the operator whether to continue the lifting action.
5. The attitude adjustment system for automatic aircraft attitude adjustment according to claim 4, characterized in that: The posture adjustment system also includes a touch screen. The touch screen and PLC controller used in the jack both have Ethernet communication interfaces. The PLC controller and the touch screen are built in the same communication network through an Ethernet switch device.
6. The attitude adjustment system for automatic attitude adjustment of an aircraft according to claim 5, characterized in that: The control system includes a main control system and a slave control system. Before the synchronous working process starts, any jack control system can be designated as the main control system. After the main control system is determined, the remaining two jacks are automatically assigned as slave control systems and accept the scheduling control of the main control system.
7. A method for adjusting the attitude of an attitude adjustment system for automatic aircraft attitude adjustment according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1: Two sets of main jacks are symmetrically set under the wings or fuselage of the aircraft, and one set of tail jacks is set at the tail of the aircraft; S2: After the three sets of jacks are ready, the aircraft target attitude is set, and the sensors measure the current initial height data of the three sets of jacks respectively. The aircraft target attitude data is converted into the lifting displacement of the three sets of jacks after calculation processing; S3: Implement synchronous adjustment of the electric jack displacement in a closed-loop control structure composed of a servo motor, an absolute encoder, and a PID controller until the aircraft attitude adjustment is completed.
8. The method for automatically adjusting the attitude of an aircraft according to claim 7, characterized in that: The sensor is a laser tracker or a displacement sensor.