Airplane forward taxiing direction autonomous keeping control method and system

Abstract

The invention provides an autonomous keeping control method and system for the forward taxiing direction of an aircraft, and belongs to the technical field of aircraft control, and the method comprises the steps that aircraft state information is obtained, and the aircraft state information comprises the aircraft speed, the attitude, the front wheel rotation angle, the rudder position, the left and right aircraft wheel speed and the brake pressure; the aircraft attitude information is received, control instructions used for controlling the forward sliding direction of the aircraft are generated according to the aircraft attitude information and a preset control algorithm, and the control instructions comprise a rudder deflection control instruction, a front wheel steering angle control instruction and an asymmetric brake pressure control instruction; and receiving the control instruction, and controlling a corresponding execution mechanism to act according to the control instruction, so as to realize autonomous control of the aircraft in the forward sliding direction. The direction control of the aircraft in the ground taxiing process is changed into autonomous control from manual operation, the automation level of the aircraft is improved, and the influence of human factors on taxiing safety is reduced.

Description

Technical Field

[0001] The present application belongs to the field of aircraft control technology, and in particular, relates to a method and system for autonomously maintaining control of an aircraft in a forward taxiing direction. Background Art

[0002] During the taxiing process, the directional control of the aircraft mainly depends on the pilot's experience and manual operation, such as controlling the rudder with pedals to achieve aircraft yaw control, or controlling the front wheel angle with a turning hand wheel to achieve aircraft turning. This control method has the problems of being highly dependent on the pilot's subjective judgment, being susceptible to external interference and operational errors, and it is difficult to ensure the directional stability and safety of the aircraft under complex ground conditions. Summary of the invention

[0003] The purpose of the present application is to provide a method and system for autonomously maintaining control of an aircraft in a forward taxiing direction, so as to solve or alleviate at least one problem in the background technology.

[0004] On the one hand, the technical solution of the present application is: a method for autonomously maintaining control of an aircraft in a forward taxiing direction, comprising:

[0005] Acquiring aircraft status information, wherein the aircraft status information includes aircraft speed, attitude, front wheel angle, rudder position, left and right wheel speeds, and brake pressure;

[0006] receiving the aircraft attitude information, and generating a control instruction for controlling the forward sliding direction of the aircraft according to a predetermined control algorithm based on the aircraft attitude information, wherein the control instruction includes a rudder deflection control instruction, a front wheel steering angle control instruction, and an asymmetric brake pressure control instruction;

[0007] The control instruction is received, and the corresponding actuator is controlled to act according to the control instruction to realize autonomous control of the forward taxiing direction of the aircraft.

[0008] In an optional embodiment of the present application, the aircraft speed and attitude are obtained through an inertial navigation sensor, the front wheel angle is obtained through a front wheel position feedback sensor, the rudder position is obtained through a rudder position feedback sensor, the left and right wheel speeds are obtained through a wheel speed sensor, and the brake pressure is obtained through a torque sensor.

[0009] In an optional implementation manner of the present application, the predetermined control algorithm includes a combination of one or more of a sliding mode control method, a fuzzy control method, and a neural network control method.

[0010] In an optional implementation manner of the present application, when receiving the aircraft status information, it is determined whether the aircraft status information is normal. When the aircraft status information is abnormal, it is switched to a safety control mode or an alarm signal is issued.

[0011] On the other hand, the present application provides an autonomous control system for maintaining the forward taxiing direction of an aircraft, comprising:

[0012] A variety of sensors for acquiring aircraft status information, including aircraft speed, attitude, front wheel angle, rudder position, and left and right wheel speeds;

[0013] A controller, configured to receive aircraft attitude information collected by a sensor, and generate a control instruction for controlling the forward sliding direction of the aircraft according to a predetermined control algorithm based on the aircraft attitude information, and send the control instruction to an actuator, wherein the control instruction includes a rudder deflection control instruction, a front wheel steering angle control instruction, and an asymmetric brake pressure control instruction;

[0014] The actuator receives the control instruction and controls the corresponding actuator to act according to the control instruction, so as to realize autonomous direction maintenance of the aircraft during ground taxiing.

[0015] In an optional embodiment of the present application, the multiple sensors include an inertial navigation sensor, a front wheel position feedback sensor, a rudder position feedback sensor, a wheel speed sensor and a torque sensor, wherein the inertial navigation sensor is used to obtain the aircraft speed and aircraft attitude, the front wheel position feedback sensor is used to obtain the front wheel angle, the rudder position feedback sensor is used to obtain the rudder position, the wheel speed sensor is used to obtain the left and right wheel speeds, and the torque sensor is used to obtain the brake pressure.

[0016] In an optional implementation manner of the present application, the predetermined control algorithm includes a combination of one or more of a sliding mode control method, a fuzzy control method, and a neural network control method.

[0017] In an optional implementation manner of the present application, the controller includes a normal control mode and a safety control mode. In the normal control mode, the front wheel turning control, rudder control, and differential braking control are controlled; in the safety control mode, the aircraft direction control is manually controlled by the pilot.

[0018] In an optional implementation manner of the present application, when the controller 12 determines that a control system failure occurs or sensor data is abnormal, the controller switches to a safety control mode or sends out an alarm signal.

[0019] In an optional embodiment of the present application, the actuator includes a rudder control subsystem, a front wheel turning control subsystem, and a differential braking subsystem. The rudder control subsystem adjusts the deflection angle of the rudder according to the rudder deflection control instruction, the front wheel turning control subsystem adjusts the front wheel steering angle according to the front wheel steering angle control instruction, and the differential braking subsystem adjusts the asymmetric braking pressure according to the asymmetric braking pressure control instruction, so that the aircraft maintains movement in the gliding direction.

[0020] The method and system of the present application can realize the autonomous maintenance of the taxiing direction of the aircraft, and at the same time introduce a safety mechanism to ensure that when the control system fails or the sensor data is abnormal, timely countermeasures can be taken to ensure the safety of the aircraft. The present application transforms the direction control of the aircraft during ground taxiing from manual operation to autonomous control, improves the level of aircraft automation, and reduces the impact of human factors on taxiing safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solution provided by the present application, the following is a brief introduction to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present application.

[0022] Figure 1 This is a schematic diagram of the autonomous control method for maintaining the forward taxiing direction of an aircraft according to the present application.

[0023] Figure 2 This is a schematic diagram of the autonomous control system for maintaining the forward taxiing direction of the aircraft in the present application. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the implementation of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below in conjunction with the drawings in the embodiments of this application.

[0025] In order to improve the stability and safety of an aircraft's ground taxiing, the present application proposes a method and system for autonomously maintaining control of an aircraft's forward taxiing direction.

[0026] like Figure 1 As shown, the method for autonomously maintaining control of the forward sliding direction of an aircraft provided by the present application includes:

[0027] S10, acquiring aircraft status information, wherein the aircraft status information includes aircraft speed, attitude, front wheel angle, rudder position, left and right wheel speeds, and brake pressure;

[0028] In some embodiments of the present application, the aircraft speed (ground speed) and attitude (only the heading angle, no pitch angle and roll angle during ground taxiing) can be obtained through an inertial navigation sensor, the front wheel angle can be obtained through a front wheel position feedback sensor, the rudder position can be obtained through a rudder position feedback sensor, the left and right wheel speeds can be obtained through a wheel speed sensor, and the brake pressure can be obtained through a torque sensor.

[0029] S20, receiving aircraft attitude information, and generating a control instruction for controlling the taxiing direction of the aircraft according to a predetermined control algorithm based on the aircraft attitude information, wherein the control instruction includes a rudder deflection control instruction, a front wheel steering angle control instruction, and an asymmetric brake pressure control instruction;

[0030] In some embodiments of the present application, the predetermined control algorithm includes: a control strategy based on a sliding mode control method, a fuzzy control method, or a neural network control method, so as to achieve rapid response and precise control of the aircraft's taxiing direction.

[0031] In this application, after receiving the aircraft status information, it is determined whether the control system fails or whether the sensor data is abnormal. When the control system fails or the sensor data is abnormal, it switches to a safe control mode or sends an alarm signal to ensure the safety of the aircraft.

[0032] S30, receiving a control instruction, and controlling a corresponding actuator to perform an action according to the control instruction, so as to realize autonomous control of the aircraft in the forward taxiing direction.

[0033] Furthermore, the method of the present application also includes:

[0034] The method of the present application can realize the autonomous maintenance of the aircraft's taxiing direction, and at the same time introduce a safety mechanism to ensure that when the control system fails or the sensor data is abnormal, timely countermeasures can be taken to ensure the safety of the aircraft. The present application transforms the direction control of the aircraft's ground taxiing process from manual operation to autonomous control, improves the level of aircraft automation, and reduces the impact of human factors on taxiing safety.

[0035] like Figure 2 As shown, the present application also provides an aircraft forward taxiing direction autonomous maintenance control system, the control system comprising:

[0036] Various sensors 11 are used to obtain aircraft status information, including aircraft speed, attitude, front wheel angle, rudder position, and left and right wheel speeds;

[0037] The controller 12 receives the aircraft attitude information collected by the sensor 11, calculates the control instruction for controlling the forward sliding direction of the aircraft according to the aircraft attitude information according to a predetermined control algorithm, and sends the control instruction to the actuator;

[0038] The actuator 13 receives the control instruction and controls the corresponding actuator to perform actions according to the control instruction, so as to realize autonomous direction maintenance of the aircraft during the ground taxiing process. The actuator 13 adjusts the aircraft's direction mechanism, such as the rudder, front wheel steering, brake pressure, etc., according to the control instruction to maintain the aircraft's taxiing direction.

[0039] In the present application, the sensor 11 includes an inertial navigation sensor, a front wheel position feedback sensor, a rudder position feedback sensor, a wheel speed sensor and a torque sensor, wherein the inertial navigation sensor can obtain the aircraft speed (ground speed) and the aircraft heading angle, the front wheel position feedback sensor can obtain the front wheel turning angle, the rudder position feedback sensor can obtain the rudder position, the wheel speed sensor can obtain the left and right wheel speeds, and the torque sensor can obtain the braking pressure.

[0040] In the present application, the controller 12 can realize the normal control mode and the safety control mode through the logic code. The normal control mode includes the master control and the subsystem control. The subsystem control includes the front wheel turning control, the rudder control, and the differential brake control. When the controller 12 determines that the control system fails or the sensor data is abnormal, the controller 12 switches to the safety control mode or sends an alarm signal. In the safety control mode, the aircraft direction control can be manually controlled by the pilot to ensure the safety of the aircraft.

[0041] In the present application, the actuator 13 includes a rudder control subsystem, a front wheel turning control subsystem, and a differential brake subsystem. The rudder deflection angle is adjusted by the rudder control subsystem, the front wheel steering angle is adjusted by the front wheel turning control subsystem, the asymmetric brake pressure is adjusted by the differential brake subsystem, etc., and finally the forward direction of the aircraft is adjusted to keep the aircraft moving in the gliding direction.

[0042] The control system of the present application integrates the aircraft direction control subsystems such as front wheel turning control, rudder control, differential brake control, and by having a predetermined control algorithm built into the controller, it performs real-time calculations, dynamic control, and seeks the optimum, thereby achieving autonomous maintenance of the aircraft's taxiing direction.

[0043] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for autonomously maintaining control of an aircraft in a forward taxiing direction, characterized in that: include: Acquiring aircraft status information, wherein the aircraft status information includes aircraft speed, attitude, front wheel angle, rudder position, left and right wheel speeds, and brake pressure; receiving the aircraft attitude information, and generating a control instruction for controlling the forward sliding direction of the aircraft according to a predetermined control algorithm based on the aircraft attitude information, wherein the control instruction includes a rudder deflection control instruction, a front wheel steering angle control instruction, and an asymmetric brake pressure control instruction; The control instruction is received, and the corresponding actuator is controlled to act according to the control instruction to realize autonomous control of the forward taxiing direction of the aircraft.

2. The method for autonomously maintaining the forward taxiing direction of an aircraft as claimed in claim 1, characterized in that: The aircraft speed and attitude are obtained through an inertial navigation sensor, the front wheel angle is obtained through a front wheel position feedback sensor, the rudder position is obtained through a rudder position feedback sensor, the left and right wheel speeds are obtained through a wheel speed sensor, and the brake pressure is obtained through a torque sensor.

3. The method for autonomously maintaining the forward taxiing direction of an aircraft as claimed in claim 1, characterized in that: The predetermined control algorithm includes a combination of one or more of a sliding mode control method, a fuzzy control method and a neural network control method.

4. The method for autonomously maintaining the forward taxiing direction of an aircraft as claimed in claim 1, characterized in that: When receiving the aircraft status information, it is determined whether the aircraft status information is normal. When the aircraft status information is abnormal, it is switched to a safety control mode or an alarm signal is issued.

5. An autonomous aircraft forward taxiing direction maintenance control system, characterized in that: include: A variety of sensors for acquiring aircraft status information, including aircraft speed, attitude, front wheel angle, rudder position, and left and right wheel speeds; A controller, configured to receive aircraft attitude information collected by a sensor, and generate a control instruction for controlling the forward sliding direction of the aircraft according to a predetermined control algorithm based on the aircraft attitude information, and send the control instruction to an actuator, wherein the control instruction includes a rudder deflection control instruction, a front wheel steering angle control instruction, and an asymmetric brake pressure control instruction; The actuator receives the control instruction and controls the corresponding actuator to act according to the control instruction, so as to realize autonomous direction maintenance of the aircraft during ground taxiing.

6. The aircraft forward taxiing direction autonomous maintenance control system as claimed in claim 5, characterized in that: The various sensors include an inertial navigation sensor, a front wheel position feedback sensor, a rudder position feedback sensor, a wheel speed sensor and a torque sensor. The inertial navigation sensor is used to obtain the aircraft speed and aircraft attitude, the front wheel position feedback sensor is used to obtain the front wheel angle, the rudder position feedback sensor is used to obtain the rudder position, the wheel speed sensor is used to obtain the left and right wheel speeds, and the torque sensor is used to obtain the brake pressure.

7. The aircraft forward taxiing direction autonomous maintenance control system as claimed in claim 5, characterized in that: The predetermined control algorithm includes a combination of one or more of a sliding mode control method, a fuzzy control method and a neural network control method.

8. The aircraft forward taxiing direction autonomous maintenance control system as claimed in claim 7, characterized in that: The controller includes a normal control mode and a safety control mode. In the normal control mode, the front wheel turning control, rudder control, and differential brake control are controlled; in the safety control mode, the aircraft direction control is manually controlled by the pilot.

9. The aircraft forward taxiing direction autonomous maintenance control system as claimed in claim 8, characterized in that: When the controller 12 determines that a control system failure occurs or sensor data is abnormal, the controller switches to a safety control mode or sends out an alarm signal.

10. The aircraft forward taxiing direction autonomous maintenance control system according to claim 5, characterized in that: The actuator includes a rudder control subsystem, a front wheel turning control subsystem, and a differential braking subsystem. The rudder control subsystem adjusts the deflection angle of the rudder according to the rudder deflection control instruction, the front wheel turning control subsystem adjusts the front wheel steering angle according to the front wheel steering angle control instruction, and the differential braking subsystem adjusts the asymmetric braking pressure according to the asymmetric braking pressure control instruction, so that the aircraft maintains movement in the taxiing direction.

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