A complex terrain vertical takeoff and landing device control system and method

Abstract

The application discloses a complex terrain vertical take-off and landing device control system and method, and is suitable for small and medium-sized helicopters, and realizes automatic adjustment of vertical landing on complex terrain and keeping the horizontal attitude of the body on the ground, so that the small and medium-sized helicopters can take off and land on the ground with a certain slope, and keep the horizontal attitude of the body in the case that the landing support point slowly changes in height, guarantee the safety of the helicopter in the parking process, realize free adjustment of the landing gear in the air and on the ground, locking at any position, preferentially implementing emergency lowering in case of failure, and meet the landing use requirements of the helicopter on complex terrain.

Description

TECHNICAL FIELD

[0001] The application relates to a complex terrain vertical take-off and landing device control system and method, and belongs to the technical field of helicopter landing gears. BACKGROUND

[0002] At present, most of the helicopter landing gears can only be extended to a fixed length, and cannot be safely landed on a landing plane with a slope. Some existing adaptive landing gear device control methods cannot automatically adjust the extension length of the landing gear on the ground. In addition, in the current emergency release control, a separate emergency release control box is usually used for control or a method of leading multiple control paths from an emergency release switch is used to realize the disconnection of the normal extension and retraction hydraulic power of the landing gear and the release of the upper lock of the landing gear. The former needs complex cable installation of the helicopter, and the latter needs to add a bypass valve and other devices in the hydraulic pipeline, which cannot fully meet the functional requirements of the landing device. Therefore, a new landing device control system needs to be provided to fully meet the load landing requirements of small and medium-sized manned helicopters. SUMMARY

[0003] The application aims to provide a complex terrain vertical take-off and landing device control system, which automatically adjusts the vertical landing or maintains the horizontal attitude of the helicopter on the ground in complex terrain, so that small and medium-sized helicopters can take off and land on the ground with a certain slope, and maintain the horizontal attitude of the helicopter body in the case of slow height change of the landing support point, ensuring the safety of the helicopter during parking.

[0004] In order to achieve the above object, the technical scheme adopted by the present application is: a complex terrain vertical take-off and landing device control system, the system comprises an upper computer, a power supply, an operation module, a control unit, a landing gear retracting and deploying assembly and a sensor module; the power supply is used for power supply of the control unit; the upper computer is used for receiving information reporting of the control unit; the control unit comprises a retracting and deploying control module and a driving signal output module; the operation module is connected with the retracting and deploying control module and is used for sending a landing gear retracting / deploying instruction to the retracting and deploying control module; the sensor module is connected with the retracting and deploying control module and is used for sending body attitude data, ground distance data, actual lengthening amount of the landing gear, a limit signal and wheel load information to the retracting and deploying control module; the retracting and deploying control module is connected with the driving signal output module and is used for outputting a control signal to the driving signal output module; the driving signal output module is connected with the landing gear retracting and deploying assembly and is used for controlling the retracting and deploying of the landing gear; the sensor module sends the body attitude data to the retracting and deploying control module, and the body attitude data comprises a pitch angle of the body relative to a horizontal plane and a roll angle; the pitch angle is an included angle between an x-axis of a body coordinate system and the horizontal plane and is controlled by a lengthening amount difference between front landing gears and left and right landing gears; the roll angle is an angle of rotation of the body around the x-axis of the body coordinate system and is controlled by a lengthening amount difference between the left and right landing gears.

[0005] The body attitude data is collected by an attitude sensor, in the present application, the attitude sensor is used for participating in the retracting and deploying control of the landing gear, so that the ground horizontal attitude of the helicopter landing gear is automatically maintained.

[0006] According to the embodiments of the present application, the present application can be further optimized, and the following is a technical scheme formed after optimization:

[0007] In one preferred embodiment, the control unit further comprises an emergency deploying control module, an emergency deploying execution assembly and a signal gating device; the operation module is connected with the emergency deploying control module and is used for sending an emergency deploying instruction to the emergency deploying control module; the signal gating device is connected between the retracting and deploying control module and the driving signal output module and is used for controlling the output of the control signal; the emergency deploying control module is connected with the signal gating device and is used for controlling the signal gating device to stop the output of the control signal; the emergency deploying control module is connected with the emergency deploying execution assembly and is used for releasing the position locking of the landing gear in the retracted position.

[0008] The emergency deploying control module has the highest priority, the emergency deploying control module and the retracting and deploying control module are integrated, the body design is simplified, new devices are avoided, and rapid emergency deploying processing is realized.

[0009] In one preferred embodiment, the control unit comprises two of the retracting and extending control modules. When one of the retracting and extending control modules fails, the other one takes over the control of retracting and extending, achieving control redundancy, and improving the safety and reliability of the system.

[0010] In one preferred embodiment, the operation module sends the landing gear retracting and extending instructions to the retracting and extending control module by a handle, and / or the operation module sends the emergency extending instruction to the emergency extending control module by a switch. The handle has multiple contacts and mechanical structures, which can meet the requirements of ergonomics, position locking, signal reliability, etc. In practical applications, switches, communication instructions, etc. can be used for control according to needs.

[0011] In one preferred embodiment, the system further comprises a landing gear position locking assembly, the landing gear position locking assembly comprises a landing gear upper unlocking hydraulic valve, a landing gear locking hydraulic valve, and an upper lock; the landing gear retracting and extending assembly comprises a hydraulic source switch, a landing gear retracting and extending control hydraulic valve, and a landing gear retracting and extending actuator; the driving signal output module is connected to drive the landing gear upper unlocking hydraulic valve, the landing gear upper unlocking hydraulic valve is connected to the upper lock, and is used to open the upper lock; the upper lock is a locking mechanism when the landing gear is in the upper position; the emergency extending execution assembly is connected to the upper lock, and is used to open the upper lock; the driving signal output module is connected to drive the landing gear locking hydraulic valve, and is used to lock the position of the landing gear; the driving signal output module is connected to drive the landing gear retracting and extending control hydraulic valve, the landing gear retracting and extending control hydraulic valve is connected to the landing gear retracting and extending actuator, and is used to control the extension and retraction of the landing gear retracting and extending actuator; the driving signal output module is connected to the hydraulic source switch to start the pressure supply of the hydraulic source.

[0012] Based on the same concept, the application further provides a complex terrain vertical take-off and landing device control method, which is based on the complex terrain vertical take-off and landing device control system, and comprises a landing gear ground adjusting mode.

[0013] Step 1.1, judging whether all wheel load signals of the landing gear are valid, if all wheel load signals are valid, entering step 1.2; if all wheel load signals are invalid, the landing gear locking hydraulic valve is powered on, and the landing gear retracting and extending control hydraulic valve is powered off, and the ground adjusting ends;

[0014] Step 1.2, the control unit performs body posture monitoring, and judges whether the horizontal plane inclination angle of the body is greater than an acceptable value, if greater than the acceptable value, entering step 1.3, if not greater than the acceptable value, repeating step 1.2; wherein the horizontal plane inclination angle is the included angle between the body and the horizontal plane;

[0015] Step 1.3, when there is no external fixed signal, cancel the landing gear in place signal and the hydraulic lock locking signal, send the tilt warning signal to the upper computer, and enter step 1.4; if there is an external fixed signal, only send the tilt warning signal to the upper computer, and repeat step 1.2;

[0016] Step 1.4, when the pitch angle is greater than zero: run the landing gear retraction control hydraulic valve corresponding to the front landing gear, unlock the hydraulic lock of the corresponding landing gear retraction cylinder, retract the corresponding landing gear retraction cylinder, and reduce the extension of the front landing gear; when the pitch angle is less than zero: run the landing gear retraction control hydraulic valve corresponding to the left landing gear and the right landing gear, unlock the hydraulic lock of the corresponding landing gear retraction cylinder, retract the corresponding landing gear retraction cylinder, and reduce the extension of the left landing gear and the right landing gear; enter step 1.5; when the roll angle is greater than zero: run the landing gear retraction control hydraulic valve corresponding to the left landing gear, unlock the hydraulic lock of the corresponding landing gear retraction cylinder, retract the corresponding landing gear retraction cylinder, and reduce the extension of the left landing gear; enter step 1.5; when the roll angle is less than zero: run the landing gear retraction control hydraulic valve corresponding to the right landing gear, unlock the hydraulic lock of the corresponding landing gear retraction cylinder, retract the corresponding landing gear retraction cylinder, and reduce the extension of the right landing gear; enter step 1.5;

[0017] Step 1.5, determine whether all the landing gear retraction cylinders have been adjusted to the shortest state that can be carried, if there is an adjustment to the shortest state that can be carried, determine whether the horizontal plane tilt angle is less than an acceptable value, if it is not less than the acceptable value, enter step 1.6, if it is less than the acceptable value, enter step 1.7; if none of them is adjusted to the shortest state that can be carried, determine whether the horizontal plane tilt angle is not greater than the adjustment target value, if it is greater than the adjustment target value, enter step 1.4, if it is not greater than the adjustment target value, enter step 1.7; the acceptable value is greater than the adjustment target value;

[0018] Step 1.6, send a ground adjustment overrun alarm to the upper computer, and the ground adjustment is completed;

[0019] Step 1.7, the hydraulic lock of the landing gear retraction cylinder is locked, the landing gear retraction control hydraulic valve is powered off, the landing gear in place signal is sent to the upper computer, and step 1.8 is entered;

[0020] Step 1.8, when the hydraulic lock of the landing gear retraction and extension cylinder is locked, compare the displacement of the landing gear retraction and extension cylinder at the starting time and the ending time within a set time, when the displacement change is greater than a set value, determine that the hydraulic lock fails to lock, and send a hydraulic lock failure alarm to the upper computer, and the ground adjustment is completed; when the displacement change is not greater than the set value, determine that the hydraulic lock is successfully locked, and send a hydraulic lock signal to the upper computer, and proceed to step 1.2.

[0021] In one preferred embodiment, the method further comprises a landing gear normal lowering mode:

[0022] Step 2.1, landing gear extension calculation: the operation module sends a landing gear lowering instruction to the retraction and extension control module, the sensor module sends aircraft attitude data and ground distance data to the retraction and extension control module, and the retraction and extension control module calculates the extension of each landing gear, and proceeds to step 2.2;

[0023] Step 2.2, normal landing gear lowering: the retraction and extension control module controls the hydraulic source switch to be turned on, the landing gear upper lock hydraulic valve and the landing gear retraction and extension control hydraulic valve are powered on and switched to the landing gear lowering function position, so that the landing gear upper lock is unlocked and the landing gear is lowered; the sensor module collects feedback of the actual extension of the landing gear to the retraction and extension control module, and determines whether the displacement of the landing gear retraction and extension cylinder reaches the calculated extension value, when it reaches, the landing gear lock hydraulic valve is powered on, and a landing gear in-place signal is sent to the upper computer, the normal lowering of the landing gear is completed, and proceeds to step 2.3;

[0024] Step 2.3, landing gear hydraulic lock check: after the normal lowering of the landing gear is completed, the landing gear retraction and extension control hydraulic valve is switched to the landing gear retraction function position; compare the displacement of the landing gear retraction and extension cylinder at the starting time and the ending time within a set time, when the displacement change is greater than a set value, determine that the hydraulic lock fails to lock, and send a hydraulic lock failure alarm to the upper computer; when the displacement change is not greater than the set value, determine that the hydraulic lock is successfully locked, and send a landing gear hydraulic lock signal to the upper computer, and complete the landing gear hydraulic lock check.

[0025] In one preferred embodiment, the emergency lowering execution assembly comprises an upper lock unlocking motor relay and an upper lock unlocking motor; the specific steps of starting the emergency lowering mode comprise:

[0026] The operation module sends an emergency release instruction to the emergency release control module; the emergency release control module sends an output closing signal to the signal gating device, the signal gating device disconnects the output of the control signal, the hydraulic source switch is closed, the landing gear upper position unlocking hydraulic valve, the landing gear extension and retraction control hydraulic valve and the landing gear locking hydraulic valve are all disconnected, at the same time, the emergency release control module drives the upper position locking unlocking motor relay to supply power to the upper position locking unlocking motor, the upper position locking unlocking motor is started, and the landing gear is unlocked in the landing gear upper position.

[0027] Compared with the prior art, the beneficial effects of the present application are: the complex terrain vertical take-off and landing device control system and method provided by the present application is suitable for small and medium-sized helicopters. The system realizes automatic adjustment of vertical landing in complex terrain and maintaining the horizontal attitude of the machine body on the ground, so that small and medium-sized helicopters can take off and land on the ground with a certain slope, and maintain the horizontal attitude of the machine body in the case of slow height change of the landing support point, ensure the safety of the helicopter during parking, realize free adjustment of the landing gear in the air and on the ground, locking in any position, and preferentially implementing emergency release in case of failure, and meet the landing use requirements of helicopters in complex terrain. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is the complex terrain vertical take-off and landing device control system architecture diagram of an embodiment of the present application;

[0029] Figure 2 is the complex terrain vertical take-off and landing device control system schematic diagram of another embodiment of the present application;

[0030] Figure 3 is the landing gear normal release flowchart of another embodiment of the present application;

[0031] Figure 4 is the slope landing state schematic diagram of another embodiment of the present application; Figure 4 (a) is a side view schematic diagram, Figure 4 (b) is a front view schematic diagram;

[0032] Figure 5 is the landing gear ground adjustment flowchart of another embodiment of the present application;

[0033] Figure 6 is the landing gear emergency release flowchart of another embodiment of the present application. DETAILED DESCRIPTION

[0034] The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0035] Embodiment 1

[0036] The embodiment 1 provides a complex terrain vertical take-off and landing device control system, which is suitable for a helicopter with a take-off weight of less than 10 tons, and the system is composed of a sensor module, an operation module, an emergency release control module, an emergency release execution assembly, a release control module, a driving signal output module, a landing gear release assembly and a landing gear position locking assembly, as shown in the figure. Figure 1 The landing gear release assembly comprises a landing gear release execution module and a landing gear release mechanical module; and the landing gear position locking assembly comprises a landing gear position locking execution module and a landing gear position locking mechanical module.

[0037] The sensor module is used for detecting the attitude data of the aircraft body and the distance data of the bottom plane of the aircraft relative to the three points of the landing plane, providing support data for the landing gear extension length calculation, and monitoring the landing gear position state in real time and accurately controlling the landing gear position; and the operation module is used for issuing action instructions to the release control module and the emergency release control module.

[0038] In the embodiment 1, a signal gating device is further arranged between the release control module and the driving signal output module. When receiving the emergency release instruction, the emergency release control module will cut off the signal transmission of the release control module to the driving signal output module, so that the landing gear loses the active motion ability, and the action of the landing gear gravity release is performed by the emergency release assembly. The emergency release control module has the highest priority. According to the actual application scene, the signal gating device can adopt a signal relay, a multi-channel selector chip.

[0039] Two release control modules are arranged in the system, when one release control module fails, the other release control module takes over the release control, realizing control redundancy. The release control module calculates the slope of the landing plane through the attitude and ground distance data of the aircraft body, calculates the extension length of each landing gear respectively, transmits the control signal to the driving signal output module, drives the landing gear release execution module and the landing gear position locking execution module of the front landing gear, the left landing gear and the right landing gear through the driving signal output module, and detects the landing gear position state through the sensor module, realizing the feedback control of each landing gear.

[0040] The embodiment 1 further provides a complex terrain vertical take-off and landing device control method, which comprises landing gear normal release, landing gear ground secondary adjustment and landing gear emergency release.

[0041] The landing gear normal release comprises the following steps:

[0042] 1) When the release instruction is implemented, the slope of the landing plane is calculated through the attitude data of the aircraft body and the distance data of the bottom plane of the helicopter relative to the three points of the landing plane;

[0043] 2) Calculate the extension length of each landing gear according to the slope of landing surface;

[0044] 3) Control the extension of landing gear, and feedback control the extension length through sensor module;

[0045] 4) Lock the position of landing gear after adjusting to the calculated extension length, so that the landing gear can bear the landing impact load.

[0046] The secondary adjustment of landing gear on ground includes the following steps:

[0047] 1) Continue to monitor the attitude of the helicopter after landing;

[0048] 2) When the attitude of the helicopter deviates from the horizontal, unlock the position of the landing gear, and adjust the extension length of the corresponding landing gear according to the direction of the attitude deviation until the attitude of the helicopter returns to the horizontal;

[0049] 3) Lock the position of the landing gear and monitor the attitude of the helicopter.

[0050] The emergency extension of landing gear includes the following steps:

[0051] 1) Cut off the power source of the landing gear extension assembly;

[0052] 2) Unlock the position of the landing gear; the retracted position is the position of the landing gear in the retracted state;

[0053] 3) The landing gear is automatically extended by gravity.

[0054] When the extension command is implemented, the extension control module calculates the extension length of each landing gear according to the attitude data of the helicopter and the ground distance data, controls the extension of the landing gear, and feedback controls the extension length through the sensor. After the extension is completed, the position of the landing gear is locked, so that the landing gear can bear the load of the aircraft. After landing, the current attitude of the helicopter is continuously monitored. When the attitude of the helicopter deviates from the horizontal due to ground subsidence or other reasons, the extension length of the landing gear is adjusted in time to maintain the horizontal attitude of the helicopter and ensure the safety of the helicopter on the ground.

[0055] When the emergency extension command is implemented, the emergency extension control module closes the control path of the extension control module to the driving signal output module, and the landing gear is automatically extended to the fully extended state by the emergency extension assembly.

[0056] Embodiment 2

[0057] The embodiment 2 provides a complex terrain vertical take-off and landing device control system, which comprises a power supply, an upper computer, a folding handle, an emergency release switch, an attitude sensor, a distance sensor, a hydraulic source switch, a landing gear folding control hydraulic valve, a landing gear folding cylinder, a landing gear locking hydraulic valve, a landing gear upper unlocking hydraulic valve, an upper lock unlocking motor relay, an upper lock unlocking motor, a landing gear displacement sensor, a landing gear up-down position sensor, a wheel load sensor, and a control unit, as shown in the figure. Figure 4 In the embodiment 2, the core control chip of the folding control circuit board is STM32F407ZGT6; the emergency release control board adopts on-off quantity control and uses a photo-coupler TLP240A; the signal relay adopts G3VM-61VY3 to form an array; the driving board adopts 74LVC245 and ULN2803 for level conversion and power amplification respectively; and the upper lock unlocking motor relay adopts RE22R2DMR.

[0058] In the embodiment 2, the attitude sensor, the distance sensor, the landing gear displacement sensor, the landing gear up-down position sensor and the wheel load sensor belong to a sensor module; the emergency release switch and the folding handle belong to an operation module; the upper lock unlocking motor relay and the upper lock unlocking motor belong to an emergency release execution component; the hydraulic source switch, the landing gear folding control hydraulic valve and the landing gear folding cylinder belong to a landing gear folding component; and the landing gear upper unlocking hydraulic valve, the landing gear locking hydraulic valve and the landing gear upper lock belong to a landing gear position locking component.

[0059] In the control unit, the folding control circuit board is electrically connected with the upper computer, the folding handle, the attitude sensor, the distance sensor, the wheel load sensor, the landing gear up-down position sensor and the landing gear displacement sensor externally and is electrically connected with the signal relay internally; the emergency release control board is electrically connected with the emergency release switch and the upper lock unlocking motor relay externally and is electrically connected with the signal relay internally; and the driving board is electrically connected with the hydraulic source switch, the landing gear folding control hydraulic valve, the landing gear auxiliary adjusting hydraulic valve, the landing gear locking hydraulic valve and the landing gear upper unlocking hydraulic valve externally and is electrically connected with the signal relay internally.

[0060] The landing gear folding control hydraulic valve and the landing gear locking hydraulic valve are connected with the landing gear folding cylinder through a hydraulic pipeline.

[0061] The power supply is used for supplying power to the control unit. The upper computer is used for communicating with the control unit and receiving information report of the control unit.

[0062] The attitude sensor is used to provide the pitch angle and the roll angle of the helicopter relative to the horizontal plane. The distance sensor is used to provide the distance data of the bottom plane of the helicopter relative to three points of the landing plane. The control unit calculates the length of each landing gear that should be extended when the helicopter stays in the horizontal attitude on the landing plane according to the data provided by the attitude sensor and the distance sensor, and outputs the control signal. The pitch angle is the angle between the x-axis of the body coordinate system and the horizontal plane, which is controlled by the difference between the extension amounts of the front landing gear and the left and right landing gears. The roll angle is the angle of the body rotating around the x-axis of the body coordinate system, which is controlled by the difference between the extension amounts of the left and right landing gears.

[0063] The hydraulic source switch is used to start the hydraulic source to provide pressure, and to provide power for the extension and retraction of the cylinder. The landing gear retraction and extension control hydraulic valve is used to drive the extension and retraction of the landing gear retraction and extension cylinder, and to complete the retraction and extension of the landing gear. The landing gear locking hydraulic valve is used to cut off the landing gear retraction and extension cylinder from the hydraulic pipeline, so that the hydraulic working medium cannot flow, and the position of the cylinder is fixed, and the position of the landing gear is locked.

[0064] The upper lock unlocking motor relay is used to supply power to the upper lock unlocking motor, and automatically stops the power supply after a certain time to prevent the motor from idling. The landing gear upper lock unlocking hydraulic valve and the upper lock unlocking motor are used to open the upper lock of the landing gear, so that the landing gear can be lowered. The upper lock is a locking mechanism when the landing gear is retracted.

[0065] The wheel load sensor is used to determine whether the landing gear touches the ground and carries a load. The landing gear up-down position sensor is used to determine whether the landing gear reaches the uppermost and lowermost limit positions. The landing gear displacement sensor is used to monitor the extension length of the landing gear in real time.

[0066] The switching process of the first retraction and extension control circuit board and the second retraction and extension control circuit board: the two retraction and extension control circuit boards exchange information through bus communication, and periodically communicate. When the self-checking of the first retraction and extension control circuit board fails, the fault information is reported to the second retraction and extension control circuit board, and the output of the hydraulic valve control signal is stopped. When the second retraction and extension control circuit board receives the fault information reported by the first retraction and extension control circuit board or does not receive the communication from the first retraction and extension control circuit board within a specified period, the first retraction and extension control circuit board is sent a hydraulic valve control signal closing instruction, and the output of the hydraulic valve control signal is started, and the control right transfer is completed.

[0067] The stowable handle sends a landing gear stowing signal and a landing gear stowing signal to the control unit, and the control unit controls the helicopter to perform a normal landing gear stowing process and / or a ground secondary adjustment process according to the received landing gear stowing signal. The emergency release switch sends an emergency release signal and a non-emergency release signal to the control unit, and the control unit controls the helicopter to perform an emergency release process according to the emergency release signal. The complex terrain vertical take-off and landing device control method provided in Embodiment 2 includes a normal landing gear stowing process, a ground adjustment process, and an emergency release process.

[0068] The normal landing gear stowing process is used to realize the upper unlocking, stowing, and fixed position locking functions of the landing gear when preparing for normal landing in the air, including landing gear extension calculation, normal landing gear stowing, and landing gear hydraulic lock checking. The normal stowing process is shown in Figure 3 , and the specific steps include:

[0069] Landing gear extension calculation: After receiving the landing gear stowing instruction, the preset landing mode is determined according to the detected ground slope and attitude sensor information, and the extension of each landing gear is calculated according to the selected preset landing mode. As shown in Figure 4 , when the aircraft heading is perpendicular to the slope, the landing mode adopted at this time is that the main landing gear on the slope side is fully stowed, and the extension of the main landing gear on the slope side and the front landing gear is adjusted. The front main wheel distance is 4800mm, the main wheel distance is 2800mm, the detected ground slope is 20°, and the full stowing state extension of the front and main landing gears is 1300mm. At this time, the extension of the main landing gear on the slope side relative to the main landing gear on the slope side should be reduced by 2800*tan20°mm, so the extension of the main landing gear on the slope side is 280.22mm; the extension of the front landing gear relative to the main landing gear on the slope side should be reduced by 2800*0.5*tan20°mm, so the extension of the front landing gear is 790.44mm.

[0070] Landing gear normal stowing: Turn on the hydraulic source switch to pressurize the landing gear hydraulic system; power the landing gear upper unlocking hydraulic valve and the landing gear stowing control hydraulic valve to switch to the landing gear stowing function position, so that the landing gear upper unlocking and stowing are performed; when the displacement of the landing gear stowing actuator reaches the calculated value, power the landing gear locking hydraulic valve on the landing gear stowing actuator hydraulic circuit and keep it powered on, send a landing gear in-place signal to the upper computer, and complete the landing gear normal stowing.

[0071] Landing gear hydraulic lock check: after the landing gear is normally extended, the landing gear extension and retraction control hydraulic valve is switched to the function position of retraction into the machine, so that the movement trend of the landing gear is retraction into the machine. Set the time, compare the displacement amount of the landing gear extension and retraction cylinder at the starting time and the ending time within the set time; when the displacement amount changes more than the set value, it is judged that the hydraulic lock fails to lock, and a hydraulic lock failure warning is sent to the upper computer; if the displacement amount change is not greater than the set value, it is judged that the hydraulic lock is successfully locked, and a landing gear hydraulic lock locking signal is sent to the upper computer, and the landing gear hydraulic lock check is completed. During the normal landing gear extension process, the landing gear is not loaded, and the landing gear extension and retraction control hydraulic valve is set to the function position of retraction into the machine to simulate the load.

[0072] The ground secondary regulation process is used to relieve the phenomenon of body inclination caused by the inconsistency of the degree of ground subsidence after the landing gear touches the ground. Under the condition of landing gear load, the movement of the extension and retraction cylinder is controlled to adjust the extension length of the landing gear. The ground secondary regulation process includes attitude monitoring, landing gear adjustment, landing gear hydraulic lock check and take-off interruption, and its flow chart is shown in Figure 5 The specific steps include:

[0073] Attitude monitoring: when all the wheel load signals of the landing gear are effective, the control unit enters the attitude monitoring state. In this state, the attitude of the aircraft is continuously judged, and when the body inclination angle exceeds the acceptable value and there is no external fixation signal, the front take-off, landing gear in place signal and landing gear hydraulic lock locking signal are cancelled, an inclination warning signal is sent to the upper computer, and the extension length adjustment of the landing gear is performed; if there is an external fixation signal, only an inclination warning signal is sent to the upper computer, and no extension length adjustment is performed to prevent damage to the mechanism.

[0074] Landing gear adjustment: set the adjustment target value of the tilt angle of the horizontal plane, decompose the tilt angle of the horizontal plane into the pitch angle and the roll angle, the pitch angle is the angle between the x-axis of the body coordinate system and the horizontal plane, which is controlled by the difference between the extension amounts of the front landing gear and the left and right landing gears, and the roll angle is the angle of rotation of the body around the x-axis of the body coordinate system, which is controlled by the difference between the extension amounts of the left and right landing gears. Select the adjustment method according to the tilt angle and the direction: when the pitch angle > 0°, i.e. the nose is higher than the tail, reduce the extension length (extension amount) of the front landing gear; when the pitch angle < 0°, i.e. the nose is lower than the tail, reduce the extension length of the left and right landing gears. When the roll angle > 0°, i.e. the left side of the fuselage is higher than the right side of the fuselage, reduce the extension length of the left landing gear; when the roll angle < 0°, i.e. the right side of the fuselage is higher than the left side of the fuselage, reduce the extension length of the right landing gear. The corresponding landing gear extension and retraction hydraulic valve operates, the hydraulic lock of the landing gear extension and retraction actuator is released, the landing gear extension and retraction actuator is retracted, and the extension length of the landing gear is adjusted. If the stroke of any adjustable actuator (the actuator that has not reached the shortest state that can be carried during the second ground adjustment) reaches the limit and still cannot make the tilt angle of the horizontal plane less than the acceptable value (acceptable value > adjustment target value), stop adjusting and send a ground second adjustment overrun alarm to the upper computer; if the stroke of any adjustable actuator reaches the limit and cannot meet the adjustment target, but can make the tilt angle of the horizontal plane less than the acceptable value, the hydraulic lock of the landing gear extension and retraction actuator is locked, the landing gear extension and retraction hydraulic valve is powered off, and a front landing gear and landing gear in place signal is sent to the upper computer; if the attitude adjustment target is reached, the hydraulic lock of the landing gear extension and retraction actuator is locked, the landing gear extension and retraction hydraulic valve is powered off, and a front landing gear and landing gear in place signal is sent to the upper computer.

[0075] Landing gear hydraulic lock check: after the hydraulic lock of the landing gear extension and retraction actuator is locked, set the time, compare the displacement amount of the landing gear extension and retraction actuator at the start time and the end time within the set time, and if the displacement amount changes more than the specified value, it is judged that the hydraulic lock fails, and a hydraulic lock failure alarm is sent to the upper computer; if the displacement amount change is not greater than the specified value, it is judged that the hydraulic lock is successfully locked, a landing gear hydraulic lock signal is sent to the upper computer, and the landing gear hydraulic lock check is completed.

[0076] Exit the second adjustment after takeoff: when all the wheel load signals of the landing gear disappear (takeoff), the hydraulic lock of the landing gear is locked, and the extension and retraction control hydraulic valve is closed to prevent misoperation.

[0077] Emergency release process is used to complete the full extension of the landing gear in emergency situations. After receiving the "emergency release" instruction, start the emergency release process. The emergency release control board closes the extension and retraction control output channel, drives the upper lock unlocking motor to open the landing gear upper lock, releases the landing gear position lock, and the landing gear is lowered under its own gravity. The specific steps include:

[0078] The hydraulic valve control signal sent by the retracting control circuit board is a high / low level signal, and a group of signal relays are arranged between the driving board and the retracting control circuit board, which are kept in a state of 1-3 communication in the default state. Under normal circumstances, the hydraulic valve control signal directly enters the driving board through the signal relay. When the emergency release process is executed, the emergency release control board sends a signal relay path control signal (high level) to the signal relay and supplies power to the upper lock unlocking motor relay. At this time, the signal relay communication state is changed to 2-3, the hydraulic valve control signal transmission path is disconnected at the signal relay, the hydraulic source switch is closed, the hydraulic valve cannot receive the control signal, the valve body returns to the initial position, the landing gear position lock hydraulic valve (for example, a two-position two-way valve) is in the on state, and the landing gear retracting hydraulic valve (for example, a three-position four-way valve) is in the middle position. The hydraulic working medium can flow freely in the hydraulic pipeline and no longer provide hydraulic power. At the same time, the upper lock unlocking motor is started, the landing gear retracting position is unlocked, and the landing gear starts to release under the action of gravity and aerodynamic force.

[0079] The control system provided by the embodiment relies on the body attitude data and the ground distance data to calculate the length of each landing gear to be extended and control the extension of the landing gear. After landing, the body attitude is continuously monitored, and when the body attitude deviates from the horizontal, the extension length of the landing gear is adjusted in time to maintain the horizontal attitude of the body and ensure the safety of the helicopter when stopping. When the gravity emergency release is executed, the hydraulic power and the electric power of the landing gear can be cut off to ensure that the landing gear can be automatically released by gravity. The function of freely adjusting the landing gear in the air and on the ground, locking at any position and implementing emergency release in case of failure is provided according to the ground slope and the body attitude to meet the landing use requirements of the helicopter in complex terrain.

[0080] The above-mentioned content of the embodiments should be understood as the embodiments are only used to more clearly illustrate the present application, and are not used to limit the scope of the present application. After reading the present application, those skilled in the art can make various equivalent modifications to the embodiments, which fall within the scope defined by the claims of the present application.

Claims

1. A complex terrain vertical take-off and landing device control system, the system comprising a host computer, a power supply, an operation module, a control unit, a landing gear retracting and deploying assembly and a sensor module; the power supply is used for power supply of the control unit; the host computer is used for receiving information report of the control unit; the control unit comprises a retracting and deploying control module and a drive signal output module; the operation module is connected to the retracting and deploying control module and is used for sending a landing gear retracting / deploying instruction to the retracting and deploying control module; the sensor module is connected to the retracting and deploying control module and is used for sending ground distance data, actual extension amount of the landing gear, a limit signal and wheel load information to the retracting and deploying control module; the retracting and deploying control module is connected to the drive signal output module and is used for outputting a control signal to the drive signal output module; the drive signal output module is connected to drive the landing gear retracting and deploying assembly and is used for controlling retracting and deploying of the landing gear. characterized in that The sensor module sends body attitude data to the retracting and deploying control module, the body attitude data comprising a pitch angle and a roll angle of the body relative to a horizontal plane; the pitch angle is an included angle between an x-axis of a body coordinate system and the horizontal plane and is controlled by an extension amount difference between a front landing gear and left and right landing gears; the roll angle is an angle of rotation of the body about the x-axis of the body coordinate system and is controlled by an extension amount difference between the left and right landing gears; the control unit further comprises an emergency deploying control module, an emergency deploying execution assembly and a signal gating device; the operation module is connected to the emergency deploying control module and is used for sending an emergency deploying instruction to the emergency deploying control module; the signal gating device is connected between the retracting and deploying control module and the drive signal output module and is used for controlling output of the control signal; the emergency deploying control module is connected to the signal gating device and is used for controlling the signal gating device to stop output of the control signal; the emergency deploying control module is connected to control the emergency deploying execution assembly and is used for releasing position locking of the landing gear in a retracted position; the retracted position is a position of the landing gear in the retracted position. The system further comprises a landing gear position locking assembly, the landing gear position locking assembly comprising an upper locking hydraulic valve of the landing gear, a landing gear locking hydraulic valve and an upper lock; the landing gear retracting and deploying assembly comprises a hydraulic source switch, a landing gear retracting and deploying control hydraulic valve and a landing gear retracting and deploying actuating cylinder. The drive signal output module is connected to drive the upper locking hydraulic valve of the landing gear, the upper locking hydraulic valve of the landing gear is connected to the upper lock and is used for opening the upper lock; The upper lock is a locking mechanism of the landing gear in the retracted position; The emergency deploying execution assembly is connected to the upper lock and is used for opening the upper lock; The drive signal output module is connected to drive the landing gear locking hydraulic valve and is used for locking the position of the landing gear; The drive signal output module is connected to drive the landing gear retracting and deploying control hydraulic valve, the landing gear retracting and deploying control hydraulic valve is connected to the landing gear retracting and deploying actuating cylinder and is used for controlling extension and retraction of the landing gear retracting and deploying actuating cylinder; the drive signal output module is connected to the hydraulic source switch and is used for starting pressure supply of the hydraulic source.

2. The complex terrain vertical takeoff and landing device control system of claim 1, wherein, The control unit comprises two retracting and deploying control modules.

3. The complex terrain vertical takeoff and landing device control system of claim 1, wherein, The operation module sends landing gear retracting / extending command to the retracting / extending control module by handle, and / or sends emergency extension command to the emergency extension control module by switch.

4. A control method of a complex terrain vertical takeoff and landing device, characterized by, The method is based on the complex terrain vertical take-off and landing device control system of claim 1, comprising a landing gear ground adjustment mode: Step 1.1, judging whether all wheel load signals of the landing gear are valid, if all wheel load signals are valid, entering step 1.2; if all wheel load signals are invalid, the landing gear locking hydraulic valve is powered on, and the landing gear retracting / extending control hydraulic valve is powered off, and the ground adjustment is ended; Step 1.2, the control unit monitors the body attitude, and judges whether the horizontal plane inclination angle is greater than an acceptable value, if greater than the acceptable value, entering step 1.3, if not greater than the acceptable value, repeating step 1.2; wherein the horizontal plane inclination angle is the included angle between the body and the horizontal plane; Step 1.3, when there is no external fixation signal, canceling the landing gear in place signal and the hydraulic lock locking signal, and sending the inclination warning signal to the upper computer, entering step 1.4; if there is an external fixation signal, only sending the inclination warning signal to the upper computer, and repeating step 1.2; Step 1.4, when the pitch angle is greater than zero: running the landing gear retracting / extending control hydraulic valve corresponding to the front landing gear, unlocking the hydraulic lock of the landing gear retracting / extending actuator corresponding to the front landing gear, retracting the landing gear retracting / extending actuator corresponding to the front landing gear, reducing the extension amount of the front landing gear, entering step 1.5; when the pitch angle is less than zero: running the landing gear retracting / extending control hydraulic valve corresponding to the left landing gear and the right landing gear, unlocking the hydraulic lock of the landing gear retracting / extending actuator corresponding to the left landing gear and the right landing gear, retracting the landing gear retracting / extending actuator corresponding to the left landing gear and the right landing gear, reducing the extension amount of the left landing gear and the right landing gear; entering step 1.5; when the roll angle is greater than zero: running the landing gear retracting / extending control hydraulic valve corresponding to the left landing gear, unlocking the hydraulic lock of the landing gear retracting / extending actuator corresponding to the left landing gear, retracting the landing gear retracting / extending actuator corresponding to the left landing gear, reducing the extension amount of the left landing gear; entering step 1.5; when the roll angle is less than zero: running the landing gear retracting / extending control hydraulic valve corresponding to the right landing gear, unlocking the hydraulic lock of the landing gear retracting / extending actuator corresponding to the right landing gear, retracting the landing gear retracting / extending actuator corresponding to the right landing gear, reducing the extension amount of the right landing gear; entering step 1.5; Step 1.5, judging whether all the landing gear retracting / extending actuators have been adjusted to the shortest state that can be carried, if there is an adjustable shortest state that can be carried, judging whether the horizontal plane inclination angle is less than an acceptable value, if not less than the acceptable value, entering step 1.6, if less than the acceptable value, entering step 1.7; if none is adjusted to the shortest state that can be carried, judging whether the horizontal plane inclination angle is not greater than an adjustment target value, if greater than the adjustment target value, entering step 1.4, if not greater than the adjustment target value, entering step 1.7; the acceptable value is greater than the adjustment target value; Step 1.6, sending a ground adjustment overrun alarm to the upper computer, and ending the ground adjustment; Step 1.7, the hydraulic lock of the landing gear retraction and extension cylinder is locked, the landing gear retraction and extension control hydraulic valve is powered off, a landing gear in position signal is sent to the host computer, and step 1.8 is entered; Step 1.8, after the hydraulic lock of the landing gear retraction and extension cylinder is locked, the displacement amount of the landing gear retraction and extension cylinder at the starting time and the ending time within a set time is compared, when the displacement amount change is greater than a set value, it is determined that the hydraulic lock fails to lock, and a hydraulic lock failure alarm is sent to the host computer, and the ground adjustment is completed; when the displacement amount change is not greater than the set value, it is determined that the hydraulic lock is successfully locked, a hydraulic lock locking signal is sent to the host computer, and step 1.2 is entered.

5. The complex terrain vertical takeoff and landing apparatus control method of claim 4, wherein, The method further comprises a normal landing gear lowering mode: Step 2.1, landing gear elongation calculation: the operation module sends a landing gear lowering instruction to the retraction and extension control module, the sensor module sends body attitude data and ground distance data to the retraction and extension control module, the retraction and extension control module calculates the elongation amount of each landing gear, and step 2.2 is entered; Step 2.2, normal landing gear lowering: the retraction and extension control module controls the hydraulic source switch to be turned on, the landing gear upper lock hydraulic valve and the landing gear retraction and extension control hydraulic valve are powered on and switched to a landing gear lowering function position, so that the landing gear upper lock is unlocked, and the landing gear is lowered; The sensor module collects feedback actual elongation amount of the landing gear to the retraction and extension control module, whether the displacement amount of the landing gear retraction and extension cylinder reaches the calculated elongation amount is judged, when it reaches, the landing gear locking hydraulic valve is powered on, a landing gear in position signal is sent to the host computer, the normal landing gear lowering is completed, and step 2.3 is entered; Step 2.3, landing gear hydraulic lock check: after the normal landing gear lowering is completed, the landing gear retraction and extension control hydraulic valve is switched to a landing gear retraction function position; the displacement amount of the landing gear retraction and extension cylinder at the starting time and the ending time within a set time is compared, when the displacement amount change is greater than a set value, it is determined that the hydraulic lock fails to lock, and a hydraulic lock failure alarm is sent to the host computer; when the displacement amount change is not greater than the set value, it is determined that the hydraulic lock is successfully locked, and a landing gear hydraulic lock locking signal is sent to the host computer, and the landing gear hydraulic lock check is completed.

6. The complex terrain vertical takeoff and landing apparatus control method according to claim 4 or 5, characterized by, The emergency lowering execution assembly comprises an upper lock unlocking motor relay and an upper lock unlocking motor; the specific steps of starting the emergency lowering mode comprise: The operation module sends an emergency lowering instruction to the emergency lowering control module; The emergency lowering control module sends an output off signal to the signal gating device, the signal gating device disconnects the output of the control signal, the hydraulic source switch is turned off, the landing gear upper lock hydraulic valve, the landing gear retraction and extension control hydraulic valve and the landing gear locking hydraulic valve are all powered off; at the same time, the emergency lowering control module drives the upper lock unlocking motor relay to supply power to the upper lock unlocking motor, the upper lock unlocking motor is started, the landing gear retraction position is unlocked, and the landing gear is lowered by gravity.

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