A debugging method and debugging device for a helicopter integrated pedal control device

Abstract

The application provides a debugging method and debugging equipment for a helicopter integrated footrest control device, and relates to the technical field of helicopter cockpit control systems. The method respectively installs a control angle test assembly on a footrest stand and at the tip of a footrest pedal, and installs a control force test assembly at a force application point of the footrest pedal. The footrest stand is equipped with a control angle test device to display the tilt angle of the stand, and the tilt angle of the stand represents the tilt angle and control displacement of the footrest pedal. The control force test device is arranged at the force application point (geometric center of the pedal rotation shaft) of the footrest pedal to measure the control force. The control angle test device is arranged at the tip of the footrest pedal to test the brake control stroke of the footrest pedal. The method can intuitively and accurately test the dynamic characteristics and nonlinear characteristics in the movement process of the helicopter integrated footrest control device, and provides a basis for the design, optimization and improvement of the helicopter integrated footrest control device.

Description

Technical Field

[0001] This invention relates to the field of helicopter cockpit control system technology, and in particular provides a method and equipment for debugging an integrated foot pedal control device for helicopters. Background Technology

[0002] The existing helicopter cockpit control pedals are segmented pedals, and their damping and anti-drive functions are achieved by independent modules rather than being integrated into the pedal control device. As a result, the overall performance of the heading control system controlled by the pedal control device cannot be directly tested. Instead, the control characteristics are improved through pilot evaluation later. The heading control characteristics cannot be made explicit through overall performance testing during the development period. Summary of the Invention

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

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a method for debugging an integrated helicopter pedal control device, wherein the integrated helicopter pedal control device includes a left pilot pedal control unit, a right pilot pedal control unit, and a lever assembly disposed between the left pilot pedal control unit and the right pilot pedal control unit for interconnection between the two, wherein the left pilot pedal control unit includes a yaw parallel servo, and the right pilot pedal control unit includes a damper, the method comprising the following steps:

[0005] S1: Install the control angle test assembly on the control columns of the left and right driving foot pedal control units.

[0006] S2: The integrated pedal control device of the helicopter under test is neutrally checked by the control angle test component. If the deviation angle does not meet the deviation requirements, the integrated pedal control device of the helicopter under test is adjusted; if the deviation angle meets the deviation requirements, proceed to the next step.

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

[0008] S4: The control force test component is used to adjust the starting force, control force, and control travel of the integrated pedal control device of the helicopter under test;

[0009] S5: Install an operating angle test assembly at the toe of all pedals on the left and right driving foot pedal control units.

[0010] S6: Adjust the brake travel angle of the integrated pedal control device of the helicopter under test by using the control angle test component installed in S5;

[0011] S7: Powers on the parallel servo motor of the heading and issues action commands to test the anti-drive performance of the integrated foot pedal control device of the helicopter under test;

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

[0013] The debugging method for an integrated foot pedal control device for helicopters provided by this invention also has the following technical feature: S2 includes:

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

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

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

[0017] The debugging method for an integrated foot pedal control device for helicopters provided by this invention also has the following technical feature: S4 includes:

[0018] S4.1: Move the foot pedal equipped with the control force test component forward. Observe the control force value fed back by the control force test component during the movement. The control force value at the start time is the starting force of the integrated foot pedal control device of the helicopter under test, and the control force value during the movement is the control force of the integrated foot pedal control device of the helicopter under test.

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

[0020] S4.3: Determine whether the starting force, operating force, and operating stroke meet the requirements. If they do, proceed to S5; otherwise, proceed to S4.4.

[0021] S4.4: If the starting force does not meet the requirements, adjust the torsion angle of the torsion spring inside the yaw parallel servo; if the control force does not meet the requirements, adjust the distance between the magnet and the copper sheet of the magnetic friction component inside the yaw parallel servo; if the control travel does not meet the requirements, adjust the length of the limit screw on the corresponding foot pedal control unit, and then return to S4.1.

[0022] The debugging method of the integrated foot pedal control device for helicopter provided by the present invention also has the following technical features: S6 includes: by manipulating the foot pedal to move downward, observing the angle value fed back by the angle test component; if the angle value does not meet the requirements, adjusting the screw length of the brake spring assembly; if the angle value meets the requirements, then proceeding to S7.

[0023] The debugging method for an integrated foot pedal control device for helicopters provided by this invention also has the following technical feature: S7 includes:

[0024] S7.1: Issue a clockwise rotation command to the heading parallel servo motor. The left pedals of both the left and right foot pedal control units move forward, while the right pedals of both the left and right foot pedal control units move backward.

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

[0026] S7.3: Before the left pedals of the left and right foot pedal control units reach their limit positions, issue a stop command to the heading parallel servo.

[0027] S7.4: Issue a reverse action command to the heading parallel servo, and the right pedals of both the left and right foot pedal control units move forward, while the left pedals of both the left and right foot pedal control units move backward.

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

[0029] S7.6: Before the right pedal of the left foot pedal control unit and the right foot pedal control unit reach their limit positions, issue a stop action command to the heading parallel servo motor to complete the anti-drive performance test.

[0030] The debugging method of the integrated foot pedal control device for helicopter provided by the present invention also has the following technical features: S8 includes: when the foot pedal is operated to the middle position of the stroke, observe whether the foot pedal can stay stably without vibration; if it cannot stay stably and vibration occurs, adjust the distance between the magnet and the copper plate inside the damper of the right pilot foot pedal control unit.

[0031] The debugging method of the integrated pedal control device for helicopter provided by the present invention also has the following technical features: the testing method further includes adjusting the integrated pedal control device of the helicopter under test to the front and rear limit positions after S8 and then repeating the test of S3-S8.

[0032] Another object of the present invention is to provide a debugging device for an integrated foot pedal control device for helicopters. The debugging device is used to implement the debugging method as described in any of the preceding claims. The testing device includes: two control angle testing components respectively installed on the foot pedal column and at the tip of the foot pedal, and a control force testing component installed at the force application point of the foot pedal.

[0033] The debugging device provided by this invention also has the following technical features: the operation angle testing component includes: an operation angle testing fixture fixed to the device under test, a flexible protective layer disposed between the operation angle testing fixture and the device under test, and an inclinometer disposed within the operation angle testing fixture.

[0034] The control angle test fixture includes a control angle tilt meter box and a pressure plate, which are fixed by fasteners.

[0035] The debugging device provided by this invention also has the following technical features: the operating force testing component includes: an operating force testing fixture fixed on the foot pedal assembly; a flexible protective layer disposed between the operating force testing fixture and the foot pedal assembly; and a push-pull force gauge disposed within the operating force testing fixture.

[0036] The maneuvering force test fixture includes a clamping member fixed by a second fastener, a counter-clamping member, and a force-applying plate.

[0037] Beneficial effects

[0038] The debugging method for an integrated foot control device for helicopters provided in this application allows for intuitive and accurate testing of the dynamic characteristics and nonlinear characteristics during movement of the integrated foot control device by setting inclinometers and push-pull force gauges at corresponding force application points and reference points. This provides a basis for the design and optimization of the integrated foot control device. This method can test the overall starting force, control force, control stroke, anti-drive performance, and damping characteristics of the integrated foot control device using only one set of testing equipment. Attached Figure Description

[0039] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the debugging device provided by the present invention;

[0041] Figure 2This is a schematic diagram of the control angle adjustment device installed on the foot pedal column according to an embodiment of the present invention;

[0042] Figure 3 This is a schematic diagram of a control force adjustment device installed on a foot pedal according to an embodiment of the present invention.

[0043] Figure 4 A schematic diagram of the foot pedal with an adjustable control angle installed at the toe of the pedal provided in an embodiment of the present invention;

[0044] Figure 5 This is a schematic diagram illustrating the neutral position deviation angle of the foot pedal upright provided in an embodiment of the present invention.

[0045] Figure 6 This is a schematic diagram of the debugging start-up force provided in an embodiment of the present invention;

[0046] Figure 7 This is a schematic diagram of the adjustment and manipulation force provided in an embodiment of the present invention;

[0047] Figure 8 This is a schematic diagram of the debugging operation stroke provided in an embodiment of the present invention;

[0048] Figure 9 This is a schematic diagram illustrating the downward travel of the foot pedal provided in an embodiment of the present invention.

[0049] Figure 10 This is a schematic diagram of the damping characteristics provided in an embodiment of the present invention.

[0050] Wherein, 1: First operating angle testing component; 1a: Foot pedal column inclinometer box; 1b: First pressure plate; 1c: First flexible protective layer; 1d: Foot pedal column; 1e: First inclinometer; 1f: First fastener; 2: Operating force testing component; 2a: Clamping component; 2b: Opposite side clamping component; 2c: Second flexible protective layer; 2d: Force plate; 2e: Push-pull force gauge; 2f: Second fastener; 2g: Third fastener; 3: Second operating angle testing component; 3a: Foot pedal inclinometer box; 3b: Second pressure plate; 3c: Third flexible protective layer; 3d: Foot pedal assembly; 3e: Second inclinometer; 3f: Fourth fastener; 4a: Threaded length at both ends of the push-pull rod assembly; 5a: Torsion angle of the torsion spring inside the yaw parallel servo; 6a: Spacing between the magnet and copper sheet of the magnetic friction assembly inside the yaw parallel servo; 7a: Threaded length of the first limit screw; 7b: Threaded length of the second limit screw; 8a: Threaded engagement length of the first brake spring assembly; 8b: Threaded engagement length of the second brake spring assembly; 9a: First spacing between the magnet and copper sheet inside the damper; 9b: Second spacing between the magnet and copper sheet inside the damper. Detailed Implementation

[0051] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be noted that these embodiments are not intended to limit the present application. Equivalent transformations or substitutions in function, method, or structure made by those skilled in the art based on these embodiments are all within the protection scope of the present application.

[0052] In the description of the embodiments of this application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the creation of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the creation of this application.

[0053] Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0054] The terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0055] like Figure 1-10 As shown in the figure, this application provides a method for debugging an integrated helicopter pedal control device. The integrated helicopter pedal control device includes a left pilot pedal control unit, a right pilot pedal control unit, and a lever assembly disposed between the left pilot pedal control unit and the right pilot pedal control unit for interconnection between the two. The left pilot pedal control unit includes a yaw parallel servo, and the right pilot pedal control unit includes a damper. The method includes the following steps:

[0056] S1: Install the control angle test assembly on the control columns of the left and right driving foot pedal control units.

[0057] S2: The integrated pedal control device of the helicopter under test is neutrally checked by the control angle test component. If the deviation angle does not meet the deviation requirements, the integrated pedal control device of the helicopter under test is adjusted; if the deviation angle meets the deviation requirements, proceed to the next step.

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

[0059] S4: The control force test component is used to adjust the starting force, control force, and control travel of the integrated pedal control device of the helicopter under test;

[0060] S5: Install an operating angle test assembly at the toe of all pedals on the left and right driving foot pedal control units.

[0061] S6: Adjust the brake travel angle of the integrated pedal control device of the helicopter under test by using the control angle test component installed in S5;

[0062] S7: Powers on the parallel servo motor of the heading and issues action commands to test the anti-drive performance of the integrated foot pedal control device of the helicopter under test;

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

[0064] In some embodiments, S2 includes:

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

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

[0067] S2.3: Adjust the deviation angle of the pedal column by adjusting the length 4a of the threads at both ends of the push-pull rod assembly on the pedal control device, and then return to S2.1 after adjustment.

[0068] In some embodiments, S4 includes:

[0069] S4.1: Move the foot pedal equipped with the control force test component forward. Observe the control force value fed back by the control force test component during the movement. The control force value at the start time is the starting force of the integrated foot pedal control device of the helicopter under test, and the control force value during the movement is the control force of the integrated foot pedal control device of the helicopter under test.

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

[0071] S4.3: Determine whether the starting force, operating force, and operating stroke meet the requirements. If they do, proceed to S5; otherwise, proceed to S4.4.

[0072] S4.4: If the starting force is insufficient, adjust the torsion angle 5a of the torsion spring inside the yaw parallel servo; if the control force is insufficient, adjust the distance 6a between the magnet and the copper plate of the magnetic friction assembly inside the yaw parallel servo; if the control travel is insufficient, adjust the length of the limit screw on the corresponding foot pedal control unit, and then return to S4.1. The length of the limit screw on the foot pedal control unit includes the first limit screw screw insertion length 7a and the second limit screw screw insertion length 7b.

[0073] In some embodiments, step S6 includes: manipulating the foot pedal to move downwards, observing the angle value fed back by the angle testing component; if the angle value does not meet the requirements, adjusting the thread engagement length of the brake spring assembly; if the angle value meets the requirements, proceeding to step S7. The thread engagement length of the brake spring assembly includes a first brake spring assembly thread engagement length 8a and a second brake spring assembly thread engagement length 8b.

[0074] In some embodiments, S7 includes:

[0075] S7.1: Issue a clockwise rotation command to the heading parallel servo motor. The left pedals of both the left and right foot pedal control units move forward, while the right pedals of both the left and right foot pedal control units move backward.

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

[0077] S7.3: Before the left pedals of the left and right foot pedal control units reach their limit positions, issue a stop command to the heading parallel servo.

[0078] S7.4: Issue a reverse action command to the heading parallel servo, and the right pedals of both the left and right foot pedal control units move forward, while the left pedals of both the left and right foot pedal control units move backward.

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

[0080] S7.6: Before the right pedal of the left foot pedal control unit and the right foot pedal control unit reach their limit positions, issue a stop action command to the heading parallel servo motor to complete the anti-drive performance test.

[0081] In some embodiments, step S8 includes: when the pedal is moved to the middle position of its travel, observing whether the pedal can remain stably stationary without oscillation; if it cannot remain stably stationary and oscillates, adjusting the distance between the magnet and the copper plate inside the damper of the right driving pedal control unit. The distance between the magnet and the copper plate inside the damper of the right driving pedal control unit includes a first distance 9a and a second distance 9b between the magnet and the copper plate inside the damper.

[0082] In some embodiments, the testing method further includes repeating the tests S3-S8 after adjusting the integrated pedal control device of the helicopter under test to the forward and backward limit positions after S8.

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

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

[0085] In some embodiments, the manipulation angle testing assembly includes: a manipulation angle testing fixture fixed to the device under test, a flexible protective layer disposed between the manipulation angle testing fixture and the device under test, and an inclinometer disposed within the manipulation angle testing fixture. The manipulation angle testing fixture includes an inclinometer box and a pressure plate fixed by fasteners.

[0086] like Figure 2 As shown, the first operating angle testing component 1 is disposed on the pedal column 1d, including an operating angle testing fixture fixed to the device under test, a first flexible protective layer 1c disposed between the operating angle testing fixture and the device under test, and a first inclinometer 1e disposed within the operating angle testing fixture. The operating angle testing 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 disposed on the front and rear end faces of the pedal column 1d to form a pedal column testing fixture. The first flexible protective layer 1c is disposed between the pedal column testing fixture and the pedal column 1d, and the first inclinometer is disposed within the pedal column inclinometer box 1a.

[0087] like Figure 4As shown, the second operating angle testing component 3 is located at the toe of the foot pedal assembly 3d. It includes an operating angle testing fixture fixed to the device under test, a third flexible protective layer 3c disposed between the operating angle testing fixture and the device under test, and a second inclinometer 3e disposed within the operating angle testing fixture. The operating angle testing fixture includes a foot pedal inclinometer box 3a and a second pressure plate 3b fixed by a fourth fastener 3f. The foot pedal inclinometer box 3a and the second pressure plate 3b are respectively disposed on the front and rear end faces of the foot pedal assembly 3d to form the foot pedal testing fixture. The third flexible protective layer 3c is disposed between the foot pedal column testing fixture and the foot pedal assembly 3d, and the second inclinometer is disposed in the foot pedal inclinometer box 3a.

[0088] In some embodiments, such as Figure 3 As shown, the operating force testing assembly 2 includes: an operating force testing fixture fixed to the pedal assembly 3d, a second flexible protective layer 2c disposed between the operating force testing fixture and the pedal assembly, and a push-pull force gauge 2e disposed within the operating force testing fixture. The operating force testing fixture includes a clamping member 2a fixed by a second fastener 2f, a counter-side clamping member 2b, and a force application plate 2d. The clamping member 2a, the counter-side clamping member 2b, and the force application plate 2d are respectively fixed to the left and right end faces of the pedal assembly 3d by the second fastener 2f, thus forming the pedal operating force testing fixture. The second flexible protective layer 2c is disposed between the pedal operating force testing fixture and the pedal assembly 3d. The push-pull force gauge 2e is mounted at the geometric center of the force application plate by a third fastener 2g.

[0089] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application. The above description is merely a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this application, and these improvements and modifications should also be considered within the protection scope of this application.

Claims

1. A debugging method for a helicopter integrated pedal control device, the helicopter integrated pedal control device comprising a left-hand pilot pedal control unit, a right-hand pilot pedal control unit, and a pull rod assembly provided between the left-hand pilot pedal control unit and the right-hand pilot pedal control unit for realizing interconnection of the two, wherein the left-hand pilot pedal control unit comprises a heading parallel rudder, and the right-hand pilot pedal control unit comprises a damper, characterized in that, The method comprises the following steps: S1: installing a steering angle test assembly on the steering column of the left and right driving footrest control units; S2: performing a neutral check on the integrated footrest control device of the helicopter to be tested by the steering angle test assembly, and adjusting the integrated footrest control device of the helicopter to be tested if the deviation angle does not meet the deviation requirement; If the deviation angle meets the deviation requirement, the next step is performed. S3: installing a steering force test assembly on one of the footrest pedals of the left driving footrest control unit; S4: adjusting the starting force, steering force and steering stroke of the integrated footrest control device of the helicopter to be tested by the steering force test assembly; S5: installing a steering angle test assembly at the tip of all footrest pedals of the left and right driving footrest control units; S6: adjusting the brake stroke angle of the integrated footrest control device of the helicopter to be tested by the steering angle test assembly installed in S5; S7: powering on the heading parallel rudder and issuing an action instruction to detect the counter-drive performance of the integrated footrest control device of the helicopter to be tested; S8: adjusting the damping characteristics of the integrated footrest control device of the helicopter to be tested.

2. The method of claim 1, wherein, The S2 comprises: S2.1: first, the integrated footrest control device of the helicopter is in a neutral position, and the deviation angle of the neutral position of the footrest column is tested by using the steering angle test assembly provided on the footrest column; S2.2: judging the deviation angle, if the deviation angle does not meet the deviation requirement, S2.3 is performed, and if the deviation angle meets the deviation requirement, S3 is performed; S2.3: adjusting the deviation angle of the footrest column by adjusting the length of the two end threads of the push-pull rod assembly on the footrest control device, and returning to S2.1 after adjustment.

3. The debugging method for an integrated foot pedal control device for helicopters according to claim 1, characterized in that, The S4 comprises: S4.1: steering the footrest pedal on which the steering force test assembly is installed to move forward, and observing the steering force value fed back by the steering force test assembly during the movement, so that the steering force value at the starting moment is the starting force of the integrated footrest control device of the helicopter to be tested, and the steering force value during the movement is the steering force of the integrated footrest control device of the helicopter to be tested; S4.2: when the footrest pedal on which the steering force test assembly is installed moves to the limit position, observing the steering angle value fed back by the angle test assembly installed in S1, and the angle value is the steering stroke; S4.3: judging whether the starting force, steering force and steering stroke meet the requirements, if yes, S5 is performed, and if no, S4.4 is performed; S4.4: if the starting force does not meet the requirements, adjusting the torsion angle of the torsion spring inside the heading parallel rudder, if the steering force does not meet the requirements, adjusting the distance between the magnet steel and the copper sheet of the magnetic friction assembly inside the heading parallel rudder, and if the steering stroke does not meet the requirements, adjusting the length of the limiting screw on the corresponding footrest control unit, and returning to S4.1 after adjustment.

4. The method of claim 1, wherein, The S6 comprises: moving the footrest pedal downward, observing the angle value fed back by the angle test assembly, adjusting the length of the screw thread of the brake spring assembly if the angle value does not meet the requirements, and performing S7 if the angle value meets the requirements.

5. The method of claim 1, wherein, The S7 comprises: S7.1: forward rotation action instruction is sent to the heading parallel rudder, the left pedal of the left foot pedal control unit and the right pedal of the right foot pedal control unit are moved forward, and the right pedal of the left foot pedal control unit and the left pedal of the right foot pedal control unit are moved backward; S7.2: whether the motor current consumption of the heading parallel rudder meets the requirements is detected; S7.3: before the left pedal of the left foot pedal control unit and the right pedal of the right foot pedal control unit reach the limit position, stop action instruction is sent to the heading parallel rudder; S7.4: reverse rotation action instruction is sent to the heading parallel rudder, the right pedal of the left foot pedal control unit and the left pedal of the right foot pedal control unit are moved forward, and the left pedal of the left foot pedal control unit and the right pedal of the right foot pedal control unit are moved backward; S7.5: whether the motor current consumption of the heading parallel rudder meets the requirements is detected; S7.6: before the right pedal of the left foot pedal control unit and the left pedal of the right foot pedal control unit reach the limit position, stop action instruction is sent to the heading parallel rudder, and the reverse driving performance detection is completed.

6. The method of claim 1, wherein, The S8 comprises: when the foot pedal is controlled to the middle position of the stroke, whether the foot pedal can be stably stopped without oscillation is observed, and if the foot pedal cannot be stably stopped and oscillation occurs, the distance between the magnetic steel and the copper sheet in the damper of the right driving foot pedal control unit is adjusted.

7. The debugging method for an integrated foot pedal control device for helicopters according to claim 1, characterized in that, The debugging method further comprises repeating the test of S3-S8 after the integrated foot pedal control device of the to-be-tested helicopter is adjusted to the front and rear limit gears.

8. A debugging device for an integrated pedal control device of a helicopter, characterized by The debugging device is used to realize the debugging method according to any one of claims 1-7, and the debugging device comprises two control angle test assemblies respectively installed on the foot pedal column and the toe of the foot pedal, and a control force test assembly installed at the force application point of the foot pedal.

9. The commissioning device of claim 8, wherein, The control angle test assembly comprises a control angle test clamp fixed on the to-be-tested device, a flexible protective layer arranged between the control angle test clamp and the to-be-tested device, and an inclinometer arranged in the control angle test clamp. The control angle test clamp comprises a control angle inclinometer box and a pressing plate fixed by a fastener.

10. The commissioning device of claim 8, wherein, The control force test assembly comprises a control force test clamp fixed on the foot pedal assembly, a flexible protective layer arranged between the control force test clamp and the foot pedal assembly, and a push-pull force gauge arranged in the control force test clamp. The control force test clamp comprises a clamping piece, an opposite clamping piece and a force applying plate fixed by a second fastener.

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