A split door control system

Abstract

The application specifically relates to a split door control system, which comprises a servo control module, a power drive module and a mechanical transmission line system; the power drive module comprises servo control valves, hydraulic motors, hydraulic brakes and angular displacement sensors; the servo control valves, the hydraulic motors and the hydraulic brakes are in two groups, wherein the two servo control valves are connected to the servo control module and the hydraulic motors, and the hydraulic brakes are arranged on the hydraulic motors; the angular displacement sensors are connected to the servo control module and used for monitoring the angular displacement of the hydraulic motors; the mechanical transmission line system comprises a differential gear box, mechanical transmission components and in-place sensors; the differential gear box is connected to the two hydraulic motors; the mechanical transmission structures and the in-place sensors are in two groups, wherein the two mechanical transmission structures are connected between the two split doors and the differential gear box; and the two groups of in-place sensors are connected to the servo control module and used for monitoring whether the two split doors are in place when being opened and closed.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of the design of a control system for a split door on an aircraft, and in particular to a control system for a split door. BACKGROUND

[0002] The drive mode of a split door on an aircraft generally adopts linear two-point drive of double actuators or rotary multi-point drive of a hydraulic motor. The output displacement and output torque are inconsistent due to the lack of closed-loop control in the control system and the manufacturing and installation errors of the actuator and load differences, resulting in force disputes between the actuators, causing torsional deformation, and even causing damage to the local structure of the door, frame, and inner skin. At the same time, the two split doors are out of sync and cannot be accurately positioned, reducing the sealing performance of the door.

[0003] In addition, in order to meet the execution time requirements, the actuation power of the actuator is usually increased or the stroke is reduced when the split door is executed, thereby ignoring the impact of the excessive load and movement speed of the door on the aircraft structure, the two split doors, and the mechanical components of the actuator.

[0004] The present application is proposed in view of the above technical defects. SUMMARY

[0005] The purpose of the present application is to provide a control system for a split door to overcome or alleviate at least one aspect of the known technical defects.

[0006] The technical solution of the present application is:

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

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

[0009] The servo control valve, the hydraulic motor, and the hydraulic brake have two groups, wherein the two servo control valves are connected to the servo control module and the hydraulic motor, and the 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 train comprises a differential gear box, mechanical transmission components, and a position sensor.

[0012] The differential gear box is connected to the two hydraulic motors.

[0013] The mechanical transmission structure is connected between the two split doors and the differential gear box, and the two groups of in-place sensors are connected to the servo control module to monitor whether the two split doors are opened or closed to the position.

[0014] After receiving the control instruction from the upper computer, the servo control module controls the opening or closing of the two split doors by controlling the opening of the two servo control valves, the rotation speed of the hydraulic motor, and the two mechanical transmission structures driven by the differential gear box.

[0015] When the two groups of in-place sensors monitor that the split doors are opened or closed to the position, the servo control module controls the corresponding servo control valve to be closed, and starts the corresponding hydraulic brake to lock the hydraulic motor and stop driving the split 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, the servo control module controls the opening of the corresponding servo control valve to reduce the rotation speed of the hydraulic motor when the split doors are opened or closed to the set deceleration position.

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

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

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

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

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

[0022] According to at least one embodiment of the present application, the mechanical transmission line system further comprises a line safety protection device, two rotary angular displacement sensors connected to the servo control module to monitor the rotary angular displacement of the two mechanical transmission structures, and two electromagnetic brakes.

[0023] When the two rotary angle displacement sensors monitor that the rotary angle displacement of the two mechanical transmission structures differs by more than a safety threshold, the servo control module controls the two electromagnetic brakes to start, locking the two mechanical transmission structures.

[0024] According to at least one of the embodiments of the present application, in the split door control system described above, the two rotary angle displacement sensors are connected to the servo control module through an RS422 bus.

[0025] According to at least one of the embodiments of the present application, in the split door control system described above, the servo control module comprises a servo control unit, a speed control law unit, and a displacement control law unit.

[0026] The power driving module further comprises two sets of speed sensors and swash plate deflection angle sensors, wherein the two sets of speed sensors are connected to the servo control module to monitor the rotation speed of the two hydraulic motors, and the two swash plate deflection angle sensors are connected to the servo control module to monitor the swash plate deflection angle of the two hydraulic motors.

[0027] When the servo control module receives a door opening or closing control instruction from the upper computer, the servo control module outputs a hydraulic motor rotation speed setting value to control the hydraulic motor to rotate at the set rotation speed.

[0028] When the actual value of the hydraulic motor angle displacement monitored by the angle displacement sensor reaches the angle displacement setting value corresponding to the split door opening or closing deceleration position, the speed control law unit calculates a setting value required for the hydraulic motor to decelerate according to the hydraulic motor rotation speed setting value and the actual value of the hydraulic motor rotation speed monitored by the speed sensor, and the displacement control law unit calculates a setting value of the hydraulic motor swash plate deflection angle according to the setting value required for the hydraulic motor to decelerate, the hydraulic motor swash plate deflection angle setting value, and the actual value of the hydraulic motor swash plate deflection angle monitored by the swash plate deflection angle sensor, so as to control the opening degree of the servo control valve, thereby changing the deflection angle of the hydraulic motor swash plate and adjusting the displacement of the hydraulic motor, and making the hydraulic motor rotation speed tend to the hydraulic motor deceleration rotation speed setting value.

[0029] According to at least one of the embodiments of the present application, in the split door control system described above, the two speed sensors are connected to the servo control module through an RS422 bus.

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

[0031] Figure 1 FIG. 1 is a schematic diagram of a split door control system provided by an embodiment of the present application.

[0032] For better illustrating the embodiments, some components in the drawings can be omitted, enlarged or reduced, and do not represent the actual product size. In addition, the drawings are only used for illustrative description and cannot be understood as a limitation to the present application. DETAILED DESCRIPTION

[0033] In order to make the technical solutions of the present application and its advantages clearer, the technical solutions of the present application will be further clearly and completely described in detail below in combination with the drawings. It should be understood that the specific embodiments described herein are only part of the embodiments of the present application, which are only used to explain the present application, but not to limit the present application. It should be noted that, for the purpose of description, only parts related to the present application are shown in the drawings, and other related parts can be referred to the general design.

[0034] In addition, unless otherwise defined, the technical terms or scientific terms used in the description of the present application should be the general meaning understood by the general technical personnel in the field to which the present application belongs. The words indicating the position used in the description of the present application are only used to indicate the relative direction or positional relationship, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly. The "comprising" used in the description of the present application indicates that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, and other elements or objects are not excluded.

[0035] In addition, it should be further noted that, unless otherwise specified and limited, the "installation", "connection" and other similar words used in the description of the present application should be understood in a broad sense, for example, the connection can be fixed connection, or detachable connection; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through intermediate medium, and the person skilled in the art can understand the specific meaning of the present application according to the specific circumstances.

[0036] A split door control system, as shown in Figure 1 It comprises a servo control module, a power drive module and a mechanical transmission system.

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

[0038] The servo control valve, the hydraulic motor and the hydraulic brake have two groups, wherein the two servo control valves are connected to the servo control module and connected to the hydraulic motor, and the hydraulic brake is arranged on the hydraulic motor.

[0039] The angular displacement sensor is connected to the servo control module, and can be connected through the 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 the hydraulic pipeline and the electric plug to obtain the hydraulic source and the power supply.

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

[0042] The differential gear box connects two hydraulic motors.

[0043] The mechanical transmission structure and the position sensor have two groups, wherein the two mechanical transmission structures can be transmission rod trains, connected between the two split doors and the differential gear box; the two groups of position sensors are connected to the servo control module, which can be connected through the RS422 bus to monitor whether the two split doors are opened or closed to position, and each group of position sensors can be designed to have four, two of which are used to monitor whether the corresponding door is opened to position, and the other two are used to monitor whether the corresponding door is closed to position.

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

[0045] When the two groups of position sensors monitor that the split doors are opened or closed to position, 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 split doors. In this way, the precise position of the door can be accurately controlled to avoid impact damage.

[0046] The rotation angle of the split door has a one-to-one correspondence with the angular displacement of the hydraulic motor, so that the rotation position of the split 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 find that the split doors open or close to the set deceleration position, the servo control module controls the opening of the corresponding servo control valve to reduce the rotation speed of the hydraulic motor. In this way, the speed of the split doors when opening or closing to position is reduced to avoid impact damage.

[0048] The set deceleration position when the split door is opened is 80% of the opening degree, and the rotation speed of the hydraulic motor is reduced by 20%.

[0049] The set deceleration position when the split door is closed is 80% of the closing stroke, and the rotation speed of the hydraulic motor is reduced by 20%.

[0050] The mechanical transmission train also includes a train safety protection device, which is provided with two rotary angular displacement sensors connected to the servo control module, which can be connected through the RS422 bus to monitor the rotary angular displacement of the two mechanical transmission structures, i.e. the rotation angle of the two split doors, and two electromagnetic brakes connected to the servo control module.

[0051] When the two rotary angle displacement sensors monitor that the rotary angle displacement of the two mechanical transmission structures differs by more than a safety threshold, the servo control module controls the two electromagnetic brakes to start, locking the two mechanical transmission structures, to avoid force contention and structural damage caused by the rotary angle displacement difference of the two transmission lines being too large.

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

[0053] The power drive module further comprises two sets of speed sensors and swash plate deflection angle sensors, wherein the two sets of speed sensors are connected to the servo control module and can be connected through an RS422 bus to monitor the rotation speeds of the two hydraulic motors; the two swash plate deflection angle sensors are connected to the servo control module and can be connected through an RS422 bus to monitor the swash plate deflection angles of the two hydraulic motors.

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

[0055] When the servo control module receives a cabin door opening or closing control instruction from the upper computer, the servo control module outputs a hydraulic motor rotation speed set value to control the hydraulic motor to rotate at the set speed.

[0056] When the actual value of the hydraulic motor angle displacement monitored by the angle displacement sensor reaches the angle displacement set value corresponding to the opening or closing deceleration position of the split cabin door, the speed control law unit calculates the set value required for the hydraulic motor to decelerate according to the hydraulic motor rotation speed set value and the actual value of the hydraulic motor rotation speed monitored by the speed sensor, and the displacement control law unit calculates the set value of the hydraulic motor swash plate deflection angle according to the set value required for the hydraulic motor to decelerate, the hydraulic motor swash plate deflection angle set value, and the actual value of the hydraulic motor swash plate deflection angle monitored by the swash plate deflection angle sensor, to control the opening of the servo control valve and thus change the deflection angle of the hydraulic motor swash plate and adjust the displacement of the hydraulic motor, so that the rotation speed of the hydraulic motor tends to the hydraulic motor deceleration rotation speed set value.

[0057] The split cabin door control system disclosed in the above embodiment takes the servo control module as the control and calculation core, the power drive module as the power source, and the mechanical transmission line as the actuator for driving the cabin door, to provide a basis for realizing synchronous, accurate positioning control, high sealing performance, and safe holding of the cabin door. The design is based on the received control instruction from the upper computer, and the servo control unit, the speed control law unit, and the displacement control law unit of the servo control module are used for calculation and processing to adjust the rotation speed and torque of the hydraulic motor of the power drive module, which is input to the mechanical transmission line to drive the cabin door to decelerate and move to the position, avoiding damage to the aircraft body structure, the cabin door, and the transmission line caused by impact. The synchronous, accurate positioning, high sealing performance, and safe holding of the two split cabin doors can be realized.

[0058] The control system for the split door disclosed in the above embodiments realizes synchronous driving of a set of power sources to two split doors, adopts a closed-loop control strategy of a hydraulic motor speed ring and displacement ring, door in-place pre-deceleration control and in-place switch indication, so that the output rotation speed and torque of the two hydraulic motors are the same, to ensure the synchronization and accuracy of the speed control and in-place control of the two split doors, while avoiding damage to the aircraft body structure, the split doors and the transmission train mechanical components, and setting a train safety protection device electromagnetic brake and a hydraulic motor hydraulic brake, to effectively protect the actuator and hold the door.

[0059] In addition, those skilled in the art should also be aware that the modules and units of the control system for the split door disclosed in the embodiments of the present application can be realized in electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the general description of the present application is described in terms of functions, and the specific implementation of the functions is dependent on the specific application and design constraints of the technical solutions. Those skilled in the art can choose 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 the present application.

[0060] So far, the technical solutions of the present application have been described in combination with the preferred embodiments shown in the drawings, and those skilled in the art should understand that the protection scope of the present application is obviously not limited to these specific embodiments. Without deviating from the principles of the present application, those skilled in the art can make equivalent changes or replacements to the related technical features, and the technical solutions after such changes or replacements will fall within the protection scope of the present application.

Claims

1. A split door control system, characterized by, Comprise: Servo control module, power drive module, mechanical transmission line; Power drive module includes servo control valve, hydraulic motor, hydraulic brake, angular displacement sensor; Servo control valve, hydraulic motor, hydraulic brake has two groups, wherein, two groups of servo control valve connects servo control module, and connects hydraulic motor, hydraulic motor is provided with hydraulic brake; Angular displacement sensor connects servo control module, to monitor the angular displacement of hydraulic motor; Mechanical transmission line includes differential gear box, mechanical transmission structure, to the sensor of place; Differential gear box connects two groups of hydraulic motor; Mechanical transmission structure, to the sensor of place has two groups, wherein, two groups of mechanical transmission structure is connected between two opposite doors and differential gear box;Two groups of to the sensor of place connects servo control module, to monitor whether two opposite doors open, close to reach the place; Servo control module receives the control instruction of host computer, controls the opening or closing of two opposite doors through the control of two groups of servo control valve opening, controls the rotation speed of hydraulic motor, and then drives two opposite doors through the differential gear box and two groups of mechanical transmission structure, and drives two opposite doors to open or close synchronously; When two groups of to the sensor of place monitor the opening or closing of opposite door to reach the place, servo control module controls the corresponding servo control valve to close, and starts the corresponding hydraulic brake, locks the hydraulic motor, and stops the drive of opposite door; When the angular displacement sensor monitors the angular displacement of hydraulic motor, the opening or closing of opposite door reaches the set deceleration position, and the servo control module controls the opening of corresponding servo control valve, and reduces the rotation speed of hydraulic motor; Servo control module includes servo control unit, speed control law unit, displacement control law unit; Power drive module also includes two groups of speed sensors, swash plate deflection angle sensors, wherein, two groups of speed sensors connect servo control module, to monitor the rotation speed of two groups of hydraulic motor;Two groups of swash plate deflection angle sensors connect servo control module, to monitor the swash plate deflection angle of two groups of hydraulic motor; When the servo control module receives the opening or closing control instruction of opposite door of host computer, or when the angular displacement sensor monitors the angular displacement of hydraulic motor, the opening or closing of opposite door reaches the set deceleration position, the servo control unit outputs the rotation speed setting value of hydraulic motor, the speed control law unit calculates the swash plate deflection angle setting value of hydraulic motor according to the rotation speed setting value of hydraulic motor and the actual value of the rotation speed of hydraulic motor monitored by speed sensor, and the displacement control law unit calculates the control value of the deflection angle of hydraulic motor swash plate according to the swash plate deflection angle setting value of hydraulic motor and the swash plate deflection angle of hydraulic motor monitored by swash plate deflection angle sensor, to control the deflection angle of hydraulic motor swash plate, adjust the displacement of hydraulic motor, make the rotation speed of hydraulic motor tend to the rotation speed setting value of hydraulic motor, and rotate with the rotation speed setting value of hydraulic motor.

2. The opposite door control system according to claim 1, wherein the angular displacement sensor is connected to the servo control module through an RS422 bus.

3. The opposite door control system according to claim 2, wherein the two groups of to the sensor of place are connected to the servo control module through an RS422 bus. ​ ​ 4. The split door control system according to claim 3, wherein, Each set of position sensors has four, two of which are used to monitor whether the corresponding door is opened to the position, and the other two are used to monitor whether the corresponding door is closed to the position.

5. The split door control system according to claim 4, wherein, The set deceleration position when the split door is opened is 80% of the opening degree, and the hydraulic motor speed is reduced to 20%.

6. The split door control system according to claim 5, wherein, The set deceleration position when the split door is closed is 80% of the closing stroke, and the hydraulic motor speed is reduced to 20%.

7. The split door control system according to claim 6, wherein, The mechanical transmission train further comprises train safety protection devices, two sets of rotary angle displacement sensors are connected to the servo control module to monitor the rotary angle displacement of the two sets of mechanical transmission structures, and two sets of electromagnetic brakes are provided; When the two sets of rotary angle displacement sensors monitor that the rotary angle displacement of the two sets of mechanical transmission structures differs by more than a safety threshold, the servo control module controls the two sets of electromagnetic brakes to start, locking the two sets of mechanical transmission structures.

8. The split door control system according to claim 7, wherein, The two sets of rotary angle displacement sensors are connected to the servo control module through an RS422 bus.

9. The split door control system according to claim 8, wherein, The two sets of speed sensors are connected to the servo control module through an RS422 bus; The two sets of swash plate deflection angle sensors are connected to the servo control module through an RS422 bus.

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