A method and device for real-time calculation of the remaining life of a landing gear

Abstract

The application provides a landing gear residual life real-time calculation method and device, and belongs to the technical field of fatigue life evaluation. The method first decouples strain measurement data of landing gear ground load to obtain three-way ground load; then calculates finite element stress of key load-bearing parts of the landing gear based on the three-way ground load; decomposes the finite element stress to each component in the key load-bearing parts; calculates equivalent stress of each component based on the stress of each component; determines cycle number of equivalent stress applied when the component is damaged according to the calculated equivalent stress; counts total flight time of the current helicopter, and determines damage degree of each component of the landing gear of this flight based on the total flight time and the cycle number; obtains residual life of each component based on the cycle number of equivalent stress when each component is damaged and the damage degree of the corresponding component; then takes the minimum value of residual life of all components as the residual life of the landing gear; the method is efficient, has strong implementability, and can obtain more accurate real-time residual life analysis results.

Description

Technical Field

[0001] The present invention belongs to the technical field of fatigue life assessment, and in particular relates to a method and device for real-time calculation of the remaining life of a landing gear. Background Art

[0002] The landing gear is an important load-bearing component that provides functions such as cushioning and ground maneuverability during aircraft take-off and landing and ground movement. It is used to transfer landing and ground operating loads and is usually designed to have the same lifespan as the aircraft body structure.

[0003] At present, the calculation of the remaining life of the landing gear fatigue life is given by calculation or testing in the design stage. First, the load spectrum is edited according to the operating conditions, and then the stress is calculated and corrected. Combined with the structural SN characteristic curve, the cumulative damage theory is used to calculate the structural fatigue life.

[0004] Combined with the main remaining life calculation methods in current engineering applications, there are mainly the following limitations and shortcomings: the landing gear life prediction is only given in the design stage. When the product is subjected to large loads exceeding the design considerations during subsequent service, the landing gear fatigue life performance cannot be quickly updated; the landing gear life prediction is only given in the design stage. When the product is always subjected to loads lower than the design considerations during subsequent service, it is impossible to accurately propose measures to extend the landing gear life; most components of the landing gear structure are only subject to some visual inspections during regular inspections, and there is no real-time prediction of the remaining life, which makes it impossible to grasp the health status of the landing gear in real time, effectively and accurately. Summary of the Invention

[0005] To address the technical issues in the prior art, such as the inability to quickly update landing gear fatigue life performance, accurately propose landing gear life extension measures, and accurately predict remaining life in real time, the present invention provides a real-time remaining life calculation method and device for landing gear. These methods are highly efficient, highly feasible, and can produce more accurate real-time remaining life analysis results. The technical solution is as follows:

[0006] In a first aspect, a method for real-time calculation of the remaining life of a landing gear is provided, the method comprising:

[0007] Decouple the strain measurement data of the landing gear ground load to obtain the three-dimensional ground load;

[0008] Calculate the finite element stress of key load-bearing components of the landing gear based on the three-axis ground load;

[0009] Decompose the finite element stress into each component in the key load-bearing parts to obtain the stress of each component;

[0010] Based on the stress of each component, calculate the equivalent stress of the component;

[0011] determine the cycle number of the equivalent stress applied when the component is damaged according to the calculated equivalent stress;

[0012] statistically record the total flight time of the current helicopter, and determine the damage degree of each component of the landing gear of the flight according to the total flight time and the cycle number;

[0013] Based on the cycle number of the equivalent stress applied when each component is damaged and the damage degree of the corresponding component, the remaining life of the component is obtained;

[0014] The minimum value of the remaining life of all components is taken as the remaining life of the landing gear.

[0015] Optionally, the strain measurement data of the ground load of the landing gear is decoupled to obtain the ground three-way load, including:

[0016] Obtain the strain measurement data of the ground load of the landing gear, which includes the strain measurement data of strain gauges 201, 202 and 203, respectively ε1, ε2 and ε3. The strain gauges 201 and 202 are arranged on the outer wall of the landing gear axle, and the midpoint connecting line of the strain gauges 201 and 202 is parallel to the length direction of the landing gear axle. The strain gauges 203 and 201 are located on the same radial section of the landing gear axle, and the included angle between them is 90°.

[0017] Based on ε1, ε2 and ε3, the ground three-way load Px, Py and Pz is calculated according to the following formula:

[0018]

[0019] Wherein, the ground three-way load Px, Py and Pz is to be solved, E represents the elastic modulus of the axle material, A represents the cross-sectional area of the axle, W represents the bending section modulus, b1 is the force arm of the strain gauge 201 from the load point, b2 is the force arm of the strain gauge 202 from the load point, and R is the distance from the load point to the axle axis.

[0020] Optionally, the cycle number of the equivalent stress applied when the component is damaged is determined according to the calculated equivalent stress, including:

[0021] Step 1, obtain the S-N characteristic curve of each component, which records the corresponding relationship between the equivalent stress and the cycle number of the equivalent stress applied when the component is damaged: the S-N characteristic curve is composed of four parts, AB segment is a curve, BC, CD and DE segment are straight line segments,

[0022] The AB segment curve is determined according to the following formula:

[0023] Wherein, N is the cycle number of the part destruction corresponding to the equivalent stress; Sa is the fatigue stress, σ -1 The representative structure average fatigue limit, A represents the structure fatigue characteristic curve shape ordinate value, and a represents the structure fatigue characteristic curve shape abscissa value.

[0024] Then, the intersection points (N1, S1), (N2, S2), and (N3, S3) of the AB segment and the straight line segments BC, CD, and DE are solved based on the material parameters and the structure parameters of the component, so as to obtain the remaining part of the S-N characteristic curve.

[0025] Step 2: When the equivalent stress of the component changes, the cycle number corresponding to the equivalent stress is directly searched from the S-N characteristic curve obtained in step 1.

[0026] Optionally, the damage degree of each component of the landing gear of the flight is determined based on the total flight time, and the damage degree of each component of the landing gear of the flight is determined based on the total flight time, including:

[0027] The damage degree Dn of each component is calculated according to the following formula:

[0028] Wherein, N is the cycle number of the part destruction corresponding to the equivalent stress, Hn represents the total flight time accumulated in the current flight, and n represents the flight flight of the current helicopter.

[0029] Optionally, the remaining life of the component is obtained based on the cycle number of the equivalent stress when each component is destroyed and the damage degree of the corresponding component, and the remaining life of the component is obtained based on the cycle number of the equivalent stress when each component is destroyed and the damage degree of the corresponding component, including:

[0030] The remaining life Lm+1 of the component after m flights is calculated according to the following formula:

[0031] Wherein, Hm is the flight time accumulated in the mth flight, Hm+1 is the flight time accumulated in the m+1th flight, Dm+1 is the damage degree of the component in the m+1th flight, and Lm is the remaining life of the component after the mth flight.

[0032] In the second aspect, a remaining life real-time calculation device of a landing gear is provided, and the device comprises:

[0033] The determining module is configured to decouple the strain measurement data of the ground load of the landing gear to obtain the ground three-way load.

[0034] The calculating module is configured to:

[0035] The finite element stress of the key load-bearing part of the landing gear is calculated based on the ground three-way load.

[0036] The finite element stress is decomposed into each component in the key load-bearing part to obtain the stress of each component.

[0037] calculate the equivalent stress of the component based on the stress of each component;

[0038] determine the cycle number of the equivalent stress when the component is damaged according to the calculated equivalent stress;

[0039] statistically calculate the total flight time of the current helicopter, and determine the damage degree of each component of the landing gear of the flight based on the total flight time and the cycle number;

[0040] based on the cycle number of the equivalent stress when each component is damaged and the damage degree of the corresponding component, obtain the remaining life of the component;

[0041] take the minimum value of the remaining life of all components as the remaining life of the landing gear.

[0042] In a third aspect, a remaining life real-time calculation device for a landing gear is provided, comprising a processor and a memory, the processor being configured to execute instructions stored in the memory, and the processor implements the method of any one of the first aspect by executing the instructions.

[0043] In a fourth aspect, a computer readable storage medium is provided, the computer readable storage medium storing instructions, when the instructions are run on a processing component of a computer, causing the processing component to execute the method of any one of the first aspect.

[0044] In a fifth aspect, a computer program product containing instructions is provided, when the computer program product is run on a computer, causing the computer to execute the method of any one of the first aspect.

[0045] The beneficial effects of the present application are at least:

[0046] The present application acquires the real-time remaining life of the landing gear after each flight by collecting loads and inputting the digital twin of the landing gear, through finite element stress calculation, structure S-N characteristic calculation, damage calculation and real-time remaining life calculation, which can dynamically adjust the use and maintenance scheme of the landing gear, and improve the safety and maintenance cost of the landing gear structure. In the present application, when the landing gear is subjected to large loads exceeding the design consideration during subsequent service, the fatigue life performance of the landing gear can be quickly updated; when the landing gear is always subjected to loads lower than the design consideration during subsequent service, the landing gear life extension measures can be accurately proposed; most components of the landing gear structure can be combined with visual inspection during inspection, and the remaining life can be predicted in real time, so that the health status of the landing gear can be mastered in real time, effectively and accurately. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 The flowchart of the real-time calculation method for the remaining life of the landing gear;

[0048] Figure 2Schematic diagram for landing gear life calculation architecture;

[0049] Figure 3 Schematic diagram for strain measurement decoupling landing gear and ground load;

[0050] Figure 4 Finite element method calculation stress for digital twin landing gear rocker assembly;

[0051] Figure 5 Schematic diagram for structure typical safety S-N fatigue characteristic curve. DETAILED DESCRIPTION

[0052] The application will be further described in detail below through specific embodiments and drawings.

[0053] The application combines landing gear design and digital twin concept, and proposes a digital twin landing gear real-time life calculation method. The calculation method measures strain of each landing and ground load, then takes real service load and working condition of the landing gear as input, analyzes stress level of the landing gear by using finite element method, calculates equivalent stress, and analyzes real-time residual fatigue life. The application has high calculation efficiency and strong implementability, and can obtain more accurate real-time residual life analysis result.

[0054] As shown in the application, Figure 1 and Figure 2 the main processes are:

[0055] 101, load decoupling,

[0056] 102, finite element stress calculation,

[0057] 103, component stress extraction,

[0058] 104, equivalent stress calculation,

[0059] 105, damage cycle number calculation,

[0060] 106, total flight hour calculation,

[0061] 107, this flight damage calculation,

[0062] 108, real-time residual life calculation,

[0063] Specifically includes the following steps:

[0064] Step 1, load decoupling: in Figure 3 three point strain is measured at the corresponding position of the wheel shaft 200, which are the first strain sheet 201, the second strain sheet 202 and the third strain sheet 203, and the strain values are respectively ε1, ε2 and ε3. When the load loading point bears Px, Py and Pz load, the values have the following relationship with the strain:

[0065]

[0066] Wherein, ε1, ε2, ε3 are the measured values of the three strain gauges, the ground three-way load Px, Py, Pz is the to-be-solved quantity. E represents the elastic modulus of the axle material, A represents the cross-sectional area of the axle, W represents the bending section modulus, b1 is the force arm of the strain gauge 201 / 203 pasting position distance from the load action point, b2 is the force arm of the strain gauge 202 pasting position distance from the load action point, and R is the distance from the load action point to the axle axis.

[0067] Further, the expression of Px, Py, Pz about ε1, ε2, ε3 can be solved, and the conversion from the measurement data to the load decoupling data is realized.

[0068]

[0069] Step 2, finite element stress calculation: input the Px, Py, Pz obtained by load decoupling as the load boundary condition into the finite element model of the landing gear digital twin, submit the solver (ANSYS, Abaqus, Nastran, etc.) for static analysis calculation, as shown in Figure 4 .

[0070] Step 3, after the solution is completed, the results are post-processed, the stress of each component is extracted, and the stress of the fatigue sensitive area / high stress area is extracted, such as the axle, the ear at each place, the weak section of each component, the connecting bolt, etc.

[0071] Step 4, combined with the loading condition, the static stress and the dynamic stress are calculated respectively, and the Goodman linear correction is adopted to calculate the equivalent stress of each component.

[0072] Step 5, according to the calculated equivalent stress, the cycle number of the equivalent stress applied when the component is destroyed is determined. Specifically:

[0073] Step 51, obtain the S-N characteristic curve of each component, which records the equivalent stress and the cycle number of the equivalent stress applied when the component is destroyed: the S-N characteristic curve is composed of four parts (AB segment, BC segment, CD segment and DE segment), wherein the AB segment is a curve, and the BC, CD and DE segments are straight line segments, and the AB segment curve is determined by the following formula.

[0074]

[0075] Wherein, N is the cycle load number when the part is destroyed under the corresponding equivalent stress, 1e6 times; Sa is the fatigue stress, unit: MPa, σ -1 represents the average fatigue limit of the structure, and A and a represent the shape coefficients of the structure fatigue characteristic curve, which are constant values.

[0076] Then, the intersection points (N1, S1), (N2, S2), (N3, S3) of the curve AB segment and the straight line segments BC, CD and DE are obtained by solving the parameters (such as the curve shape parameter, the structural fatigue limit, the material yield strength, the reduction coefficient, the life dispersion coefficient, etc.) related to the material and structure form, and a complete S-N characteristic curve is obtained, as shown in Figure 5

[0077] Step 52, find the cycle number corresponding to the equivalent stress from the S-N characteristic curve.

[0078] The S-N characteristic curve obtains the cycle number of the load applied when the structural part is damaged under the corresponding stress condition according to the equivalent stress distribution of the part. Since the landing gear has different ground loads under different working conditions, the equivalent stresses borne by each part are different. Through the curve, the material life N under different stress amplitudes can be quickly queried, which is used for subsequent damage degree calculation.

[0079] Step 6, total flight hour calculation: count the total flight hours H. The specific process can refer to the related technology.

[0080] Step 7, using the fatigue damage accumulation theory, combined with the historical data of the digital twin landing gear, calculate the damage degree D of each part of the flight.

[0081]

[0082] Wherein, N is the cycle number corresponding to the equivalent stress Sa, Dn represents the damage evaluation value of each part of the landing gear of the current flight, and Hn represents the cumulative flight time of the current flight.

[0083] Step 8, calculate the remaining life: calculate the remaining life of each part according to the following formula:

[0084]

[0085] Wherein, Hm is the cumulative flight time of the mth flight, Hm+1 is the cumulative flight time of the m+1th flight, Dm+1 is the damage evaluation value of each part of the m+1th flight, Lm is the remaining life of each part after the mth flight, and L101 is the remaining life of each part after the m+1th flight. Taking 100 flights as an example, the calculation method is shown in Table 1.

[0086] Table 1 Remaining life data after 100 flights

[0087]

[0088] Step 9, according to the remaining life L of each target part obtained by calculation, select the minimum value as the remaining life of the landing gear system.

[0089] ​For example, take the wheel axle as the calculation object, the implementation process is as follows:

[0090] 1. Select a landing gear wheel axle, select structural steel material, the elastic modulus of the wheel axle material E = 2 x 10^5 Mpa, the distance R = 120 mm from the load action point to the wheel axle axis, the wheel axle inner diameter d = 30 mm, the outer diameter D = 40 mm, the force arm b1 = 50 mm of the strain gauge 201 / 203 pasting position from the load action point, the force arm b2 = 80 mm of the strain gauge 202 pasting position from the load action point, the wheel axle cross-sectional area A = 2198 mm^3, the bending section modulus W = 34361 mm^3.

[0091] The measured value of the strain gauge 201 is ε1 = -336.5 με, the measured value of the strain gauge 202 is ε2 = -511.1 με, and the measured value of the strain gauge 203 is ε3 = -511.1 με.

[0092] Substitute ε1, ε2, and ε3 into formula (2) to obtain the ground three-direction load Px = 5000 N, Py = 5000 N, and Pz = 20000 N.

[0093] 2. Input the ground three-direction load Px = 5000 N, Py = 5000 N, and Pz = 20000 N into the finite element software to perform stress analysis on the wheel axle, extract the stress distribution of the fatigue sensitive area, and obtain the equivalent stress 120 Mpa.

[0094] 3. Substitute the equivalent stress into formula (3) to obtain the AB segment curve shape formula, and solve the intersection points (N1, S1), (N2, S2), and (N3, S3) of the curve AB segment and the straight line segments BC, CD, and DE through relevant parameters such as the curve shape parameter, the structural fatigue limit, the material yield strength, the reduction coefficient, and the life dispersion coefficient to obtain the complete S-N characteristic curve.

[0095] 4. Draw the S-N characteristic curve, and the cycle number N1 corresponding to the equivalent stress 120 Mpa is 4 x 10^6.

[0096] 5. The corresponding aircraft first flight time of the landing gear wheel axle is 1 h, and the total flight hours H1 = 1 h. Substitute H1 and N1 into formula (4) to obtain the damage degree D1 = 2.5 x 10^(-7) of the first wheel axle.

[0097] 6. Substitute D1 and H1 into formula (5) to obtain the remaining life L1 = (1 / D1)-H1 = (2.5 x 10^6-1) hours of the wheel axle after the first flight.

[0098] 7. Obtain the strain gauge measurement data of the second flight, obtain the ground load solving result, and obtain the equivalent stress 200 Mpa through the finite element software.

[0099] 8. Query the S-N characteristic curve, and obtain the cycle number N2=3x10^5 corresponding to the equivalent stress 200Mpa.

[0100] 9. The landing gear wheel shaft corresponds to the flight time of the second flight of the aircraft 2h, the total flight hours H2=1+2=3h, and H2 and N2 are substituted into formula (4) to obtain the damage degree D2 of the wheel shaft of the second flight 1.1x10^(-6).

[0101] 10. Substitute H1, L1, D2 and H2 into formula (5) to obtain the remaining life L2 of the wheel shaft after the second flight (6.7x10^5-3) hours.

[0102]

[0103] The advantages of the present application are:

[0104] 1. The landing and ground load is calculated by measuring strain and decoupling load, which is suitable for different configurations of landing gear, and the cost of strain measurement is low;

[0105] 2. No pre-compiled load spectrum is needed, the remaining life after each flight is calculated according to the real history load of the landing gear, and the accuracy is higher;

[0106] 3. According to the results of digital twin remaining life, combined with actual physical detection, the safety evaluation of landing gear structure can be guided, and the reference is improved;

[0107] 4. According to the results of digital twin remaining life, the use and maintenance scheme of landing gear can be dynamically adjusted, and the safety and maintenance cost of landing gear structure are improved.

[0108] The key points of the present application are as follows:

[0109] 1. A landing gear landing load measurement decoupling method is proposed, and the landing load is obtained as the input of the digital twin landing gear load boundary condition;

[0110] 2. The stress of each component of the landing gear under the action of the real load is calculated by using the finite element method, and the fatigue stress is obtained by using the linear Goodman curve correction principle;

[0111] 3. The S-N characteristic equation and curve of the structure are determined by using the theoretical analysis method, and the cycle number of structure damage under different fatigue stresses is calculated;

[0112] 4. The load spectrum is updated by using the history data of the digital twin landing gear, and a separate load spectrum is generated for each flight, and the method does not need to simplify and compile the load spectrum;

[0113] 5. The application adopts real-time iterative calculation of the remaining life after each flight, can monitor the remaining life state of the landing gear by using digital twin landing gear, and is more efficient and more accurate in calculation.

[0114] The application also provides a remaining life real-time calculation device of a landing gear, comprising:

[0115] A determination module is configured to decouple strain measurement data of ground loads of the landing gear to obtain three-directional ground loads.

[0116] A calculation module is configured to:

[0117] Calculate finite element stress of key load-bearing components of the landing gear based on the three-directional ground loads.

[0118] Decompose the finite element stress to each component in the key load-bearing components to obtain stress of each component.

[0119] Calculate equivalent stress of each component based on the stress of each component.

[0120] Determine the cycle number of equivalent stress applied when the component is damaged according to the calculated equivalent stress.

[0121] Statistically calculate total flight time of the current helicopter, and determine damage degree of each component of the landing gear of the flight based on the total flight time and the cycle number.

[0122] Obtain the remaining life of each component based on the cycle number of equivalent stress when the component is damaged and the damage degree of the corresponding component.

[0123] Take the minimum value of the remaining life of all components as the remaining life of the landing gear.

[0124] The specific execution process of each module in the application can refer to the specific process of the related steps of the above method, which will not be repeated here.

[0125] An embodiment of the application also provides a remaining life real-time calculation device of a landing gear, comprising a processor and a memory, wherein the processor is configured to execute instructions stored in the memory, and the processor realizes the remaining life real-time calculation method of the landing gear by executing the instructions.

[0126] Another embodiment of the application provides a computer readable storage medium, wherein the computer readable storage medium stores instructions, and when the instructions run on a processing component of a computer, the processing component executes the remaining life real-time calculation method of the landing gear.

[0127] A further embodiment of the present application provides a computer program product containing instructions, which, when the computer program product runs on a computer, enables the computer to execute the method for real-time calculation of the remaining service life of the landing gear.

[0128] The above merely expresses the embodiments of the present application, which are described in a more specific and detailed manner, but should not be understood as limiting the patent scope. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. In addition, the parts not described in detail in the present application are all conventional technologies.

Claims

1. A method for real-time calculation of the remaining life of a landing gear, characterized in that, The method comprises: decoupling strain measurement data of a landing gear ground load to obtain three ground loads; Based on the three ground loads, the finite element stress of the key load-bearing part of the landing gear is calculated; The finite element stress is decomposed into each component in the key load-bearing part to obtain the stress of each component; Based on the stress of each component, the equivalent stress of the component is calculated; According to the calculated equivalent stress, the cycle number of the equivalent stress applied when the component is damaged is determined; The total flight time of the current helicopter is counted, and the damage degree of each component of the landing gear of the current flight is determined based on the total flight time and the cycle number; Based on the cycle number of the equivalent stress when each component is damaged and the damage degree of the corresponding component, the remaining life of the component is obtained; The minimum value of the remaining life of all components is taken as the remaining life of the landing gear; The strain measurement data of the landing gear ground load is decoupled to obtain three ground loads, comprising: Obtain strain measurement data of the landing gear ground load, the strain measurement data including strain measurement data of the first strain gauge (201), the second strain gauge (202), and the third strain gauge (203), respectively ε1, ε2, ε3, the first strain gauge (201) and the second strain gauge (202) are arranged on the outer wall of the landing gear axle, and the midpoint connecting line of the first strain gauge (201) and the second strain gauge (202) is parallel to the length direction of the landing gear axle; the third strain gauge (203) and the first strain gauge (201) are located on the same radial section of the landing gear axle, and the included angle between them is 90°; Based on ε1, ε2, ε3, the ground three-way load P is calculated according to the following formula x , P y , P z : Wherein, the ground three-way load P x , y , P z is a to be solved quantity, E represents the elastic modulus of the axle material, A represents the cross-sectional area of the axle, W represents the bending section coefficient, b1 is the force arm of the first strain gauge (201) pasting position distance from the load action point, b2 is the force arm of the second strain gauge (202) pasting position distance from the load action point, and R is the distance from the load action point to the axle axis.

2. The method of claim 1, wherein, According to the calculated equivalent stress, the cycle number of the equivalent stress applied when the component is damaged is determined, comprising: Step 1, obtain the S-N characteristic curve of each component, the S-N characteristic curve records the corresponding relationship between the equivalent stress and the cycle number of the equivalent stress applied when the component is damaged: the S-N characteristic curve is composed of four parts, the AB segment is a curve, and the BC, CD and DE segments are straight line segments, The AB segment curve is determined according to the following formula: wherein N is the number of cycles to failure of the part at the equivalent stress; S a is the fatigue stress, σ -1 represents the structure average fatigue limit, A represents the structure fatigue characteristic curve shape ordinate value, and a represents the structure fatigue characteristic curve shape abscissa value. And then the intersection points (N1, S1), (N2, S2), (N3, S3) of the AB segment and the straight line segments BC, CD and DE are solved by the material parameters and structure parameters of the component, to obtain the remaining part of the S-N characteristic curve; Step 2, when the equivalent stress of the component changes, the cycle number corresponding to the equivalent stress is directly found from the S-N characteristic curve obtained in step 1.

3. The method of claim 1, wherein, Based on the total flight time, the damage degree of each component of the landing gear of the current flight is determined, comprising: The damage degree D of each component is calculated according to the following formula n : Wherein, N is the cycle number of the part when it is destroyed under the corresponding equivalent stress, Hn represents the total flight time accumulated by the current flight cycle, and n represents the flight cycle of the current helicopter.

4. The method of claim 1, wherein, Based on the cycle number of the equivalent stress when each component is damaged and the damage degree of the corresponding component, the remaining life of the component is obtained, comprising: The remaining life L of the component after m flights is calculated according to the following formula m+1 : where H m is the cumulative flight time of the mth flight, H m+1 is the cumulative flight time of the m+1th flight, D m+1 is the damage degree of the m+1th flight component, L m is the remaining life of the component after the mth flight.

5. A device for real-time calculation of the remaining life of a landing gear, characterized in that, Comprising: The determining module is configured to decouple the strain measurement data of the landing gear ground load to obtain three ground loads: Strain measurement data of the landing gear ground load is acquired, and the strain measurement data includes strain measurement data of a first strain gauge (201), a second strain gauge (202) and a third strain gauge (203), which are respectively ε1, ε2 and ε3; the first strain gauge (201) and the second strain gauge (202) are arranged on the outer wall of the landing gear axle, and the midpoint connecting line of the first strain gauge (201) and the second strain gauge (202) is parallel to the length direction of the landing gear axle; the third strain gauge (203) and the first strain gauge (201) are located on the same radial section of the landing gear axle, and the included angle between the two is 90°; Based on ε1, ε2, ε3, the ground three-way load P is calculated according to the following formula x , P y , P z : Wherein, the ground three-way load P x , P y , P z is a to be solved quantity, E represents the elastic modulus of the axle material, A represents the cross-sectional area of the axle, W represents the bending section coefficient, b1 is the force arm of the first strain gauge (201) sticking position from the load action point, b2 is the force arm of the second strain gauge (202) sticking position from the load action point, and R is the distance from the load action point to the axle axis. The calculation module is used to: calculate the finite element stress of the key load-bearing part of the landing gear based on the three-directional ground load; decompose the finite element stress to each component in the key load-bearing part to obtain the stress of each component; calculate the equivalent stress of each component based on the stress of each component; determine the cycle number of the equivalent stress applied when the component is damaged according to the calculated equivalent stress; statistically calculate the total flight time of the current helicopter, and determine the damage degree of each component of the landing gear of the current flight based on the total flight time and the cycle number; obtain the residual life of each component based on the cycle number of the equivalent stress when each component is damaged and the damage degree of the corresponding component; take the minimum value of the residual life of all components as the residual life of the landing gear.

6. A device for real-time calculation of the remaining life of a landing gear, characterized in that, The processor is configured to execute instructions stored in the memory, and the processor realizes the real-time calculation method of the residual life of the landing gear according to any one of claims 1 to 4 by executing the instructions.

7. A computer readable storage medium characterized by, The computer readable storage medium stores instructions, and when the instructions run on the processing component of the computer, the processing component executes the real-time calculation method of the residual life of the landing gear according to any one of claims 1 to 4.

8. A computer program product comprising instructions, characterized in that, When the computer program product runs on the computer, the computer executes the real-time calculation method of the residual life of the landing gear according to any one of claims 1 to 4.

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