Split cabin door control system

Abstract

The invention particularly relates to a split cabin door control system. The split cabin door control system comprises a servo control module, a power driving module and a mechanical transmission line system, the power driving module comprises a servo control valve, a hydraulic motor, a hydraulic brake and an angular displacement sensor; the number of the servo control valves, the hydraulic motors and the hydraulic brakes is two, the two servo control valves are connected with the servo control module and the hydraulic motors, and the hydraulic brakes are arranged on the hydraulic motors; the angular displacement sensor is connected with the servo control module and used for monitoring the angular displacement of the hydraulic motor; the mechanical transmission line system comprises a differential gear box, a mechanical transmission part and an in-place sensor; the differential gear box is connected with two hydraulic motors; the number of the mechanical transmission structures and the number of the in-place sensors are two, and the two mechanical transmission structures are connected between the two oppositely-opened cabin doors and the differential gear box; the two sets of in-place sensors are connected with the servo control module and used for monitoring whether the two oppositely-opened cabin doors are opened and closed in place or not.

Description

Technical Field

[0001] The present application belongs to the technical field of design of control systems for split-type cabin doors on aircraft, and specifically relates to a split-type cabin door control system. Background Art

[0002] The driving method of aircraft double-leaf doors generally adopts linear two-point drive of dual actuators or rotary multi-point drive of hydraulic motors. The output displacement and output torque are often inconsistent due to the lack of closed-loop control in the control system and the manufacturing and installation errors and load differences of the actuators, resulting in force disputes between the actuators and distortion. In severe cases, it may even cause damage to local structures such as cracks in the doors and frame edges and tears in the inner skin. At the same time, it will also cause the two double-leaf doors to move into place asynchronously and cannot be accurately positioned, reducing the sealing of the door closure.

[0003] In addition, when the aircraft's double-doors are performing the positioning operation, in order to meet the execution time requirements, the actuator's actuating power is usually increased or the stroke is reduced, thereby ignoring the impact of excessive door loading and excessive movement speed on the aircraft's main structure, the two double-doors, and the actuator's mechanical parts.

[0004] This application is proposed in view of the above-mentioned technical defects. Summary of the invention

[0005] The purpose of the present application is to provide a double-opening door control system to overcome or alleviate at least one of the known technical deficiencies.

[0006] The technical solution of this application is:

[0007] A control system for a split hatch door, comprising: a servo control module, a power drive module, and a mechanical transmission line system;

[0008] The power drive module includes a servo control valve, a hydraulic motor, a hydraulic brake, and an angular displacement sensor;

[0009] There are two groups of servo control valves, hydraulic motors and hydraulic brakes, wherein two servo control valves are connected to the servo control module and the hydraulic motor, and a hydraulic brake is arranged on the hydraulic motor;

[0010] The angular displacement sensor is connected to the servo control module to monitor the angular displacement of the hydraulic motor;

[0011] The mechanical transmission system includes a differential gear box, mechanical transmission components, and an in-position sensor;

[0012] The differential gearbox connects the two hydraulic motors;

[0013] There are two sets of mechanical transmission structures and in-position sensors, wherein two mechanical transmission structures are connected between the two biparting doors and the differential gear box; two sets of in-position sensors are connected to the servo control module to monitor whether the two biparting doors are opened and closed in place;

[0014] After receiving the control command from the host computer, the servo control module controls the opening of the two servo control valves to control the speed of the hydraulic motor, and then drives the two mechanical transmission structures through the differential gear box to drive the two biparting doors to open or close synchronously;

[0015] When the two sets of in-position sensors detect that the split hatch doors are fully opened or fully closed, the servo control module controls the corresponding servo control valve to close and activates the corresponding hydraulic brake to lock the hydraulic motor and stop driving the split hatch doors, so as to achieve the purpose of safe control;

[0016] When the two angular displacement sensors monitor the angular displacement of the hydraulic motor and obtain that the double doors are opened or closed to reach the set deceleration position, the servo control module controls the opening of the corresponding servo control valve to reduce the speed of the hydraulic motor.

[0017] According to at least one embodiment of the present application, in the above-mentioned double-door control system, the angular displacement sensor is connected to the servo control module via an RS422 bus.

[0018] According to at least one embodiment of the present application, in the above-mentioned double-door control system, two groups of in-position sensors are connected to the servo control module via an RS422 bus.

[0019] According to at least one embodiment of the present application, in the above-mentioned double-door control system, each group of in-position sensors has four, two of which are used to monitor whether the corresponding doors are fully opened, and the other two are used to monitor whether the corresponding doors are fully closed.

[0020] According to at least one embodiment of the present application, in the above-mentioned control system for the double-doors, the set deceleration position when the double-doors are opened is 80% of the opening degree, and the speed of the hydraulic motor is reduced by 20%.

[0021] According to at least one embodiment of the present application, in the above-mentioned control system for the split-door, the set deceleration position when the split-door is closed is 80% of the closing stroke, and the speed of the hydraulic motor is reduced by 20%.

[0022] According to at least one embodiment of the present application, in the above-mentioned double-leaf door control system, the mechanical transmission line system also includes a line system safety protection device, two rotation angle displacement sensors are provided, connected to the servo control module, for monitoring the rotation angle displacement of the two mechanical transmission structures, and two electromagnetic brakes are provided;

[0023] When the two rotation angle displacement sensors detect that the difference in rotation angle displacement of the two mechanical transmission structures exceeds a safety threshold, the servo control module controls the two electromagnetic brakes to start and lock the two mechanical transmission structures.

[0024] According to at least one embodiment of the present application, in the above-mentioned double-door control system, two rotational angular displacement sensors are connected to the servo control module via an RS422 bus.

[0025] According to at least one embodiment of the present application, in the above-mentioned double-leaf door control system, the servo control module includes a servo control unit, a speed control law unit, and a displacement control law unit;

[0026] The power drive module also includes two sets of speed sensors and swash plate angle sensors, wherein the two speed sensors are connected to the servo control module to monitor the rotation speeds of the two hydraulic motors; the two swash plate angle sensors are connected to the servo control module to monitor the swash plate angles of the two hydraulic motors;

[0027] When the servo control module receives the hatch opening or closing control command from the host computer, the servo control module outputs the hydraulic motor speed setting value and controls the hydraulic motor to rotate at the set speed.

[0028] When the actual angular displacement value of the hydraulic motor monitored by the angular displacement sensor reaches the angular displacement setting value corresponding to the opening or closing deceleration position of the split hatch, the speed control law unit calculates the setting value required for the hydraulic motor to decelerate based on the hydraulic motor speed setting value and the actual value of the hydraulic motor speed monitored by the speed sensor. The displacement control law unit calculates the setting value for the deflection angle of the hydraulic motor swash plate based on the setting value required for the hydraulic motor to decelerate, the hydraulic motor swash plate angle setting value and the actual value of the hydraulic motor swash plate angle monitored by the swash plate angle sensor, thereby controlling the opening of the servo control valve, thereby changing the deflection angle of the hydraulic motor swash plate and adjusting the displacement of the hydraulic motor, so that the hydraulic motor speed tends to the hydraulic motor deceleration speed setting value.

[0029] According to at least one embodiment of the present application, in the above-mentioned control system for split-type hatches, two speed sensors are connected to the servo control module via an RS422 bus;

[0030] The two swash plate angle sensors are connected to the servo control module via RS422 bus. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of a double-door control system provided in an embodiment of the present application.

[0032] In order to better illustrate the present embodiment, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product. In addition, the drawings are only used for illustrative purposes and should not be construed as limitations on the present application. DETAILED DESCRIPTION

[0033] In order to make the technical solution and advantages of the present application clearer, the technical solution of the present application will be described in further detail in detail and in detail with reference to the accompanying drawings. It can be understood that the specific embodiments described here are only partial embodiments of the present application, which are only used to explain the present application, not to limit the present application. It should be noted that, for the convenience of description, only the parts related to the present application are shown in the accompanying drawings, and other related parts can refer to the general design.

[0034] In addition, unless otherwise defined, the technical terms or scientific terms used in the description of this application shall have the usual meanings understood by those of ordinary skill in the art to which this application belongs. The words used in the description of this application to indicate orientation are only used to indicate relative directions or positional relationships. When the absolute position of the described object changes, its relative positional relationship may also change accordingly. The word "include" used in the description of this application indicates that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, but does not exclude other elements or objects.

[0035] In addition, it should be noted that, unless otherwise clearly specified and limited, the words "installation", "connection" and similar terms used in the description of this application should be understood in a broad sense. For example, the connection can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Technical personnel in the field can understand its specific meaning in this application according to the specific circumstances.

[0036] A double-door control system, such as Figure 1 As shown, it includes a servo control module, a power drive module, and a mechanical transmission line system.

[0037] The power drive module includes a servo control valve, a hydraulic motor, a hydraulic brake, and an angular displacement sensor.

[0038] There are two groups of servo control valves, hydraulic motors and hydraulic brakes, wherein two servo control valves are connected to a servo control module and a hydraulic motor, and a hydraulic brake is arranged on the hydraulic motor.

[0039] The angular displacement sensor is connected to the servo control module, specifically via an RS422 bus, to monitor the angular displacement of the hydraulic motor.

[0040] The power drive module is connected to the oil pump truck and the ground power supply through hydraulic pipelines and electric plugs to obtain hydraulic source and power supply.

[0041] The mechanical transmission system includes a differential gear box, mechanical transmission components, and a position sensor.

[0042] The differential gearbox connects the two hydraulic motors.

[0043] There are two groups of mechanical transmission structures and in-position sensors, among which the two mechanical transmission structures can specifically be transmission rod systems connected between the two opposing doors and the differential gear box; the two groups of in-position sensors are connected to the servo control module, specifically through the RS422 bus, to monitor whether the two opposing doors are opened and closed in place. Specifically, each group of in-position sensors can be designed to have four, of which two are used to monitor whether the corresponding doors are opened in place, and the other two are used to monitor whether the corresponding doors are closed in place.

[0044] After receiving the control command from the host computer, the servo control module controls the opening of the two servo control valves to control the speed of the hydraulic motor, and then drives the two mechanical transmission components through the differential gear box to drive the two opposing doors to open or close synchronously.

[0045] When the two sets of in-position sensors detect that the double-doors are opened or closed, the servo control module controls the corresponding servo control valve to close and starts the corresponding hydraulic brake to lock the hydraulic motor and stop driving the double-doors. In this way, the doors can be accurately controlled to be in place to avoid impact damage.

[0046] The rotation angle of the hatch door has a one-to-one correspondence with the angular displacement of the hydraulic motor, so the rotation position of the hatch door can be obtained by monitoring the angular displacement of the hydraulic motor.

[0047] When the two angular displacement sensors monitor the angular displacement of the hydraulic motor and determine that the double-door is opened or closed to reach the set deceleration position, the servo control module controls the opening of the corresponding servo control valve and reduces the speed of the hydraulic motor, thereby reducing the speed at which the double-door is opened or closed to avoid impact damage.

[0048] The set deceleration position when the hatch is opened is 80% of the opening, reducing the speed of the hydraulic motor by 20%.

[0049] The set deceleration position when the hatch is closed is 80% of the closing stroke, reducing the speed of the hydraulic motor by 20%.

[0050] The mechanical transmission line system also includes a line system safety protection device, which is equipped with two rotation angle displacement sensors connected to the servo control module. Specifically, it can be connected via an RS422 bus to monitor the rotation angle displacement of the two mechanical transmission structures, that is, the rotation angle of the two opposing doors, and two electromagnetic brakes connected to the servo control module.

[0051] When the two rotation angle displacement sensors detect that the rotation angle displacement difference between the two mechanical transmission structures exceeds the safety threshold, the servo control module controls the two electromagnetic brakes to start and lock the two mechanical transmission structures to avoid force disputes and structural damage caused by excessive rotation angle displacement difference between the two transmission lines.

[0052] The servo control module includes a servo control unit, a speed control law unit, and a displacement control law unit.

[0053] The power drive module also includes two sets of speed sensors and swash plate angle sensors, wherein the two speed sensors are connected to the servo control module, specifically through the RS422 bus, to monitor the rotation speeds of the two hydraulic motors; the two swash plate angle sensors are connected to the servo control module, specifically through the RS422 bus, to monitor the swash plate angles of the two hydraulic motors.

[0054] The servo control module controls the speed of the hydraulic motor. The specific process is as follows:

[0055] When the servo control module receives the hatch opening or closing control command from the host computer, the servo control module outputs the hydraulic motor speed setting value and controls the hydraulic motor to rotate at the set speed.

[0056] When the actual angular displacement value of the hydraulic motor monitored by the angular displacement sensor reaches the angular displacement setting value corresponding to the opening or closing deceleration position of the split hatch, the speed control law unit calculates the setting value required for the hydraulic motor to decelerate based on the hydraulic motor speed setting value and the actual value of the hydraulic motor speed monitored by the speed sensor. The displacement control law unit calculates the setting value for the deflection angle of the hydraulic motor swash plate based on the setting value required for the hydraulic motor to decelerate, the hydraulic motor swash plate angle setting value and the actual value of the hydraulic motor swash plate angle monitored by the swash plate angle sensor, thereby controlling the opening of the servo control valve, thereby changing the deflection angle of the hydraulic motor swash plate and adjusting the displacement of the hydraulic motor, so that the hydraulic motor speed tends to the hydraulic motor deceleration speed setting value.

[0057] The double-door control system disclosed in the above-mentioned embodiment uses a servo control module as the control and computing core, a power drive module as the power source, and a mechanical transmission line system as an actuator for driving the door, providing a basis for achieving door synchronization, precise positioning control, high sealing and safe control. Its design is based on the received host computer control instructions, which are processed by the servo control unit, speed control law unit and displacement control law unit of the servo control module to adjust the speed and torque of the hydraulic motor of the power drive module and input them into the mechanical transmission line system to drive the door to slow down and move into position, thereby avoiding damage to the aircraft body structure, the door and the transmission line system caused by impact, and realizing synchronization, precise positioning, high sealing and safe control of the two double-doors.

[0058] The double-door control system disclosed in the above-mentioned embodiment realizes the synchronous driving of two double-doors by a set of power sources, and adopts a closed-loop control strategy of hydraulic motor speed loop and displacement loop, door in-position pre-deceleration control and in-position switch indication, so that the output speed and torque of the two hydraulic motors are the same, so as to ensure the synchronization and accuracy of the speed control and in-position control of the two double-doors, and at the same time avoid impact damage to the aircraft body structure, double-doors and transmission line mechanical parts, and provide a line safety protection device electromagnetic brake and a hydraulic motor hydraulic brake, which can effectively protect the actuator and the door.

[0059] In addition, technicians in the field should also be able to realize that the various modules and units of the double-door control system disclosed in the embodiments of the present application can be implemented by electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, this application generally describes them according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Technicians in the field can choose to adopt different methods to implement the described functions for each specific application and its actual constraints, but such implementation should not be considered to be beyond the scope of this application.

[0060] So far, the technical solution of the present application has been described in conjunction with the preferred embodiments shown in the accompanying drawings. Those skilled in the art should understand that the scope of protection of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the scope of protection of the present application.

Claims

1. A control system for a split-type hatch door, characterized in that: include: Servo control module, power drive module, mechanical transmission line system; The power drive module includes a servo control valve, a hydraulic motor, a hydraulic brake, and an angular displacement sensor; There are two groups of servo control valves, hydraulic motors and hydraulic brakes, wherein two servo control valves are connected to the servo control module and the hydraulic motor, and a hydraulic brake is arranged on the hydraulic motor; The angular displacement sensor is connected to the servo control module to monitor the angular displacement of the hydraulic motor; The mechanical transmission system includes a differential gear box, mechanical transmission components, and an in-position sensor; The differential gearbox connects the two hydraulic motors; There are two sets of mechanical transmission structures and in-position sensors, wherein two mechanical transmission structures are connected between the two biparting doors and the differential gear box; two sets of in-position sensors are connected to the servo control module to monitor whether the two biparting doors are opened and closed in place; After receiving the control command from the host computer, the servo control module controls the opening of the two servo control valves to control the speed of the hydraulic motor, and then drives the two mechanical transmission structures through the differential gear box to drive the two biparting doors to open or close synchronously; When the two sets of in-position sensors detect that the bi-directional doors are fully opened or fully closed, the servo control module controls the corresponding servo control valve to close and activates the corresponding hydraulic brake to lock the hydraulic motor and stop driving the bi-directional doors; When the two angular displacement sensors monitor the angular displacement of the hydraulic motor and obtain that the double doors are opened or closed to reach the set deceleration position, the servo control module controls the opening of the corresponding servo control valve to reduce the speed of the hydraulic motor.

2. The control system for the split hatch door according to claim 1, characterized in that: The angular displacement sensor is connected to the servo control module via the RS422 bus.

3. The control system for the split hatch door according to claim 2, characterized in that: The two sets of in-position sensors are connected to the servo control module via RS422 bus.

4. The control system for the split hatch door according to claim 3, characterized in that: Each set of in-place sensors has four, two of which are used to monitor whether the corresponding doors are in full opening position, and the other two are used to monitor whether the corresponding doors are in full closing position.

5. The control system for the split hatch door according to claim 4, characterized in that: The set deceleration position when the hatch is opened is 80% of the opening, reducing the speed of the hydraulic motor by 20%.

6. The control system for the split hatch door according to claim 5, characterized in that: The set deceleration position when the hatch is closed is 80% of the closing stroke, reducing the speed of the hydraulic motor by 20%.

7. The control system for the split hatch door according to claim 6, characterized in that: The mechanical transmission line system also includes a line system safety protection device, two rotation angle displacement sensors are arranged, connected to the servo control module, to monitor the rotation angle displacement of the two mechanical transmission structures, and two electromagnetic brakes are arranged; When the two rotation angle displacement sensors detect that the difference in rotation angle displacement of the two mechanical transmission structures exceeds a safety threshold, the servo control module controls the two electromagnetic brakes to start and lock the two mechanical transmission structures.

8. The control system for the split hatch door according to claim 7, characterized in that: The two rotation angle displacement sensors are connected to the servo control module via the RS422 bus.

9. The control system for the split hatch door according to claim 8, characterized in that: The servo control module includes a servo control unit, a speed control law unit, and a displacement control law unit; The power drive module also includes two sets of speed sensors and swash plate angle sensors, wherein the two speed sensors are connected to the servo control module to monitor the rotation speeds of the two hydraulic motors; the two swash plate angle sensors are connected to the servo control module to monitor the swash plate angles of the two hydraulic motors; When the servo control module receives a hatch opening or closing control command from the host computer, or when the angular displacement sensor monitors the angular displacement of the hydraulic motor and obtains that the double hatch is opened or closed to reach the set deceleration position, the servo control unit outputs the hydraulic motor speed setting value, and the speed control law unit calculates the hydraulic motor swash plate angle setting value based on the hydraulic motor speed setting value and the actual value of the hydraulic motor speed monitored by the speed sensor. The displacement control law unit calculates the control value of the hydraulic motor swash plate deflection angle based on the hydraulic motor swash plate deflection angle setting value and the swash plate deflection angle of the hydraulic motor monitored by the swash plate deflection sensor, thereby controlling the deflection angle of the hydraulic motor swash plate and adjusting the displacement of the hydraulic motor so that the hydraulic motor speed tends to the hydraulic motor speed setting value and rotates at the hydraulic motor speed setting value.

10. The control system for the split hatch door according to claim 9, characterized in that: The two speed sensors are connected to the servo control module via RS422 bus; The two swash plate angle sensors are connected to the servo control module via RS422 bus.

Images