Debugging method and debugging equipment for integrated pedal operating device of helicopter

Abstract

The invention provides a debugging method and debugging equipment for a helicopter integrated pedal control device, and relates to the technical field of helicopter cockpit control systems. According to the method, control angle testing assemblies are installed on a pedal stand column and the tiptoe of a pedal respectively, and a control force testing assembly is installed at the force application point of the pedal. The pedal stand column is provided with a control angle testing device to display the tilting angle of the stand column, and the tilting angle of the stand column represents the tilting angle and the control displacement of the pedal. A control force testing device is arranged at a force application point (the geometric center of a pedal rotating shaft) of the pedal and is used for measuring control force; and a control angle testing device is arranged at the tiptoe of the pedal to test the brake control stroke of the pedal. According to the method, the dynamic characteristics of the helicopter integrated pedal control device and the nonlinear characteristics in the movement process can be visually and accurately tested, and a basis is provided for design, optimization and improvement of the helicopter integrated pedal control device.

Description

Technical Field

[0001] The invention relates to the technical field of helicopter cockpit control systems, and in particular provides a debugging method and a debugging device for an integrated pedal control device of a helicopter. Background Art

[0002] The pedals used for controlling the cockpit of existing helicopters are modular pedals, and the damping function and the anti-drive function thereof are realized by independent modules, but are not integrated into the pedal control device. Therefore, the overall performance index of the heading control system controlled by the pedal control device cannot be directly tested, but the control characteristics are improved through pilot evaluation at a later stage. It is impossible to make the characteristics of the heading control explicit through the overall performance test during the development period. Summary of the invention

[0003] The purpose of this application is to propose a test method for an integrated pedal control device of a helicopter, so as to test the control characteristics of a helicopter heading control system and improve the control quality of a helicopter cockpit control system.

[0004] In order to achieve the above-mentioned object, the present invention adopts the following technical scheme: a debugging method of an integrated pedal control device of a helicopter, the integrated pedal control device of the helicopter comprises a left driving pedal control unit, a right driving pedal control unit and a pull rod assembly arranged between the left driving pedal control unit and the right driving pedal control unit for interconnecting the two, wherein the left driving pedal control unit comprises a heading parallel servo, and the right driving pedal control unit comprises a damper, and the method comprises the following steps:

[0005] S1: Install the control angle test assembly on the control column of the left driving pedal control unit and the right driving pedal control unit;

[0006] S2: Perform a neutral check on the integrated pedal control device of the helicopter to be tested through the control angle test assembly. If the deviation angle does not meet the deviation requirement, adjust the integrated pedal control device of the helicopter to be tested; if the deviation angle meets the deviation requirement, proceed to the next step;

[0007] S3: Install a control force test assembly on one of the pedals of the left driving pedal control unit;

[0008] S4: Use the control force test assembly to debug the starting force, control force and control stroke of the integrated pedal control device of the helicopter to be tested;

[0009] S5: Install a control angle test assembly at the toes of all pedals of the left driving pedal control unit and the right driving pedal control unit;

[0010] S6: Debug the brake stroke angle of the integrated pedal control device of the helicopter to be tested through the control angle test assembly installed in S5;

[0011] S7: Power on the heading parallel servo and issue an action command to test the reverse drive performance of the integrated pedal control device of the helicopter to be tested;

[0012] S8: Debug the damping characteristics of the integrated pedal control device of the helicopter under test.

[0013] The debugging method of the helicopter integrated pedal control device provided by the present invention also has such a technical feature that S2 comprises:

[0014] S2.1: First, place the helicopter integrated pedal control device in the neutral position, and use the control angle test assembly equipped on the pedal column to test the deviation angle of the neutral position of the pedal column;

[0015] S2.2: Determine the deviation angle. If the deviation angle does not meet the deviation requirement, proceed to S2.3. If the deviation angle meets the deviation requirement, proceed to S3:

[0016] S2.3: Adjust the deviation angle of the pedal column by adjusting the screw-in length of the two ends of the push-pull rod assembly on the pedal control device, and return to S2.1 after adjustment.

[0017] The debugging method of the helicopter integrated pedal control device provided by the present invention also has such a technical feature that S4 comprises:

[0018] S4.1: Operate the pedal with the control force test assembly installed to move forward, and observe the control force value fed back by the control force test assembly during the movement. The control force value at the start time is the start force of the integrated pedal control device of the helicopter to be tested, and the control force value during the movement is the control force of the integrated pedal control device of the helicopter to be tested;

[0019] S4.2: When the pedal with the operating force test assembly installed reaches the limit position, observe the operating angle value fed back by the angle test assembly installed in S1. This angle value is the operating stroke;

[0020] S4.3: Determine whether the starting force, operating force and operating stroke meet the requirements. If they do, proceed to S5. If not, proceed to S4.4:

[0021] S4.4: If the starting force does not meet the requirement, adjust the torsion angle of the torsion spring inside the heading parallel servo; if the control force does not meet the requirement, adjust the distance between the magnet and the copper sheet of the magnetic friction assembly inside the heading parallel servo; if the control stroke does not meet the requirement, adjust the length of the limit screw on the corresponding pedal control unit, and return to S4.1 after adjustment.

[0022] The debugging method of the integrated pedal control device of a helicopter provided by the present invention also has such a technical feature, and the S6 includes: by operating the pedal to move downward, observing the angle value fed back by the angle testing component, if the angle value does not meet the requirements, adjusting the screw-in length of the brake spring component; if the angle value meets the requirements, proceeding to S7.

[0023] The debugging method of the helicopter integrated pedal control device provided by the present invention also has such a technical feature that S7 comprises:

[0024] S7.1: Send a clockwise motion command to the heading parallel servo, the left pedals of the left pedal control unit and the right pedal control unit both move forward, and at the same time, the right pedals of the left pedal control unit and the right pedal control unit both move backward;

[0025] S7.2: Check whether the motor current consumption of the heading parallel servo meets the requirements;

[0026] S7.3: Before the left pedal of the left pedal control unit and the left pedal control unit of the right pedal control unit reaches the limit position, a stop action command is issued to the heading parallel servo;

[0027] S7.4: a reverse motion command is issued to the heading parallel servo, the right pedals of the left pedal control unit and the right pedal control unit both move forward, and the left pedals of the left pedal control unit and the right pedal control unit both move backward;

[0028] S7.5: Check whether the motor current consumption of the heading parallel servo meets the requirements;

[0029] S7.6: Before the right pedal of the left pedal control unit and the right pedal control unit reaches the limit position, send a stop action command to the heading parallel servo to complete the backdrive performance test.

[0030] The debugging method of the integrated pedal control device of a helicopter provided by the present invention also has such a technical feature, and the S8 includes: when operating the pedal to the middle position of the stroke, observing whether the pedal can stay stably without oscillation; if it cannot stay stably and oscillates, adjusting the distance between the magnet and the copper sheet inside the damper of the right driving pedal control unit.

[0031] The debugging method of a helicopter integrated pedal control device provided by the present invention also has such a technical feature that the testing method also includes adjusting the integrated pedal control device of the helicopter to be tested to the front and rear limit gears after S8 and then repeating the tests of S3-S8.

[0032] Another object of the present invention is to provide a debugging device for an integrated pedal control device of a helicopter, wherein the debugging device is used to implement the debugging method as described in any of the above items, and the testing device comprises: two control angle testing components respectively installed on the pedal column and at the toe of the pedal, and a control force testing component installed at the force application point of the pedal.

[0033] The debugging device provided by the present invention also has such a technical feature that the control angle test assembly comprises: a control angle test fixture fixed on the device to be tested, a flexible protective layer arranged between the control angle test fixture and the device to be tested, and an inclinometer arranged in the control angle test fixture.

[0034] The control angle test fixture comprises a control angle inclinometer box and a pressing plate fixed by fasteners.

[0035] The debugging device provided by the present invention also has such a technical feature that the operating force test assembly includes: an operating force test fixture fixed on the pedal assembly, a flexible protective layer arranged between the operating force test fixture and the pedal assembly, and a push-pull force gauge arranged in the operating force test fixture.

[0036] The operating force testing fixture comprises a clamping member fixed by a second fastener, an opposite side supporting member and a force application plate.

[0037] Beneficial Effects

[0038] The present application provides a debugging method for an integrated pedal control device for a helicopter, which can intuitively and accurately test the dynamic characteristics and nonlinear characteristics of the integrated pedal control device of the helicopter during movement by setting an inclinometer and a push-pull dynamometer at the corresponding force application point and reference point, and provide a basis for the design and optimization improvement of the integrated pedal control device of the helicopter. The method can test the overall starting force, control force, control stroke, back-drive performance, and damping characteristic indicators of the integrated pedal control device of the helicopter through only one set of testing equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A schematic diagram of the structure of the debugging device provided by the present invention;

[0041] Figure 2A schematic diagram of a control angle adjustment device installed on a pedal column provided by an embodiment of the present invention;

[0042] Figure 3 A schematic diagram of an operating force debugging device installed on a pedal provided by an embodiment of the present invention;

[0043] Figure 4 A schematic diagram of a control angle adjustment device installed at the toe of a foot pedal provided by an embodiment of the present invention;

[0044] Figure 5 A schematic diagram of adjusting the neutral position deviation angle of a pedal column provided by an embodiment of the present invention;

[0045] Figure 6 A schematic diagram of the debugging start force provided by an embodiment of the present invention;

[0046] Figure 7 A schematic diagram of the debugging control force provided by an embodiment of the present invention;

[0047] Figure 8 A schematic diagram of a debugging operation stroke provided by an embodiment of the present invention;

[0048] Fig. 9 A schematic diagram of the downward operation stroke of the debugging pedal provided in an embodiment of the present invention;

[0049] Fig.10 A schematic diagram of adjusting the damping characteristics provided by an embodiment of the present invention,

[0050] Among them, 1: first control angle test component; 1a: pedal column inclinometer box; 1b: first pressure plate; 1c: first flexible protective layer; 1d: pedal column; 1e: first inclinometer; 1f: first fastener; 2: control force test component; 2a: clamping member; 2b: opposite side clamping member; 2c: second flexible protective layer; 2d: force plate; 2e: push-pull force gauge; 2f: second fastener; 2g: third fastener; 3: second control angle test component; 3a: pedal inclinometer box; 3b: second pressure plate; 3c: third flexible protective layer; 3d: Pedal assembly; 3e: second inclinometer; 3f: fourth fastener; 4a: screw-in length of the two ends of the push-pull rod assembly; 5a: torsion angle of the torsion spring inside the heading parallel servo; 6a: distance between the magnet and the copper sheet of the magnetic friction assembly inside the heading parallel servo; 7a: screw-in length of the first limit screw; 7b: screw-in length of the second limit screw; 8a: screw-in length of the first brake spring assembly thread; 8b: screw-in length of the second brake spring assembly thread; 9a: the first distance between the magnet and the copper sheet inside the damper; 9b: the second distance between the magnet and the copper sheet inside the damper. DETAILED DESCRIPTION

[0051] The present application is further described in detail below in conjunction with the accompanying drawings and examples, but it should be noted that these implementation methods are not limitations of the present application, and equivalent changes or substitutions in functions, methods, or structures made by ordinary technicians in the field based on these implementation methods are all within the scope of protection of the present application.

[0052] In the description of the embodiments of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the creation of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the creation of the present application.

[0053] In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0054] The terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention of this application can be understood by specific circumstances.

[0055] like Figure 1-10 As shown, an embodiment of the present application provides a debugging method for an integrated pedal control device of a helicopter, wherein the integrated pedal control device of the helicopter comprises a left driving pedal control unit, a right driving pedal control unit, and a pull rod assembly arranged between the left driving pedal control unit and the right driving pedal control unit for interconnecting the two, wherein the left driving pedal control unit comprises a heading parallel servo, and the right driving pedal control unit comprises a damper, and the method comprises the following steps:

[0056] S1: Install the control angle test assembly on the control column of the left driving pedal control unit and the right driving pedal control unit;

[0057] S2: Perform a neutral check on the integrated pedal control device of the helicopter to be tested through the control angle test assembly. If the deviation angle does not meet the deviation requirement, adjust the integrated pedal control device of the helicopter to be tested; if the deviation angle meets the deviation requirement, proceed to the next step;

[0058] S3: Install a control force test assembly on one of the pedals of the left driving pedal control unit;

[0059] S4: Use the control force test assembly to debug the starting force, control force and control stroke of the integrated pedal control device of the helicopter to be tested;

[0060] S5: Install a control angle test assembly at the toes of all pedals of the left driving pedal control unit and the right driving pedal control unit;

[0061] S6: Debug the brake stroke angle of the integrated pedal control device of the helicopter to be tested through the control angle test assembly installed in S5;

[0062] S7: Power on the heading parallel servo and issue an action command to test the reverse drive performance of the integrated pedal control device of the helicopter to be tested;

[0063] S8: Debug the damping characteristics of the integrated pedal control device of the helicopter under test.

[0064] In some embodiments, the S2 includes:

[0065] S2.1: First, place the helicopter integrated pedal control device in the neutral position, and use the control angle test assembly equipped on the pedal column to test the deviation angle of the neutral position of the pedal column;

[0066] S2.2: Determine the deviation angle. If the deviation angle does not meet the deviation requirement, proceed to S2.3. If the deviation angle meets the deviation requirement, proceed to S3:

[0067] S2.3: Adjust the deviation angle of the pedal column by adjusting the screw-in length 4a of the two ends of the push-pull rod assembly on the pedal operating device, and return to S2.1 after adjustment.

[0068] In some embodiments, the S4 includes:

[0069] S4.1: Operate the pedal with the control force test assembly installed to move forward, and observe the control force value fed back by the control force test assembly during the movement. The control force value at the start time is the start force of the integrated pedal control device of the helicopter to be tested, and the control force value during the movement is the control force of the integrated pedal control device of the helicopter to be tested;

[0070] S4.2: When the pedal with the operating force test assembly installed reaches the limit position, observe the operating angle value fed back by the angle test assembly installed in S1. This angle value is the operating stroke;

[0071] S4.3: Determine whether the starting force, operating force and operating stroke meet the requirements. If they do, proceed to S5. If not, proceed to S4.4:

[0072] S4.4: If the starting force does not meet the requirements, adjust the torsion angle 5a of the torsion spring inside the heading parallel servo; if the control force does not meet the requirements, adjust the distance 6a between the magnet and the copper sheet of the magnetic friction assembly inside the heading parallel servo; if the control stroke does not meet the requirements, adjust the length of the limit screw on the corresponding pedal control unit, and return to S4.1 after adjustment. The length of the limit screw on the pedal control unit includes the first limit screw screw-in length 7a and the second limit screw screw-in length 7b.

[0073] In some embodiments, S6 includes: operating the pedal to move downward, observing the angle value fed back by the angle test assembly, and if the angle value does not meet the requirement, adjusting the screw-in length of the brake spring assembly; if the angle value meets the requirement, proceeding to S7. The screw-in length of the brake spring assembly includes a first brake spring assembly screw-in length 8a and a second brake spring assembly screw-in length 8b.

[0074] In some embodiments, the S7 includes:

[0075] S7.1: Send a clockwise motion command to the heading parallel servo, the left pedals of the left pedal control unit and the right pedal control unit both move forward, and at the same time, the right pedals of the left pedal control unit and the right pedal control unit both move backward;

[0076] S7.2: Check whether the motor current consumption of the heading parallel servo meets the requirements;

[0077] S7.3: Before the left pedal of the left pedal control unit and the left pedal control unit of the right pedal control unit reaches the limit position, a stop action command is issued to the heading parallel servo;

[0078] S7.4: a reverse motion command is issued to the heading parallel servo, the right pedals of the left pedal control unit and the right pedal control unit both move forward, and the left pedals of the left pedal control unit and the right pedal control unit both move backward;

[0079] S7.5: Check whether the motor current consumption of the heading parallel servo meets the requirements;

[0080] S7.6: Before the right pedal of the left pedal control unit and the right pedal control unit reaches the limit position, send a stop action command to the heading parallel servo to complete the backdrive performance test.

[0081] In some embodiments, S8 includes: when the pedal is manipulated to the middle position of the stroke, observing whether the pedal can stay stably without oscillation, and if it cannot stay stably and oscillates, adjusting the distance between the magnet and the copper sheet inside the damper of the right driving pedal manipulation unit. The distance between the magnet and the copper sheet inside the damper of the right driving pedal manipulation unit includes a first distance 9a between the magnet and the copper sheet inside the damper and a second distance 9b between the magnet and the copper sheet inside the damper.

[0082] In some embodiments, the test method further comprises adjusting the integrated pedal control device of the helicopter to be tested to the front and rear limit gear positions after S8 and then repeating the tests of S3-S8.

[0083] In some embodiments, a debugging device for an integrated pedal control device of a helicopter is provided, and the debugging device is used to implement the debugging method as described in any of the above items, and the testing device includes: two control angle testing components respectively installed on the pedal column and at the toe of the pedal, and a control force testing component 2 installed at the force application point of the pedal.

[0084] In the above embodiment, the debugging device includes a first control angle test component 1 installed on the pedal column, a second control angle test component 3 installed at the toe of the pedal, and a control force test component 2 installed at the force application point of the pedal.

[0085] In some embodiments, the steering angle test assembly includes: a steering angle test fixture fixed on the device to be tested, a flexible protective layer arranged between the steering angle test fixture and the device to be tested, and an inclinometer arranged in the steering angle test fixture, and the steering angle test fixture includes a steering angle inclinometer box and a pressure plate fixed by fasteners.

[0086] like Figure 2 As shown, the first control angle test assembly 1 is arranged on the pedal column 1d, including a control angle test fixture fixed on the device to be tested, a first flexible protective layer 1c arranged between the control angle test fixture and the device to be tested, and a first inclinometer 1e arranged in the control angle test fixture, the control angle test fixture includes a pedal column inclinometer box 1a and a first pressure plate 1b fixed by a first fastener 1f, the pedal column inclinometer box 1a and the first pressure plate 1b are respectively arranged on the front and rear end surfaces of the pedal column 1d to form a pedal column test fixture, the first flexible protective layer 1c is arranged between the pedal column test fixture and the pedal column 1d, and the first inclinometer is arranged in the pedal column inclinometer box 1a.

[0087] like Figure 4As shown, the second control angle test component 3 is arranged at the toe of the pedal assembly 3d, including a control angle test fixture fixed on the device to be tested, a third flexible protective layer 3c arranged between the control angle test fixture and the device to be tested, and a second inclinometer 3e arranged in the control angle test fixture, the control angle test fixture includes a pedal inclinometer box 3a and a second pressure plate 3b fixed by a fourth fastener 3f, the pedal inclinometer box 3a and the second pressure plate 3b are respectively arranged on the front and rear end surfaces of the pedal assembly 3d to form a pedal test fixture, the third flexible protective layer 3c is arranged between the pedal column test fixture and the pedal assembly 3d, and the second inclinometer is arranged in the pedal inclinometer box 3a.

[0088] In some embodiments, Figure 3 As shown, the operating force test assembly 2 includes: an operating force test fixture fixed on the pedal assembly 3d, a second flexible protective layer 2c arranged between the operating force test fixture and the pedal assembly, and a push-pull force gauge 2e arranged in the operating force test fixture. The operating force test fixture includes a clamping member 2a fixed by a second fastener 2f, an opposite side support member 2b, and a force plate 2d. The clamping member 2a, the opposite side clamping member 2b, and the force plate 2d are respectively fixed to the left and right end surfaces of the pedal assembly 3d by the second fastener 2f, and the pedal operating force test fixture is formed at the same time. The second flexible protective layer 2c is arranged between the pedal operating force test fixture and the pedal assembly 3d, and the pull force gauge 2e is installed at the geometric center of the force plate by the third fastener 2g.

[0089] The above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application. The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present application, and these improvements and variations should also be regarded as the protection scope of the present application.

Claims

1. A debugging method for an integrated pedal control device of a helicopter, the integrated pedal control device of the helicopter comprising a left driving pedal control unit, a right driving pedal control unit and a pull rod assembly arranged between the left driving pedal control unit and the right driving pedal control unit for interconnecting the two, wherein the left driving pedal control unit comprises a heading parallel servo, and the right driving pedal control unit comprises a damper, and the method is characterized in that: The method comprises the following steps: S1: Install the control angle test assembly on the control column of the left driving pedal control unit and the right driving pedal control unit; S2: Perform a neutral check on the integrated pedal control device of the helicopter to be tested through the control angle test assembly. If the deviation angle does not meet the deviation requirements, adjust the integrated pedal control device of the helicopter to be tested; If the deviation angle meets the deviation requirements, proceed to the next step; S3: Install a control force test assembly on one of the pedals of the left driving pedal control unit; S4: Use the control force test assembly to debug the starting force, control force and control stroke of the integrated pedal control device of the helicopter to be tested; S5: Install a control angle test assembly at the toes of all pedals of the left driving pedal control unit and the right driving pedal control unit; S6: Debug the brake stroke angle of the integrated pedal control device of the helicopter to be tested through the control angle test assembly installed in S5; S7: Power on the heading parallel servo and issue an action command to test the reverse drive performance of the integrated pedal control device of the helicopter to be tested; S8: Debug the damping characteristics of the integrated pedal control device of the helicopter under test.

2. The debugging method of a helicopter integrated pedal control device according to claim 1, characterized in that: The S2 includes: S2.1: First, place the helicopter integrated pedal control device in the neutral position, and use the control angle test assembly equipped on the pedal column to test the deviation angle of the neutral position of the pedal column; S2.2: Determine the deviation angle. If the deviation angle does not meet the deviation requirement, proceed to S2.

3. If the deviation angle meets the deviation requirement, proceed to S3: S2.3: Adjust the deviation angle of the pedal column by adjusting the screw-in length of the two ends of the push-pull rod assembly on the pedal control device, and return to S2.1 after adjustment.

3. The debugging method of a helicopter integrated pedal control device according to claim 1, characterized in that: The S4 includes: S4.1: Operate the pedal with the control force test assembly installed to move forward, and observe the control force value fed back by the control force test assembly during the movement. The control force value at the start time is the start force of the integrated pedal control device of the helicopter to be tested, and the control force value during the movement is the control force of the integrated pedal control device of the helicopter to be tested; S4.2: When the pedal with the operating force test assembly installed reaches the limit position, observe the operating angle value fed back by the angle test assembly installed in S1. This angle value is the operating stroke; S4.3: Determine whether the starting force, operating force and operating stroke meet the requirements. If they do, proceed to S5. If not, proceed to S4.4: S4.4: If the starting force does not meet the requirement, adjust the torsion angle of the torsion spring inside the heading parallel servo; if the control force does not meet the requirement, adjust the distance between the magnet and the copper sheet of the magnetic friction assembly inside the heading parallel servo; if the control stroke does not meet the requirement, adjust the length of the limit screw on the corresponding pedal control unit, and return to S4.1 after adjustment.

4. The debugging method of the helicopter integrated pedal control device according to claim 1, characterized in that: The S6 includes: operating the pedal to move downward, observing the angle value fed back by the angle test assembly, and if the angle value does not meet the requirement, adjusting the screw-in length of the brake spring assembly; if the angle value meets the requirement, proceeding to S7.

5. The debugging method of the helicopter integrated pedal control device according to claim 1, characterized in that: The S7 includes: S7.1: Send a clockwise motion command to the heading parallel servo, the left pedals of the left pedal control unit and the right pedal control unit both move forward, and at the same time, the right pedals of the left pedal control unit and the right pedal control unit both move backward; S7.2: Check whether the motor current consumption of the heading parallel servo meets the requirements; S7.3: Before the left pedal of the left pedal control unit and the left pedal control unit of the right pedal control unit reaches the limit position, a stop action command is issued to the heading parallel servo; S7.4: a reverse motion command is issued to the heading parallel servo, the right pedals of the left pedal control unit and the right pedal control unit both move forward, and the left pedals of the left pedal control unit and the right pedal control unit both move backward; S7.5: Check whether the motor current consumption of the heading parallel servo meets the requirements; S7.6: Before the right pedal of the left pedal control unit and the right pedal control unit reaches the limit position, send a stop action command to the heading parallel servo to complete the backdrive performance test.

6. The debugging method of the helicopter integrated pedal control device according to claim 1, characterized in that: The step S8 includes: when the pedal is operated to the middle position of the stroke, observing whether the pedal can stay stably without oscillation; if it cannot stay stably and oscillates, adjusting the distance between the magnet and the copper sheet inside the damper of the right driving pedal operating unit.

7. The debugging method of the helicopter integrated pedal control device according to claim 1, characterized in that: The test method further comprises adjusting the integrated pedal control device of the helicopter to be tested to the front and rear limit gear positions after S8 and then repeating the tests of S3-S8.

8. A debugging device for an integrated pedal control device of a helicopter, characterized in that: The debugging device is used to implement the debugging method as described in any one of claims 1-7, and the testing device includes: two control angle testing components respectively installed on the pedal column and the toe of the pedal, and a control force testing component installed at the force application point of the pedal.

9. The debugging device according to claim 8, characterized in that: The control angle test assembly comprises: a control angle test fixture fixed on the device to be tested, a flexible protective layer arranged between the control angle test fixture and the device to be tested, and an inclinometer arranged in the control angle test fixture. The control angle test fixture comprises a control angle inclinometer box and a pressing plate fixed by fasteners.

10. The debugging device according to claim 8, characterized in that: The operating force test assembly comprises: an operating force test fixture fixed on the pedal assembly, a flexible protective layer arranged between the operating force test fixture and the pedal assembly, and a push-pull force gauge arranged in the operating force test fixture. The operating force testing fixture comprises a clamping member fixed by a second fastener, an opposite side supporting member and a force application plate.

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