Aircraft gravity center adjusting device based on solid-liquid coupling migration
Through the aircraft center of gravity adjustment device based on solid-liquid coupling migration, the hydraulic system drives the movement of the counterweight block and hydraulic cylinder, the sensor error and adaptability problems in the water counterweight system are solved, and the accurate and efficient adjustment of the aircraft center of gravity is achieved.
Patent Information
- Application Number
- CN202411951675.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-27
- Publication Date
- 2025-04-01
AI Technical Summary
The existing water counterweight system has sensor cumulative errors in the adjustment of the center of gravity of the aircraft, resulting in inaccurate calculation results of the center of gravity and cannot be used in high-altitude environments.
The center of gravity adjustment device based on solid-liquid coupling migration is adopted. Through the combination of the drive unit, control unit and execution unit, the hydraulic system drives the counterweight block for center of gravity adjustment, and combines the inlet and return oil movement of the hydraulic cylinder to achieve accurate center of gravity adjustment.
Calculate the center of gravity adjustment through the expansion and contraction of the hydraulic cylinder, which avoids the influence of cumulative error on the center of gravity adjustment, and the hydraulic oil medium is suitable for use in high-altitude environments, ensuring the accurate adjustment of the center of gravity of the aircraft.
Smart Images
Figure CN119734847A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of aviation flight test, and in particular relates to an aircraft center of gravity adjustment device based on solid-liquid coupling migration. Background Art
[0002] For aircraft center of gravity adjustment, the water counterweight system is currently widely used. This system achieves center of gravity adjustment through the migration of water. When measuring the adjustment amount, a flow sensor is used to measure the amount of water migration.
[0003] However, the existing water balancing system for center of gravity adjustment has problems such as sensor cumulative errors leading to inaccurate center of gravity calculation results and inability to be used in high-altitude and cold environments. Summary of the invention
[0004] Purpose of the invention: The present invention provides an aircraft center of gravity adjustment device based on solid-liquid coupling migration, which can solve the problems of inaccurate center of gravity calculation results caused by the cumulative error of sensors in the existing water counterweight system and the inability to be used in high-altitude and cold environments.
[0005] Technical solution:
[0006] An aircraft center of gravity adjustment device based on solid-liquid coupling migration includes: a driving unit, a control unit, and an execution unit.
[0007] The driving unit is composed of four pumping stations, which include pumps, motors, hydraulic oil tanks, valve groups and pressure sensors for driving and controlling the execution unit; the control unit includes a PLC controller and an interactive interface for human-machine information interaction, real-time data collection and recording, and output of control signals; the execution unit includes a telescopic hydraulic cylinder, a counterweight, and a displacement sensor for the specific implementation of the execution action and the measurement of the displacement, and the two chambers of the telescopic hydraulic cylinder are connected to the output end of the driving unit; the pumping stations are respectively fixed at the left front, right front, left rear and right rear positions of the aircraft floor, and the control unit is connected to the signal end of the aircraft tank fuel gauge, the output end of the pressure sensor, the output end of the displacement sensor, the motor control end, and the valve group control end through cables; the driving unit is connected to the inlet / outlet oil port of the telescopic hydraulic cylinder in the execution unit through an oil pipe.
[0008] Furthermore, each pump station includes a hydraulic oil tank, a filter, a pump, a motor, a safety valve, a one-way valve, and a two-position two-way electromagnetic reversing valve, wherein the two ends of the filter are respectively connected to the oil tank and the pump oil inlet, the pump oil outlet is connected to the safety valve oil inlet and the one-way valve oil inlet, the safety valve oil return port is connected to the oil tank, the one-way valve oil outlet is connected to the two-position two-way electromagnetic reversing valve oil inlet, and the two-position two-way electromagnetic reversing valve oil outlet is connected to the oil tank.
[0009] The four pumping stations share two proportional reversing valves, a two-position four-way solenoid reversing valve, two double-acting hydraulic pumps, and two bidirectional motors, wherein the one-way valve oil outlet in the first pumping station and the one-way valve oil outlet in the second pumping station are respectively connected to the two oil inlets of the first proportional reversing valve, and the two oil outlets of the first proportional reversing valve are respectively connected to the two oil outlets of the two-position four-way solenoid reversing valve; the one-way valve oil outlet in the third pumping station and the one-way valve oil outlet in the fourth pumping station are respectively connected to the two oil inlets of the second proportional reversing valve, and the two oil outlets of the second proportional reversing valve are respectively connected to the two oil inlets of the two-position four-way solenoid reversing valve; the two oil outlets of the first double-acting hydraulic pump are respectively connected to the oil tank of the first pumping station and the oil tank of the third pumping station; the output end of the first bidirectional motor is connected to the control end of the first double-acting hydraulic pump; the two oil outlets of the second double-acting hydraulic pump are respectively connected to the oil tank of the second pumping station and the oil tank of the fourth pumping station; the output end of the second bidirectional motor is connected to the control end of the second double-acting hydraulic pump.
[0010] Furthermore, the actuator includes two telescopic hydraulic cylinders, two counterweights, and two displacement sensors, wherein the two oil chambers of the first telescopic hydraulic cylinder are respectively connected to the two oil outlets of the first proportional reversing valve, and the piston rod head of the first telescopic hydraulic cylinder is connected to the first counterweight via a pin; the two oil chambers of the second telescopic hydraulic cylinder are respectively connected to the two oil outlets of the second proportional reversing valve, and the piston rod head of the second telescopic hydraulic cylinder is connected to the second counterweight via a pin; the two displacement sensors are respectively used to measure the displacement of the two counterweights.
[0011] Furthermore, the interactive interface in the control unit is used to display the current aircraft weight center of gravity, the aircraft center of gravity change curve with fuel, the fuel volume of each fuel tank of the aircraft, and the expected center of gravity curve input.
[0012] Furthermore, the PLC controller in the control unit determines the control requirements by collecting the expected center of gravity curve and emergency status input from the front panel, calculates the current weight center of gravity state of the aircraft by collecting information from pressure sensors, displacement sensors, and the fuel quantity information of each tank, and adjusts the center of gravity of the aircraft through PID control.
[0013] Furthermore, the drive unit also includes eight pressure sensors, among which four pressure sensors are respectively arranged on the oil circuit between the pump outlet and the safety valve inlet in the four pump stations; and the other four pressure sensors are respectively arranged on the two-chamber oil inlets of the two telescopic hydraulic cylinders.
[0014] Furthermore, the proportional reversing valve is a two-position four-way proportional reversing valve.
[0015] Furthermore, when the two-position four-way proportional directional valve is actuated, the difference between the first pressure sensor and the fifth pressure sensor is compared, and the difference between the second pressure sensor and the sixth pressure sensor is compared. If any difference is greater than α, it is determined that the first pump station and the second pump station are faulty; the difference between the third pressure sensor and the seventh pressure sensor is compared, and the difference between the fourth pressure sensor and the eighth pressure sensor is compared. If any difference is greater than α, it is determined that the third pump station and the fourth pump station are faulty; otherwise, it is determined to be in normal working state.
[0016] Beneficial effects:
[0017] The device described in the present application uses a hydraulic system to drive a counterweight to adjust the center of gravity of the aircraft. The two chambers of the driving hydraulic cylinder are connected to independent oil tanks. While the counterweight adjusts the center of gravity, the oil inlet and outlet of the hydraulic cylinder is also beneficial to the center of gravity adjustment. The coupled migration of the counterweight and the hydraulic oil can ensure the adjustment efficiency to the greatest extent. The center of gravity adjustment amount can be calculated by the extension amount of the hydraulic cylinder to avoid the influence of the accumulated error during the adjustment process on the aircraft center of gravity adjustment. The medium of the device is hydraulic oil, which can meet the use under high-cold conditions. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 A schematic diagram of an aircraft center of gravity adjustment device based on solid-liquid coupling migration provided by the present invention;
[0019] Figure 2 A control diagram of an aircraft center of gravity adjustment device based on solid-liquid coupling migration provided by the present invention;
[0020] Among them, the first hydraulic oil tank 1.1, the first filter 2.1, the first pump 3.1, the first motor 4.1, the first safety valve 5.1, the first non-return valve 6.1, the first proportional reversing valve 7.1, the first two-position two-way electromagnetic reversing valve 8.1, the first telescopic hydraulic cylinder 9.1, the first pressure sensor 10.1, the first counterweight 11.1, the first displacement sensor 12.1, the two-position four-way electromagnetic reversing valve 13, the first double-acting hydraulic pump 14.1, and the first bidirectional motor 15.1; the second hydraulic oil tank 1.2, the second filter 2.2, the second pump 3.2, the second motor 4.2, the second safety valve 5.2, the second non-return valve 6.2, the second proportional reversing valve 7.2, the second two-position two-way electromagnetic reversing valve 8.2, the second telescopic hydraulic cylinder 9.2, the second pressure sensor sensor 10.2, second counterweight 11.2, second displacement sensor 12.2, second double-acting hydraulic pump 14.2, second bidirectional motor 15.2; third hydraulic oil tank 1.3, third filter 2.3, third pump 3.3, third motor 4.3, third safety valve 5.3, third check valve 6.3, third two-position two-way electromagnetic reversing valve 8.3, third pressure sensor 10.3; fourth hydraulic oil tank 1.4, fourth filter 2.4, fourth pump 3.4, fourth motor 4.4, fourth safety valve 5.4, fourth check valve 6.4, fourth two-position two-way electromagnetic reversing valve 8.4, fourth pressure sensor 10.4; fifth pressure sensor 10.5, sixth pressure sensor 10.6, seventh pressure sensor 10.7, eighth pressure sensor 10.8. DETAILED DESCRIPTION
[0021] like Figure 1 and Figure 2 , an aircraft center of gravity adjustment device based on solid-liquid coupling migration, comprising: a drive unit, a control unit, and an execution unit, wherein the drive unit is composed of 4 pump stations, and the pump station includes a pump, a motor, a hydraulic oil tank, a valve group and a pressure sensor for driving and controlling the execution unit; the control unit includes a PLC controller and an interactive interface for human-machine information interaction, real-time data acquisition and recording, and output of control signals; the execution unit includes a telescopic hydraulic cylinder, a support, a slide rail, a counterweight, and a displacement sensor for the specific implementation of the execution action and the measurement of the displacement, and the two chambers of the telescopic hydraulic cylinder are connected to the output end of the drive unit; the pump stations are respectively fixed at the left front, right front, left rear, and right rear positions of the aircraft floor, and the control unit is connected to the aircraft tank fuel gauge signal end, the pressure sensor output end, the displacement sensor output end, the motor control end, and the valve group control end through a cable; the drive unit is connected to the telescopic hydraulic cylinder inlet / outlet oil port in the execution unit through an oil pipe.
[0022] Each pump station includes a hydraulic oil tank, a filter, a pump, a motor, a safety valve, a one-way valve, and an electromagnetic reversing valve. The two ends of the filter are respectively connected to the oil tank and the pump oil inlet, the pump oil outlet is connected to the safety valve oil inlet and the one-way valve oil inlet, the safety valve oil return port is connected to the oil tank, the one-way valve oil outlet is connected to the electromagnetic reversing valve oil inlet, and the electromagnetic reversing valve oil outlet is connected to the oil tank.
[0023] The four pumping stations share two proportional reversing valves, an electromagnetic reversing valve, two double-acting hydraulic pumps, and two bidirectional motors. The oil outlet of the one-way valve in the first pumping station and the oil outlet of the one-way valve in the second pumping station are respectively connected to the two oil inlets of the first proportional reversing valve, and the two oil outlets of the first proportional reversing valve are respectively connected to the two oil outlets of the electromagnetic reversing valve.
[0024] The one-way valve oil outlet in the third pump station and the one-way valve oil outlet in the fourth pump station are respectively connected to the two oil inlets of the second proportional reversing valve, and the two oil outlets of the second proportional reversing valve are respectively connected to the two oil inlets of the electromagnetic reversing valve.
[0025] The two oil ports of the first double-acting hydraulic pump are respectively connected to the oil tank of the first pump station and the oil tank of the third pump station; the output end of the first bidirectional motor is connected to the control end of the first double-acting hydraulic pump.
[0026] The two oil ports of the second double-acting hydraulic pump are respectively connected to the oil tank of the second pump station and the oil tank of the fourth pump station; the output end of the second bidirectional motor is connected to the control end of the second double-acting hydraulic pump.
[0027] The actuator includes two telescopic hydraulic cylinders, two counterweights, and two displacement sensors, wherein the two oil chambers of the first telescopic hydraulic cylinder are respectively connected to the two oil outlets of the first proportional reversing valve, and the piston rod head of the first telescopic hydraulic cylinder is connected to the first counterweight via a pin; the two oil chambers of the second telescopic hydraulic cylinder are respectively connected to the two oil outlets of the second proportional reversing valve, and the piston rod head of the second telescopic hydraulic cylinder is connected to the second counterweight via a pin; the two displacement sensors are respectively used to measure the displacement of the two counterweights.
[0028] The interactive interface in the control unit is used to display the current aircraft weight center of gravity, the aircraft center of gravity change curve with fuel, the amount of fuel in each fuel tank of the aircraft, and the expected center of gravity curve input.
[0029] The PLC controller in the control unit determines the control requirements by collecting the expected center of gravity curve and emergency status input from the front panel, calculates the current weight and center of gravity of the aircraft by collecting information from pressure sensors, displacement sensors, and the fuel quantity information of each tank, and adjusts the center of gravity of the aircraft through PID control.
[0030] The drive unit also includes eight pressure sensors, of which four pressure sensors are respectively arranged on the oil circuits between the pump outlets and the safety valve inlets in the four pump stations; the other four pressure sensors are respectively arranged on the two-chamber oil inlets of the two telescopic hydraulic cylinders.
[0031] The proportional reversing valve is a two-position four-way proportional reversing valve.
[0032] When the two-position four-way proportional reversing valve is actuated, the difference between the first pressure sensor 10.1 and the fifth pressure sensor 10.5 is compared, and the difference between the second pressure sensor 10.2 and the sixth pressure sensor 10.6 is compared. If any difference is greater than α, it is determined that the first pump station and the second pump station are faulty; the difference between the third pressure sensor 10.3 and the seventh pressure sensor 10.7 is compared, and the difference between the fourth pressure sensor 10.4 and the eighth pressure sensor 10.8 is compared. If any difference is greater than α, it is determined that the third pump station and the fourth pump station are faulty; otherwise, it is determined to be in normal working state.
[0033] In normal working state, the motor drives the pump to supply oil to the system. When the proportional reversing valve is in the middle position, the two-position two-way solenoid reversing valve does not move, and the pump outlet returns to the oil tank through the two-position two-way solenoid reversing valve.
[0034] When the center of gravity is adjusted backward, the first two-position four-way proportional reversing valve 7.1 and the first two-position two-way electromagnetic reversing valve 8.1 are controlled to act, the return oil from the outlet of the first pump 3.1 is cut off, and the fuel from the outlet of the first pump 3.1 flows into the large cavity of the first telescopic hydraulic cylinder 9.1 through the first proportional reversing valve 7.1, and the return oil from the small cavity of the first telescopic hydraulic cylinder 9.1 flows back to the second oil tank 1.2 through the first proportional reversing valve 7.1 and the second two-position two-way electromagnetic reversing valve 8.2, and the first telescopic hydraulic cylinder 12.1 drives the first counterweight 11.1 to move backward; at the same time , controlling the second two-position four-way reversing valve 7.2 to act and the third two-position two-way solenoid reversing valve 8.3 to act, the return oil at the outlet of the third pump 3.3 is cut off, and the fuel at the outlet of the third pump 3.3 flows into the large chamber of the second telescopic hydraulic cylinder 9.2 through the second proportional reversing valve 7.2, and the return oil from the small chamber of the second telescopic hydraulic cylinder 9.2 flows back to the fourth oil tank 1.4 through the second proportional reversing valve 7.2 and the fourth two-position two-way solenoid reversing valve 8.4, and the second telescopic hydraulic cylinder 12.2 drives the second counterweight 11.2 to move backward, so as to adjust the center of gravity of the aircraft backward.
[0035] When the center of gravity is adjusted forward, the first proportional reversing valve 7.1 and the second two-position two-way electromagnetic reversing valve 8.2 are controlled to act, the return oil from the outlet of the second pump 3.2 is cut off, and the fuel from the outlet of the second pump 3.2 flows into the small chamber of the first telescopic hydraulic cylinder 9.1 through the first proportional reversing valve 7.1, and the return oil from the large chamber of the first telescopic hydraulic cylinder 9.1 flows back to the first oil tank 1.1 through the first proportional reversing valve 7.1 and the first two-position two-way electromagnetic reversing valve 8.1, and the first telescopic hydraulic cylinder 12.1 drives the first counterweight 11.1 to move forward; at the same time, the control The fourth two-position four-way proportional reversing valve 7.4 and the fourth two-position two-way solenoid reversing valve 8.4 are actuated, and the return oil from the outlet of the fourth pump 3.4 is cut off. The oil from the outlet of the fourth pump 3.4 flows into the small chamber of the second telescopic hydraulic cylinder 9.2 through the second proportional reversing valve 7.2, and the return oil from the large chamber of the second telescopic hydraulic cylinder 9.2 flows back to the third oil tank 1.3 through the second proportional reversing valve 7.2 and the third two-position two-way solenoid reversing valve 8.3. The second telescopic hydraulic cylinder 12.2 drives the second counterweight 11.2 to move forward, so as to adjust the center of gravity of the aircraft forward.
[0036] When the first pump station and the third pump station fail, the first motor 4.1 and the second motor 4.2 stop working, and the first proportional reversing valve 7.1 does not operate; the No. 3 and No. 4 oil circuits operate normally, the two-position four-way electromagnetic reversing valve 13 operates, the first telescopic hydraulic cylinder 12.1 is connected to the large cavity of the first telescopic hydraulic cylinder 12.2 and the small cavity of the first telescopic hydraulic cylinder 12.2 respectively, and the third pump station and the fourth pump station control the telescopic hydraulic cylinder of the beam to operate; when the difference in oil volume between the first oil tank and the third oil tank is greater than δ, the first bidirectional motor 15.1 drives the first double-acting pump 14.1 to operate, so as to realize the oil volume transmission between the first oil tank 1.1 and the third oil tank 1.3, and the second bidirectional motor 15.2 drives the second double-acting pump 14.2 to operate, so as to realize the oil volume transmission between the second oil tank 1.2 and the fourth oil tank 1.4.
[0037] When the third pump station and the fourth pump station fail, the third motor 4.3 and the fourth motor 4.4 stop working, and the second proportional reversing valve 7.2 does not operate; the first pump station and the second pump station operate normally, the two-position four-way electromagnetic reversing valve 13 operates, the first telescopic hydraulic cylinder 12.1 is connected to the large cavity of the second telescopic hydraulic cylinder 12.2, and the large cavity and small cavity of the second telescopic hydraulic cylinder 12.2 are connected respectively, and the first pump station and the second pump station control the telescopic hydraulic cylinder to operate; when the difference between the oil volume of the second oil tank 1.2 and the fourth oil tank 1.4 is greater than δ, the first bidirectional motor 15.1 drives the first double-acting pump 14.1 to operate, so as to realize the oil volume transmission between the first oil tank 1.1 and the third oil tank 1.3, and the second bidirectional motor 15.2 drives the second double-acting pump 14.2 to operate, so as to realize the oil volume transmission between the second oil tank 1.2 and the fourth oil tank 1.4.
[0038] The interactive interface is used for human-computer interaction, and includes a display and emergency control switches; there are 5 emergency control switches, which respectively control the system emergency cut-off, left actuator emergency cut-off, right actuator emergency cut-off, left pump station emergency cut-off, right pump station emergency cut-off, and quick return to center.
[0039] When the control system is shut down in an emergency, the entire system is powered off, the system stops moving, the proportional reversing valve is powered off, and the large and small chamber oil circuits of the telescopic hydraulic cylinder are locked; the left actuator is shut down in an emergency, the first pump station and the second pump station are powered off in an emergency, the first proportional reversing valve 7.1 is powered off, the large chamber of the first telescopic hydraulic cylinder 9.1 and the small chamber oil circuit of the first telescopic hydraulic cylinder 9.1 are locked, and the second telescopic hydraulic cylinder 9.2 works normally; the right actuator is shut down in an emergency, the third pump station and the fourth pump station are powered off in an emergency, the second proportional reversing valve 7.2 is powered off, the large chamber of the second telescopic hydraulic cylinder 9.2 and the small chamber oil circuit of the second telescopic hydraulic cylinder 9.2 are locked, and the first telescopic The hydraulic cylinder 9.1 works normally; the first pump station and the third pump station are powered off in an emergency, the oil circuit motors and valve groups of the first pump station and the second pump station are powered off, the two-position four-way solenoid valve 13 is actuated, the third pump station and the fourth pump station simultaneously control the first telescopic hydraulic cylinder 9.1 and the second telescopic hydraulic cylinder 9.2, and the bidirectional motor controls the double-acting pump to transfer the oil in the oil tank; the third pump station and the fourth pump station are shut off in an emergency, the motors and valve groups of the third pump station and the fourth pump station are powered off, the two-position four-way solenoid valve 13 is actuated, the first pump station and the second pump station simultaneously control the first telescopic hydraulic cylinder 9.1 and the second telescopic hydraulic cylinder 9.2, and the bidirectional motor controls the double-acting pump to transfer the oil in the oil tank.
[0040] The interactive interface is used to display the current aircraft weight center of gravity, the aircraft center of gravity change curve with fuel, the fuel volume of each fuel tank of the aircraft, and the expected center of gravity curve input.
[0041] The PLC controller determines the control requirements by collecting the expected center of gravity curve and emergency status input from the front panel, calculates the current weight and center of gravity of the aircraft by collecting information from pressure sensors, displacement sensors, and the fuel quantity information of each tank, and adjusts the center of gravity of the aircraft through PID control.
[0042] When calculating the center of gravity of the aircraft, through the determined empty aircraft weight m1, longitudinal center of gravity l1, longitudinal centers l2 of the first fuel tank 1.1 and the third fuel tank 1.3, longitudinal centers l3 of the second fuel tank 1.2 and the fourth fuel tank 1.4, longitudinal coordinate l4 at the bottom of the piston rod when the telescopic hydraulic cylinder contracts, fuel quantity m4 and longitudinal coordinate l5 of the No. 1 fuel tank of the aircraft; fuel quantity m5 and longitudinal coordinate l6 of the No. 2 fuel tank of the aircraft; longitudinal coordinate m6 and fuel quantity l7 of the No. 3 fuel tank of the aircraft. The telescopic hydraulic cylinder is an n-stage cylinder. The extension amount of the first telescopic hydraulic cylinder 12.1 is s01, and the extension amount of the second telescopic hydraulic cylinder 12.2 is s02. The maximum extension amounts when each stage extends are s1, s2... sn respectively; when the first stage extends, the oil quantity change per unit length in the large chamber of the telescopic hydraulic cylinder is g1, and the oil quantity change per unit length in the small chamber is w2; when the second stage extends, the oil quantity change per unit length in the large chamber of the telescopic hydraulic cylinder is g2, and the oil quantity change per unit length in the small chamber is w1;...; the weights of the pistons of each stage are k1, k2..., the weight of the left counterweight 11.1 is m2, and the weight of the right counterweight 11.2 is m3.
[0043] Real-time center of gravity calculation formula of the aircraft:
[0044] When s01 < s1 and s02 < s1,
[0045] l = m1 * l1 + s01 * m2 + s02 * m3 + m4 * l5 + m5 * l6 + m6 * l7 + (k1 + k2 +... + kn) * (s01 + s02) + g1 * s01 * (l4 - l2 + s01 / 2) + g1 * s02 * (l4 - l2 + s02 / 2) +
[0046] w1 * s01 * (l5 - l2 - s01 / 2) + w1 * s02 * (l5 - l2 - s02 / 2)
[0047] When s1 < s01 < s2 and s1 < s02 < s2,
[0048] l = m1 * l1 + s01 * m2 + s02 * m3 + 2 * k1 * s1 + m4 * l5 + m5 * l6 + m6 * l7 +
[0049] (k2 +... + kn) * (s01 + s02) + 2 * w1 * s1 * (l4 - l2 + s1 / 2) + 2 * g1 * s1 * (l5 - l2 - s1 / 2)
[0050] + g2 * (s01 - s1) * (l4 - l2 + (s01 + s1) / 2) + g2 * s02 * (l4 - l2 + (s02 + s1) / 2) + w2 * (s01 - s1) * (l5 - l2 - (s01 + s1) / 2) + w2 * (s02 - s1) * (l5 - l2 - (s02 + s1) / 2).
Claims
1. An aircraft center of gravity adjustment device based on solid-liquid coupling migration, characterized in that: include: Drive unit, control unit, execution unit, The driving unit is composed of four pumping stations, which include pumps, motors, hydraulic oil tanks, valve groups and pressure sensors for driving and controlling the execution unit; the control unit includes a PLC controller and an interactive interface for human-machine information interaction, real-time data collection and recording, and output of control signals; the execution unit includes a telescopic hydraulic cylinder, a counterweight, and a displacement sensor for the specific implementation of the execution action and the measurement of the displacement, and the two chambers of the telescopic hydraulic cylinder are connected to the output end of the driving unit; the pumping stations are respectively fixed at the left front, right front, left rear and right rear positions of the aircraft floor, and the control unit is connected to the signal end of the aircraft tank fuel gauge, the output end of the pressure sensor, the output end of the displacement sensor, the motor control end, and the valve group control end through cables; the driving unit is connected to the inlet / outlet oil port of the telescopic hydraulic cylinder in the execution unit through an oil pipe.
2. The aircraft center of gravity adjustment device based on solid-liquid coupling migration according to claim 1, characterized in that: Each pump station includes a hydraulic oil tank, a filter, a pump, a motor, a safety valve, a check valve, and a two-position two-way electromagnetic reversing valve. The two ends of the filter are connected to the oil tank and the pump oil inlet respectively, the pump oil outlet is connected to the safety valve oil inlet and the check valve oil inlet, the safety valve oil return port is connected to the oil tank, the check valve oil outlet is connected to the two-position two-way electromagnetic reversing valve oil inlet, and the two-position two-way electromagnetic reversing valve oil outlet is connected to the oil tank. The four pumping stations share two proportional reversing valves, a two-position four-way solenoid reversing valve, two double-acting hydraulic pumps, and two bidirectional motors, wherein the one-way valve oil outlet in the first pumping station and the one-way valve oil outlet in the second pumping station are respectively connected to the two oil inlets of the first proportional reversing valve, and the two oil outlets of the first proportional reversing valve are respectively connected to the two oil outlets of the two-position four-way solenoid reversing valve; the one-way valve oil outlet in the third pumping station and the one-way valve oil outlet in the fourth pumping station are respectively connected to the two oil inlets of the second proportional reversing valve, and the two oil outlets of the second proportional reversing valve are respectively connected to the two oil inlets of the two-position four-way solenoid reversing valve; the two oil outlets of the first double-acting hydraulic pump are respectively connected to the oil tank of the first pumping station and the oil tank of the third pumping station; the output end of the first bidirectional motor is connected to the control end of the first double-acting hydraulic pump; the two oil outlets of the second double-acting hydraulic pump are respectively connected to the oil tank of the second pumping station and the oil tank of the fourth pumping station; the output end of the second bidirectional motor is connected to the control end of the second double-acting hydraulic pump.
3. The aircraft center of gravity adjustment device based on solid-liquid coupling migration according to claim 1, characterized in that: The actuator includes two telescopic hydraulic cylinders, two counterweights, and two displacement sensors, wherein the two oil chambers of the first telescopic hydraulic cylinder are respectively connected to the two oil outlets of the first proportional reversing valve, and the piston rod head of the first telescopic hydraulic cylinder is connected to the first counterweight via a pin; the two oil chambers of the second telescopic hydraulic cylinder are respectively connected to the two oil outlets of the second proportional reversing valve, and the piston rod head of the second telescopic hydraulic cylinder is connected to the second counterweight via a pin; the two displacement sensors are respectively used to measure the displacement of the two counterweights.
4. The aircraft center of gravity adjustment device based on solid-liquid coupling migration according to claim 1, characterized in that: The interactive interface in the control unit is used to display the current aircraft weight center of gravity, the aircraft center of gravity change curve with fuel, the amount of fuel in each fuel tank of the aircraft, and the expected center of gravity curve input.
5. The aircraft center of gravity adjustment device based on solid-liquid coupling migration according to claim 1, characterized in that: The PLC controller in the control unit determines the control requirements by collecting the expected center of gravity curve and emergency status input from the front panel, calculates the current weight and center of gravity of the aircraft by collecting information from pressure sensors, displacement sensors, and the fuel quantity information of each tank, and adjusts the center of gravity of the aircraft through PID control.
6. The aircraft center of gravity adjustment device based on solid-liquid coupling migration according to claim 1, characterized in that: The drive unit also includes eight pressure sensors, of which four pressure sensors are respectively arranged on the oil circuits between the pump outlets and the safety valve inlets in the four pump stations; the other four pressure sensors are respectively arranged on the two-chamber oil inlets of the two telescopic hydraulic cylinders.
7. The aircraft center of gravity adjustment device based on solid-liquid coupling migration according to claim 1, characterized in that: The proportional reversing valve is a two-position four-way proportional reversing valve.
8. The aircraft center of gravity adjustment device based on solid-liquid coupling migration according to claim 1, characterized in that: When the two-position four-way proportional reversing valve is actuated, the difference between the first pressure sensor and the fifth pressure sensor, and the difference between the second pressure sensor and the sixth pressure sensor are compared respectively. If any difference is greater than α, it is determined that the first pump station and the second pump station are faulty. Compare the difference between the third pressure sensor and the seventh pressure sensor, and the difference between the fourth pressure sensor and the eighth pressure sensor, respectively. If any difference is greater than α, it is determined that the third pump station and the fourth pump station are faulty. Otherwise it is judged to be in normal working state.