Chassis full-vector drive-by-wire system for high-speed heavy-load aircraft tractor

Abstract

The invention discloses a chassis full-vector drive-by-wire system for a high-speed heavy-load aircraft tractor. The chassis full-vector drive-by-wire system comprises a main controller, a detection module, a driving module, a steering module, a suspension module and a braking module, wherein the detection module, the driving module, the steering module, the suspension module and the braking module are connected with the main controller. The main controller is responsible for regulating and controlling power distribution of a chassis of the aircraft tractor and dynamic coordination of the four electric wheels, and each wheel is provided with four independent control modules including a driving module, a braking module, a steering module and a suspension module. The full-vector drive-by-wire system for the chassis of the aircraft tractor has the beneficial effects that road conditions fed back by the detection module can be cleaned and processed through the main controller, so that a road condition model is produced, and hubs of the aircraft tractor can be adjusted in advance when encountering corresponding road conditions by matching with the driving module, the steering module and the braking module; the height of the air suspension is changed, and the effectiveness, robustness and stability of the aircraft tractor in the working process under the characteristic requirements of high speed and heavy load are further improved.

Description

Technical Field

[0001] The invention belongs to the technical field of chassis of special vehicles for airports, and in particular relates to a chassis full-vector wire control system for high-speed and heavy-load aircraft tractors. Background Art

[0002] The number of flights in my country has increased dramatically with the development of the country. With the increase in the number of flights, the speed of aircraft dispatching at airports needs to be improved. In order to ensure the improvement of work efficiency, aircraft tractors are needed to quickly move aircraft on the ground. Under the requirements of the new departure traction mode, higher requirements are placed on the maneuverability, safety and robustness of aircraft tractors.

[0003] Most conventional aircraft tractors currently use mechanical drive systems, including conventional steering systems, transmissions, and sensors. These mechanical components convert the driver's control input into chassis movement through physical connections; hydraulic systems are used to provide power to control the movement of the chassis. Components such as hydraulic cylinders and hydraulic pumps are used to push and control the movement of the chassis. The steering, drive, braking, and suspension operating modes of aircraft tractors usually require conventional hydraulic or mechanical controls, and the driver controls the chassis movement of the tractor through joysticks or steering wheels. The driver control unit converts the driver's input into chassis control signals and transmits them to the corresponding actuators. Summary of the invention

[0004] In order to solve the problems raised in the above background technology, the present invention provides a chassis full vector wire control system for high-speed heavy-load aircraft tractors.

[0005] To achieve the above objectives, the present invention provides the following technical solutions: a chassis full vector wire control system for high-speed heavy-load aircraft tractors, comprising: a main controller and a detection module, a drive module, a steering module, a suspension module and a brake module connected to the main controller.

[0006] The main controller is responsible for regulating the power distribution of the aircraft tractor chassis and the dynamic coordination of the four electric wheels.

[0007] The detection module uses the environment joint perception module, the state comprehensive perception module, etc. to jointly perform state parameter perception and system identification of the aircraft traction system chassis.

[0008] The drive module uses a permanent magnet synchronous motor as the hub motor type, uses electric current to transfer energy to convert the motor torque into drive torque, and can directly transfer power to the wheels. All four electric wheels are equipped with a drive module.

[0009] The steering module can realize parameter feedback during the working process and perform full-automatic steering control through the main controller.

[0010] The suspension module adopts a double trailing arm improvement solution, which can control the state of the chassis through the main controller according to parameter feedback.

[0011] The braking module can realize automatic emergency braking during operation.

[0012] Preferably, the environment joint perception module is composed of a visual recognition module, a depth camera, a laser radar, etc., which, combined with the state joint perception module, can determine the distance between the aircraft tractor and the obstacle and the position perception with the landing gear during the wheel holding operation, and transmit the parameters to the main controller.

[0013] Preferably, the state joint perception module is composed of aircraft tractor state detection sensors such as gyroscopes, magnetometers, and displacement sensors, which are combined with the environment joint perception module and can feedback parameters to the main controller to control the aircraft tractor's braking torque, steering, positioning, obstacle avoidance and other functions.

[0014] Preferably, the driving module is powered by a ternary lithium battery and utilizes a permanent magnet synchronous motor to separately drive and control the four electric wheels.

[0015] Preferably, the steering module uses a planetary gear reducer and a worm gear reducer in combination to design a two-stage large reduction ratio reducer solution, while realizing trajectory tracking and four-wheel steering control strategies, and achieving all-round steering through active steering and differential steering.

[0016] Preferably, the suspension module adopts a double trailing arm improvement scheme and is equipped with a magnetorheological damper to achieve vehicle height adjustment and ride comfort control of the aircraft tractor.

[0017] Preferably, the braking module uses a TBS-ESC-regenerative braking three-level redundant braking system, which combines the electronic stability control system ESC and the electric power assist system eBooster to improve the lateral stability of the aircraft tractor during braking, and integrates an anti-lock braking system.

[0018] Preferably, the drive module, steering module, suspension module and brake module implement a multi-physical process coupling mechanism, and can be coordinated and controlled by other modules during the working process to jointly realize full vector wire control of the chassis of the high-speed heavy-load aircraft tractor.

[0019] The present invention solves the defects existing in the background technology and has the following beneficial effects:

[0020] 1. This chassis full vector wire control system for high-speed and heavy-load aircraft tractors is a relatively new technology that combines full vector wire control technology and chassis control technology, making the aircraft tractor more flexible and efficient in ground operations and increasing its maneuverability; at the same time, it can achieve omnidirectional control, making the aircraft tractor more flexible and maneuverable in ground operations, and can more accurately control the movement of the chassis, including steering and traction operations, so that it can adapt to the operating requirements of different venues, including narrow aprons and complex taxiways.

[0021] 2. The chassis full vector wire control system for high-speed and heavy-load aircraft tractors uses electronic signal transmission to reduce the error and lag of mechanical transmission, thereby achieving more precise control. The requirements of the new traction departure mode for unmanned and intelligent airports and the requirements for high-speed and heavy-load of new aircraft tractors can be accurately conveyed to the chassis actuators, improving accuracy, safety, stability and robustness.

[0022] 3. This chassis full vector wire control system for high-speed heavy-load aircraft tractors can monitor the chassis status in real time through advanced control algorithms and make rapid adjustments to ensure the stability and safety of the system. In emergency situations, the system may also provide better response capabilities, thereby reducing potential accident risks.

[0023] 4. The chassis full vector wire control system for high-speed heavy-load aircraft tractors has an electronic control system that allows flexible software programming and configuration, so it can be customized and optimized according to the needs of different tractor models or specific tasks. This programmability can improve the adaptability and versatility of the tractor.

[0024] 5. This chassis full vector wire control system for high-speed heavy-load aircraft tractors can more accurately control chassis movement, reduce unnecessary energy consumption, and thus improve the energy efficiency of the tractor. It helps to reduce energy consumption and reduce the impact on the environment in terms of cost, noise, and energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural diagram of the full vector wire control system of the chassis of the aircraft tractor;

[0026] In the figure: 1. Detection module; 2. Main controller; 3. Joint control module; 3-1. Drive module; 3-2. Braking module; 3-3. Steering module; 3-4. Suspension module. DETAILED DESCRIPTION

[0027] The present invention will be described in detail below with reference to the accompanying drawings in embodiments of the present invention.

[0028] The patent of the present invention is a chassis full-vector wire control system for high-speed and heavy-load aircraft tractors. The main controller 2 can clean up and process the road conditions fed back by the detection module 1, and then produce a road condition model. In combination with the joint control module 3 (drive module 3-1, brake module 3-2, steering module 3-3 and suspension module 3-4), the wheel hub of the aircraft tractor can be adjusted in advance when encountering corresponding road conditions, thereby further improving the effectiveness, robustness and stability of the aircraft tractor during its operation under the characteristic requirements of high speed and heavy load.

[0030] Detection module 1, using the environment joint perception module, the state comprehensive perception module, etc. to jointly perform state parameter perception and system identification of the aircraft traction system chassis: wherein the environment joint perception module is composed of a visual recognition module, a depth camera, a laser radar, etc., which, combined with the state joint perception module, can judge the distance between the aircraft tractor and the obstacle and the position perception with the landing gear during the wheel holding operation, and transmit the parameters to the main controller; wherein the state joint perception module is composed of aircraft tractor state detection sensors such as gyroscopes, magnetometers, displacement sensors, etc., which, combined with the environment joint perception module, can feed back parameters to the main controller to control the braking torque, steering, positioning, obstacle avoidance and other functions of the aircraft tractor.

[0031] The main controller 2 is responsible for receiving the parameters fed back by the detection module 1, so as to adjust the power distribution of the chassis and the dynamic coordination of the four electric wheels.

[0032] The joint control module 3, in order to improve the stability and safety of the aircraft tractor, can adopt the integrated control technology in the chassis wire control system. Each electronic control component of the aircraft tractor chassis has a mutually restrictive and influential relationship. To improve the performance of the entire aircraft tractor, it is necessary to ensure the good coordination between each execution component of the chassis. By adopting the integrated control technology, various modules such as the drive module 3-1, brake module 3-2, steering module 3-3 and suspension module 3-4 in the wire control chassis can be integrated to effectively complete the overall control of the aircraft tractor.

[0033] For the chassis wire control system level of high-speed and heavy-load aircraft tractor, there is little connection and information communication between the internal systems. The main controller 1 needs to control multiple systems, which may cause problems such as lack of coordination or conflict interference among the subsystems. Therefore, integrated control technology, namely the joint control module 3, should be adopted to achieve good coordination and integrated control among the submodules to improve the operation level of each submodule.

[0034] The driving module 3-1 uses a power battery (ternary lithium battery) as the main driving system energy supply, and uses the speed and torque of the driving motor to achieve the purpose of "throttle control". It cooperates with the computing system, the motor controller device, and the main controller 1 to control the speed of the aircraft tractor, and then calculates the relevant environmental data, sends the best form of data information to the main controller 2, sends data to the motor controller MCU, etc., and finally controls the aircraft tractor drive.

[0035] Braking module 3-2, through an electronic system, combines the electronic stability control system ESC and the electric boost system eBooster, and uses the execution structure in the brake to replace the original motor drive device. The sensor transmits the force and speed on the brake pedal to the main controller 2, and at the same time, according to the feedback data of the wheel speed sensor, ABS anti-lock braking system, and vehicle speed signal, the data information is calculated and processed to form precise braking.

[0036] Steering module 3-3, in the automated driving state of the aircraft tractor, transmits various driving parameters to the vehicle controller VCU part through the computing system to ensure that it meets the requirements of automated operation. The computing technology can also pre-set the trajectory of the aircraft tractor according to the environmental type data information, accurately judge the driving direction, and use the controller area network CAN bus to transmit data to the vehicle controller VCU part. The vehicle controller VCU part performs in-depth data calculations and sends instructions to the wire control system main controller 2 part through the controller area network CAN bus to complete the all-round steering control of the aircraft tractor.

[0037] Suspension module 3-4, when the aircraft tractor is in working state, the sensor equipment detects the driving road condition information, speed and acceleration information, braking and steering information of the aircraft tractor, converts it into electrical signals, and transmits it to the main controller 2 part, which effectively processes the data information, and finally completes the orderly control of the height according to the actual situation. Secondly, according to the movement and loading conditions of the aircraft tractor, the data information calculated by the control strategy is different. For example, the load data and speed data of the aircraft tractor are different. The wire-controlled suspension system can be controlled according to the content of different data information. Considering that there are differences in the load data of the aircraft tractor, the height of the vehicle body will be affected. In this case, the suspension module 3-4 can combine the load data value of the car to accurately control the height, so that its posture is in a fairly stable state; if the driving road condition is uneven, in order to prevent collision with the ground, the suspension control system can also automatically increase the height of the aircraft tractor body.

[0038] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific embodiments of the present invention are limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, other embodiments obtained without departing from the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A chassis full vector wire control system for high-speed heavy-load aircraft tractors, comprising: The main controller, and the detection module, driving module, steering module, suspension module and brake module connected to the main controller are characterized by: The main controller is responsible for regulating the power distribution of the aircraft tractor chassis and the dynamic coordination of the four electric wheels; The detection module uses the environment joint perception module, the state comprehensive perception module, etc. to jointly perform state parameter perception and system identification of the aircraft traction system chassis; The drive module uses a permanent magnet synchronous motor as the wheel hub motor type, which uses current to transfer energy to convert the motor torque into the drive torque, and can directly transfer power to the wheels. The four electric wheels are equipped with a drive module; The steering module can realize parameter feedback during the working process and perform fully automatic steering control through the main controller; The suspension module adopts a double trailing arm improvement solution, which can control the state of the chassis through the main controller according to parameter feedback; The braking module can realize automatic emergency braking during operation; At the same time, the driving module, steering module, suspension module and braking module carry out a multi-physical process coupling mechanism to form a joint control module for the aircraft tractor under the high-speed and heavy-load working mode.

2. The chassis full vector wire control system for high-speed heavy-load aircraft tractors according to claim 1 is characterized by: The environment joint perception module is composed of a visual recognition module, a depth camera, a laser radar, etc., which, combined with the state joint perception module, can determine the distance between the aircraft tractor and obstacles and the position perception of the landing gear during the wheel holding process, and transmit the parameters to the main controller.

3. The chassis full vector wire control system for high-speed heavy-load aircraft tractors according to claim 1 is characterized by: The state joint perception module is composed of aircraft tractor state detection sensors such as gyroscopes, magnetometers, and displacement sensors. Combined with the environment joint perception module, it can feedback parameters to the main controller to control the braking torque, steering, positioning, obstacle avoidance and other functions of the aircraft tractor.

4. The chassis full vector wire control system for high-speed heavy-load aircraft tractors according to claim 1 is characterized by: The driving module is powered by a ternary lithium battery and uses a permanent magnet synchronous motor to drive and control the four electric wheels separately.

5. The chassis full vector wire control system for high-speed heavy-load aircraft tractors according to claim 1 is characterized by: The steering module uses a planetary gear reducer and a worm gear reducer in combination to design a two-stage large reduction ratio reducer solution, while realizing trajectory tracking and four-wheel steering control strategies, and achieving all-round steering through active steering and differential steering.

6. The chassis full vector wire control system for high-speed heavy-load aircraft tractors according to claim 1 is characterized by: The suspension module adopts a double trailing arm improvement solution and is equipped with a magnetorheological damper to achieve vehicle height adjustment and smoothness control of the aircraft tractor.

7. The chassis full vector wire control system for high-speed heavy-load aircraft tractors according to claim 1 is characterized by: The braking module uses a TBS-ESC-regenerative braking three-level redundant braking system, which combines an electronic stability control system ESC and an electric power assist system eBooster to improve the lateral stability of the aircraft tractor during braking, and integrates an anti-lock braking system.

8. The chassis full vector wire control system for high-speed heavy-load aircraft tractors according to claim 1 is characterized by: The driving module, steering module, suspension module and braking module implement a multi-physical process coupling mechanism, and can be coordinated and controlled by other modules during the working process to jointly realize full vector wire control of the chassis of the high-speed heavy-load aircraft tractor.

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