Transverse soft control system and method for fly-by-wire aircraft

Abstract

The invention provides a fly-by-wire aircraft transverse soft control system and method. The fly-by-wire aircraft transverse soft control system comprises a left steering wheel and a right steering wheel. The left steering wheel and the right steering wheel are respectively connected with a left steering wheel force sensor and a right steering wheel force sensor through a drum wheel, and the two drum wheels are respectively connected with one end of a left control steel cable and one end of a right control steel cable. The other end of the left control steel cable and the other end of the right control steel cable sequentially pass through corresponding decoupling pulleys and reversing pulleys and then are connected with fan-shaped wheels of the left load module and the right load module. The left load module and the right load module are respectively connected with a left damper, a right damper, a left command position sensor, a right command position sensor, a left balancing mechanism, a right balancing mechanism and output rocker arms, the fan-shaped wheels are connected with the corresponding output rocker arms, and the two output rocker arms are connected through a release device; and the left balancing mechanism and the right balancing mechanism are synchronously connected. Layout is flexible, the requirement for the aircraft structure is low, instruction consistency is good, and integration is high.

Description

Technical Field

[0001] The invention belongs to the field of aviation technology and relates to a lateral soft control system and method for an electric fly-by-wire aircraft. Background Art

[0002] At present, most of the central rod / disk conveyors at home and abroad adopt fly-by-wire control. There are two design ideas for the central rod / disk manual control system: decentralized layout and integrated layout. The design idea of ​​decentralized layout is to connect different functional components in the system through a large number of tie rods and rocker arm components to realize the system function. It mainly brings the following problems: Since each component is connected to the aircraft structure, higher requirements are placed on the aircraft structure design, while incurring additional weight costs.

[0003] The increase of the system transmission link increases the friction and clearance of the system and reduces the stiffness.

[0004] Complex transmission system design requires sufficient layout space to ensure the spacing between moving parts. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned shortcomings of the prior art and provide a fly-by-wire aircraft lateral soft control system and method, which has flexible layout, low requirements on aircraft structure, good command consistency, high integration and light system weight.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: A fly-by-wire aircraft lateral soft control system, comprising a left control wheel and a right control wheel; The left steering wheel and the right steering wheel each use a drum wheel connected with the left steering wheel force sensor and the right steering wheel force sensor respectively, the two drum wheels are respectively connected to one end of the left control cable and the right control cable, the other ends of the left control cable and the right control cable are connected to the fan-shaped wheels of the left load module and the right load module after passing through the corresponding decoupling pulley and the reversing pulley in turn; the left load module and the right load module are respectively connected with the left damper, the right damper, the left command position sensor, the right command position sensor, the left balancing mechanism, the right balancing mechanism and the output rocker arm, the fan-shaped wheel is connected with the corresponding output rocker arm, and the two output rocker arms are connected with a release device; the left balancing mechanism and the right balancing mechanism are synchronously connected.

[0007] Preferably, the left load module and the right load module both include a load module housing, a spindle assembly, a load mechanism, a torque limiter, a damping transmission gear train, a command position sensor transmission gear train and a balancing transmission gear train; the spindle assembly is rotatably mounted in the load module housing, the fan-shaped wheel is fixedly connected to one end of the spindle assembly, the load mechanism, the damping transmission gear train, the command position sensor transmission gear train and the balancing transmission gear train are all connected to the spindle assembly, and the corresponding left damper, right damper, left command position sensor, right command position sensor, left balancing mechanism and right balancing mechanism are transmission-connected to the spindle assembly through their respective gear trains.

[0008] Preferably, the torque limiter is configured as a friction structure, an input end of which is connected to the corresponding left damper or right damper via a gear speed increaser, and a slip torque threshold value is set for the torque limiter.

[0009] Preferably, the left balancing mechanism and the right balancing mechanism are respectively connected to the main shaft assemblies of the corresponding left load module and the right load module through a balancing transmission gear system, and the left balancing mechanism and the right balancing mechanism are connected by a balancing flexible shaft.

[0010] Preferably, the left damper and the right damper are respectively connected to the main shaft assemblies of the corresponding left load module and the right load module through a damping transmission gear system, and the left damper and the right damper are both electromagnetic dampers.

[0011] Preferably, the left command position sensor and the right command position sensor are respectively fixedly connected to the corresponding spindle assemblies of the left load module and the right load module using rotating shafts, and the spindle assemblies are synchronously connected to the backup command position sensor.

[0012] Preferably, the release device includes a sleeve, one end of the sleeve is detachably connected to an earring joint, the other end of the sleeve is axially slidably connected to a sliding rod, one end of the sliding rod is slidably connected to the inside of the sleeve, and the other end of the sliding rod is threadedly connected to an earring bolt, a radial spring seat is fixedly arranged on the circumferential surface of the sleeve, the outside of the radial spring seat is connected to the axial spring seat through an axial compression spring, the axial spring seat is located at the side and bottom of the radial spring seat, a radial compression spring and a piston pin are arranged inside the radial spring seat at the top of the radial spring seat, a pin head is arranged at the bottom end of the piston pin through a step surface, and the top is connected to the top of the radial spring seat through a radial compression spring, radial through holes are arranged at the bottom of the radial spring seat, the bottom of the axial spring seat and the circumferential surface of the sleeve, an annular groove is arranged on the sliding rod, the pin head passes through three radial through holes and is inserted into the annular groove, and the radial through hole end face of the radial spring seat is against above the step surface of the piston pin.

[0013] A method for controlling the fly-by-wire aircraft lateral soft control system comprises the following steps: The pilot rotates the left steering wheel or the right steering wheel, driving the corresponding left steering wheel force sensor or the right steering wheel force sensor to rotate, further driving the drum to rotate to pull the left control cable or the right control cable to move; The left operating steel cable or the right operating steel cable pulls the corresponding fan-shaped wheel of the left load module or the right load module after being reversed by the corresponding decoupling pulley and the reversing pulley, so that the output rocker arm of the left load module or the right load module rotates and drives the release device to be linked; The output rocker arm rotates to trigger the left command position sensor or the right command position sensor to output an electrical signal to the flight control computer. At the same time, the left balancing mechanism and the right balancing mechanism synchronously adjust the anchor point of the left load module or the right load module through the balancing flexible shaft.

[0014] Preferably, the fan-shaped wheel drives the main shaft assembly to rotate, so that the load mechanism generates a restoring force; the main shaft assembly drives the corresponding left damper and right damper through the damping transmission gear system to generate a damping torque; if the left damper or the right damper is stuck, the corresponding main shaft assembly driving torque exceeds the torque limiter threshold value, the torque limiter slips to cut off the transmission; the main shaft assembly drives the left command position sensor, the right command position sensor, the left balancing mechanism and the right balancing mechanism to operate respectively.

[0015] Preferably, when the aircraft is flying normally, the piston pin is in the annular groove of the slide rod, and under the action of the radial spring, the slide rod and the sleeve are in a locked state. At this time, the radial spring seat is against the top of the piston pin step surface, so that the left and right driving position controls move synchronously. When any of the left and right driving position control lines is stuck, the pilot operates forcefully. At this time, the axial load borne by the slide rod is greater than the preload force of the radial spring, and an upward reaction force is applied to the piston pin and the radial spring, and the radial spring is compressed. When the piston pin moves upward for a certain distance, the radial through hole end face of the axial spring seat is pushed under the piston pin step surface under the action of the axial compression spring, thereby jamming the piston pin, so that the piston pin no longer contacts the slide rod, the pull rod type disengagement mechanism is disengaged, the slide rod can slide freely along the axial direction, and the unstuck side can continue to be operated.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The fly-by-wire aircraft lateral control system of the present invention adopts soft control transmission, and functional components such as load modules, command position sensors, dampers, and balancing mechanisms are integrated and modularly arranged. Compared with the traditional decentralized layout control system, the consistency of output command signals between the left and right control systems is improved, the system's requirements for the installation space on the aircraft are reduced, the system installation and layout space is reduced, the difficulty of installing the control device on the aircraft is reduced, the overall weight of the control device is reduced, the installation and maintenance time of the control device is shortened, and the system maintainability is improved.

[0017] Furthermore, the present invention adopts a tension-compression release device for the left and right driving linkage. Compared with the torque tube release mechanism, under the same load and weight conditions, the transmission stiffness is greatly improved, the transmission gap is reduced, and the consistency of the output instructions of the left and right driving positions is improved; the release device is not affected by the sight of the control module, and has good accessibility and visibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of a fly-by-wire aircraft lateral soft control system according to an embodiment of the present invention; Figure 2 A schematic diagram of the connection between a steering wheel and a steering wheel force sensor according to an embodiment of the present invention; Figure 3 A schematic diagram of the connection between the steering wheel force sensor and the steering column according to an embodiment of the present invention; Figure 4 is a schematic diagram of a load module according to an embodiment of the present invention; Figure 5 It is a schematic diagram of the structure of a release device according to an embodiment of the present invention.

[0019] Among them: 1-left steering wheel, 2-right steering wheel, 3-left steering rod, 4-right steering rod, 5-left decoupling pulley, 6-right decoupling pulley, 7-left control cable, 8-right control cable, 9-left reversing pulley, 10-right reversing pulley, 11-left steering wheel force sensor, 12-right steering wheel force sensor, 13-left load module, 14-right load module, 15-left damper, 16-right damper, 17-left command position sensor, 18-right command position sensor Device, 19-left balancing mechanism, 20-right balancing mechanism, 21-balancing flexible shaft, 22-release device, 23-clamp assembly, 24-drum wheel, 25-cable anti-drop plate, 26-load module housing, 27-spindle assembly, 28-load mechanism, 29-damping transmission gear system, 30-torque limiter, 31-command position sensor transmission gear system, 32-balancing transmission gear system, 33-left backup command position sensor, 34-right backup command position sensor. DETAILED DESCRIPTION

[0020] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0021] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs. 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, an electrical connection, or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. The term "and / or" used in this article includes any and all combinations of one or more related listed items. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0023] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0024] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0025] like Figure 1-3 As shown, the embodiment of the present invention provides a control column or disc type fly-by-wire aircraft lateral soft control system, including a left control wheel 1, a right control wheel 2, a left control column 3, a right control column 4, a left decoupling pulley 5, a right decoupling pulley 6, a left control cable 7, a right control cable 8, a left reversing pulley 9, a right reversing pulley 10, a left control wheel force sensor 11, a right control wheel force sensor 12, a left load module 13, a right load module 14, a left damper 15, a right damper 16, a left command position Sensor 17, right command position sensor 18, left balancing mechanism 19, right balancing mechanism 20, balancing flexible shaft 21, release device 22, clamp assembly 23, drum 24, cable anti-drop plate 25, load module housing 26, main shaft assembly 27, load mechanism 28, damping transmission gear train 29, torque limiter 30, command position sensor transmission gear train 31, balancing transmission gear train 32, left backup command position sensor 33 and right backup command position sensor 34.

[0026] A human-machine interface is provided on the left steering wheel 1 and the right steering wheel 2. The left steering wheel 1 and the right steering wheel 2 are respectively connected to the left steering wheel force sensor 11 and the right steering wheel force sensor 12 through bolt and nut assemblies; the left steering wheel force sensor 11 and the right steering wheel force sensor 12 are both connected to a drum wheel 24 through internal and external splines and a clamp assembly 23, and the clamp assembly 24 is fastened by a bolt and nut assembly.

[0027] The two drum wheels 24 are both mounted on the left control stick 3 and the right control stick 4 through rolling bearings; the left control stick 3 and the right control stick 4 are fixed to the aircraft structure through mounting brackets; the two drum wheels 24 are respectively connected to the left control cable 7 and the right control cable 8 through the control cable ends, and the control cable ends are prevented from escaping from the left control cable 7 and the right control cable 8 through the cable anti-slip plates 25.

[0028] The left operating cable 7 and the right operating cable 8 realize longitudinal and lateral operating decoupling respectively through the left decoupling pulley 5 and the right decoupling pulley 6; after the left operating cable 7 and the right operating cable 8 are reversed through the left reversing pulley 9 and the right reversing pulley 10 respectively, they are respectively connected to the fan-shaped wheels of the left load module 13 and the right load module 14 through the cable ball head, and the fan-shaped wheels and the output rocker arms of the load modules are fixedly connected to transmit the movement to the release device 22.

[0029] The left load module 13 and the right load module 14 are fixed to the aircraft structure through four sets of lugs equipped with U8 bearings; the left load module 13 and the right load module 14 have a multi-stage gear transmission structure inside, and are designed with a rotating load mechanism 28, a torque limiter 30 and other mechanisms.

[0030] The left damper 15 and the right damper 16 are connected to the left load module 13 and the right load module 14 respectively through splines, and are installed on the corresponding load module housing 26 through screws; the left command position sensor 17 and the right command position sensor 18 are connected to the left load module 13 and the right load module 14 respectively through splines, and are installed on the corresponding load module housing 26 through screws; the left balancing mechanism 19 and the right balancing mechanism 20 are connected to the left load module 13 and the right load module 14 respectively through splines, and are installed on the corresponding load module housing 26 through screws; the left balancing mechanism 19 and the right balancing mechanism 20 are connected to the balancing flexible shaft 21 through splines and are fastened by screws; the two ends of the release device 22 are connected to the output rocker arms of the left load module 13 and the right load module 14 respectively through screw-nut assemblies.

[0031] The working principle of the left load module 13 and the right load module 14: like Figure 4As shown, the transverse left load module 13 and right load module 14 are mainly composed of a load module housing 26, a main shaft assembly 27, a load mechanism 28, a damping transmission gear train 29, a torque limiter 30, a command position sensor transmission gear train 31, a balancing transmission gear train 32, etc. The main shaft assembly 27 is installed inside the housing, the fan-shaped wheel is fixedly connected to one end of the main shaft assembly 27, and the load mechanism 28 is installed on the main shaft assembly 27. The outer side of the other end of the main shaft assembly 27 of the left load module 13 and the right load module 14 is respectively connected to the left command position sensor 17 and the right command position sensor 18. The main shaft assembly 27 of the left load module 13 and the right load module 14 is respectively connected to the left damper 15 and the right damper 16 outside the housing through the damping transmission gear train 29, and the main shaft assembly 27 is connected to the left balancing mechanism 19 and the right balancing mechanism 20 outside the load module housing 26 through the balancing transmission gear train 32. The load module housing 26 is fixedly connected to the external body structure, the main shaft assembly 27 is installed on the load module housing 26 and rotates around the axial direction, and the left trim mechanism 19 and the right trim mechanism 20 provide anchoring fulcrums for the load mechanism 28. When the control wheel is manipulated, the fan-shaped wheel drives the main shaft assembly 27 to rotate so that the torsion spring in the load mechanism 28 generates a restoring force, thereby providing artificial feeling force for the pilot.

[0032] The left load module 13 and the right load module 14 are both provided with a torque limiter 30, which connects the gear speed increaser and the corresponding left damper 15 or right damper 16. The torque limiter 30 is a friction type, and is provided with a slip torque threshold value. When the pilot sharply manipulates the steering wheel to rotate the main shaft, the electromagnetic left damper 15 or right damper 16 generates a certain damping torque to stabilize the pilot's manipulation; when the left damper 15 or the right damper 16 fails, the manipulation force on the main shaft assembly 27 overcomes the torque threshold value of the friction torque limiter 30, and the torque limiter 30 begins to slip and then cuts off the connection between the main shaft assembly 27 and the left damper 15 or the right damper 16, so that the main shaft assembly 27 can rotate normally, thereby ensuring the safety of manipulation.

[0033] The rotating shafts of the left command position sensor 17 and the right command position sensor 18 are fixedly connected to the corresponding main shaft assembly 27, and the left backup command position sensor 33 and the right backup command position sensor 34 are connected to the corresponding main shaft assembly 27 through the command position sensor transmission gear system 31. When the main shaft assembly 27 rotates, it drives the four angular displacement sensors inside the left command position sensor 17 and the right command position sensor 18 and the left backup command position sensor 33 and the right backup command position sensor 34 to rotate synchronously, detect the angular displacement of the main shaft assembly 27 and output it to the flight control computer in the form of an electrical signal.

[0034] The working principle of the release device 22: like Figure 5As shown, the release device 22 mainly includes an earring bolt 35, a slide rod 36, a sleeve 37, an axial spring seat 38, a radial spring seat 39, an adjusting nut 40, a radial spring 41, a piston pin 42, an earring joint 43 and a guide sleeve 44.

[0035] One end of the sleeve 37 is detachably connected with an earring joint 43, and the other end of the sleeve 37 is axially slidably connected with a slide rod 36. One end of the slide rod 36 is slidably connected inside the sleeve 37, and the other end of the slide rod 36 is threadedly connected with an earring bolt 35. A radial spring seat 39 is fixedly provided on the circumference of the sleeve 37. The outside of the radial spring seat 39 is connected with an axial spring seat 38 through an axial spring. The axial spring seat 38 is located on the side and bottom of the radial spring seat 39. The axial spring always pushes the axial spring seat 38 away from the radial spring seat 39. An adjusting nut 40 is threadedly connected to the top of the radial spring seat 39, a radial spring 41 and a piston pin 42 are arranged inside the radial spring seat 39, a pin head is arranged at the bottom end of the piston pin 42 through a step surface, and the top is connected to the adjusting nut 40 through the radial spring 41, radial through holes are arranged at the bottom of the radial spring seat 39, the bottom of the axial spring seat 38 and the circumferential surface of the sleeve 37, a V-shaped annular groove is arranged on the slide rod 36, the pin head passes through the radial through hole and is inserted into the annular groove, and the end face of the radial through hole of the radial spring seat 39 is against the top of the step surface of the piston pin 42.

[0036] When the aircraft is flying normally, the piston pin 42 is in the V-shaped ring groove of the slide bar 36. Under the action of the radial spring 41, the slide bar 36 and the sleeve 37 are in a locked state, thereby realizing the synchronous movement of the left and right driving positions. When any of the left and right driving positions' control lines are stuck, the pilot operates them forcefully. At this time, the axial load borne by the slide bar 36 of the release device 22 is greater than the preload force of the radial spring 41, and an upward reaction force is applied to the piston pin 42 and the radial spring 41 at the same time, and the radial spring 41 is compressed. When the piston pin 42 moves upward for a certain distance, the axial spring seat 38 is pushed into the lower part of the step surface of the piston pin 42 under the action of the axial spring, thereby blocking the piston pin 42, so that the piston pin 42 is no longer in contact with the slide bar 36, and the release device 22 is disengaged. The slide bar 36 can slide freely along the axial direction, and the unstuck side can continue to be operated.

[0037] The joystick / disc control form adopts a soft transmission and a tension-compression release device 22, and the functional components such as the command position sensor, damper, and balancing mechanism are modularly arranged and integratedly installed on the left load module 13 and the right load module 14.

[0038] Implementation of lateral control function: The pilot turns the steering wheel clockwise / counterclockwise, and the steering wheel drives the steering wheel force sensor to rotate. The steering wheel force sensor transmits the motion to the drum 24 through the internal and external spline structures. The drum 24 is terminated by a steel cable, and the rotational motion is converted into linear motion through the operating cable. The operating cable is reversed by the decoupling pulley and the reversing pulley and then transmits the motion to the fan-shaped wheel of the load module. The fan-shaped wheel of the load module is fixedly connected to the main shaft assembly 27 of the load module, and the linear motion of the operating cable is converted into rotational motion and transmitted to the inside of the load module. At the same time, the fan-shaped wheel and the output rocker arm of the load module are fixedly connected to transmit the motion to the release device 22.

[0039] A load mechanism 28 is designed inside the load module to provide control perception for lateral control; at the same time, a torque limiter 30 is designed inside the load module. When the damper is stuck, the pilot can make the torque limiter 30 slip through strong control, thereby isolating the fault and ensuring the safety of the aircraft; the balancing mechanism installed on the outside of the load module provides a force-sensing anchor point for the load mechanism 28 inside the load module and provides a balancing function to slow down or eliminate the pilot's control force; the command position sensor installed on the outside of the load module converts the pilot's mechanical command into an electrical signal and transmits it to the flight control computer, thereby realizing control of the aircraft's lateral attitude.

[0040] The two ends of the tension-compression release device are respectively connected to the output rocker arms of the left load module 13 and the right load module 14 through screw-nut assemblies. Under normal operating conditions, it is used to realize the mechanical interconnection of the main and co-pilot operations. When the control line on one side is blocked, the pilot disconnects the main and co-pilot through strong operation, and the pilot controls the aircraft attitude by operating the control line on the unblocked side to ensure the flight safety of the aircraft.

[0041] System decoupling principle: The decoupling function of longitudinal and lateral control is realized by controlling the steel cable and decoupling. When the pilot pushes forward or pulls back the control column, the control cable will not be tight or loose because the tangent point of the control cable and the reversing pulley coincides with the rotation axis of the control stick, so the aileron will not deflect; when the pilot controls the control wheel left / right, the control stick provides rotation support for the control wheel. At this time, the control stick does not move, so the elevator will not deflect, thus realizing the decoupling function of longitudinal and lateral control.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A fly-by-wire aircraft lateral soft control system, characterized in that: It includes a left steering wheel (1) and a right steering wheel (2); The left steering wheel (1) and the right steering wheel (2) each use a drum wheel (24) to be connected to the left steering wheel force sensor (11) and the right steering wheel force sensor (12) respectively. The two drum wheels (24) are respectively connected to one end of the left control cable (7) and the right control cable (8). The other ends of the left control cable (7) and the right control cable (8) are connected to the fan-shaped wheels of the left load module (13) and the right load module (14) after passing through the corresponding decoupling pulley and the reversing pulley in sequence. The left load module (13) and the right load module (14) are respectively connected to the left damper (15), the right damper (16), the left command position sensor (17), the right command position sensor (18), the left balancing mechanism (19), the right balancing mechanism (20) and the output rocker arm. The fan-shaped wheels are connected to the corresponding output rocker arm. The two output rocker arms are connected by a release device (22). The left balancing mechanism (19) and the right balancing mechanism (20) are synchronously connected.

2. The fly-by-wire aircraft lateral soft control system according to claim 1, characterized in that: The left load module (13) and the right load module (14) each comprise a load module housing (26), a main shaft assembly (27), a load mechanism (28), a torque limiter (30), a damping transmission gear train (29), a command position sensor transmission gear train (31) and a balancing transmission gear train (32); the main shaft assembly (27) is rotatably mounted in the load module housing (26); the fan-shaped wheel is fixedly connected to one end of the main shaft assembly (27); the load mechanism (28), the damping transmission gear train (29), the command position sensor transmission gear train (31) and the balancing transmission gear train (32) are all connected to the main shaft assembly (27); and the corresponding left damper (15), right damper (16), left command position sensor (17), right command position sensor (18), left balancing mechanism (19) and right balancing mechanism (20) are transmission-connected to the main shaft assembly (27) via their respective gear trains.

3. The fly-by-wire aircraft lateral soft control system according to claim 2, characterized in that: The torque limiter (30) is configured as a friction structure, an input end of which is connected to the corresponding left damper (15) or right damper (16) via a gear speed increaser, and a slip torque threshold value is set for the torque limiter (30).

4. The fly-by-wire aircraft lateral soft control system according to claim 2, characterized in that: The left balancing mechanism (19) and the right balancing mechanism (20) are respectively connected to the main shaft components (27) of the corresponding left load module (13) and right load module (14) via a balancing transmission gear train (32), and the left balancing mechanism (19) and the right balancing mechanism (20) are connected via a balancing flexible shaft (21).

5. The fly-by-wire aircraft lateral soft control system according to claim 1, characterized in that: The left damper (15) and the right damper (16) are respectively connected to the main shaft components (27) of the corresponding left load module (13) and right load module (14) through a damping transmission gear train (29), and the left damper (15) and the right damper (16) are both electromagnetic dampers.

6. The fly-by-wire aircraft lateral soft control system according to claim 1, characterized in that: The left command position sensor (17) and the right command position sensor (18) are respectively fixedly connected to the spindle assembly (27) of the corresponding left load module (13) and right load module (14) by means of a rotating shaft, and the spindle assembly (27) is synchronously connected to a backup command position sensor.

7. The fly-by-wire aircraft lateral soft control system according to claim 1, characterized in that: The release device (22) comprises a sleeve (37), one end of the sleeve (37) is detachably connected to an earring joint (43), the other end of the sleeve (37) is axially slidably connected to a slide rod (36), one end of the slide rod (36) is slidably connected to the inside of the sleeve (37), the other end of the slide rod (36) is threadedly connected to an earring bolt (35), a radial spring seat (39) is fixedly arranged on the circumference of the sleeve (37), the outside of the radial spring seat (39) is connected to an axial spring seat (38) via an axial compression spring, and the axial spring seat (38) is located on the side and bottom of the radial spring seat (39). The top of the radial spring seat (39) is provided with a radial compression spring (41) and a piston pin (42) inside the radial spring seat (39), the bottom end of the piston pin (42) is provided with a pin head through a step surface, and the top is connected to the top of the radial spring seat (39) through a radial compression spring (41), the bottom of the radial spring seat (39), the bottom of the axial spring seat (38) and the circumferential surface of the sleeve (37) are provided with radial through holes, and the slide rod (36) is provided with an annular groove, and the pin head passes through the three radial through holes and is inserted into the annular groove, and the radial through hole end face of the radial spring seat (39) is against the top of the step surface of the piston pin (42).

8. A control method for the fly-by-wire aircraft lateral soft control system according to any one of claims 1 to 7, characterized in that: The following steps are involved: The pilot rotates the left steering wheel (1) or the right steering wheel (2), driving the corresponding left steering wheel force sensor (11) or the right steering wheel force sensor (12) to rotate, further driving the drum wheel (24) to rotate to pull the left control cable (7) or the right control cable (8) to move; The left control cable (7) or the right control cable (8) pulls the corresponding fan-shaped wheel of the left load module (13) or the right load module (14) after being reversed by the corresponding decoupling pulley and the reversing pulley, so that the output rocker arm of the left load module (13) or the right load module (14) rotates and drives the release device (22) to move in linkage; The rotation of the output rocker arm triggers the left command position sensor (17) or the right command position sensor (18) to output an electrical signal to the flight control computer, while the left balancing mechanism (19) and the right balancing mechanism (20) synchronously adjust the anchor point of the left load module (13) or the right load module (14) via the balancing flexible shaft (21).

9. The manipulation method according to claim 8, characterized in that: The fan-shaped wheel drives the main shaft assembly (27) to rotate, so that the load mechanism (28) generates a restoring force; the main shaft assembly (27) drives the corresponding left damper (15) and right damper (16) through the damping transmission gear system (29) to generate a damping torque; if the left damper (15) or the right damper (16) is blocked, the corresponding main shaft assembly (27) driving torque exceeds the threshold value of the torque limiter (30), and the torque limiter (30) slips to cut off the transmission; the main shaft assembly (27) respectively drives the left command position sensor (17), the right command position sensor (18), the left balancing mechanism (19) and the right balancing mechanism (20) to operate.

10. The manipulation method according to claim 8, characterized in that: When the aircraft is flying normally, the piston pin (42) is in the annular groove of the slide bar (36). Under the action of the radial spring (39), the slide bar (36) and the sleeve (37) are in a locked state. At this time, the radial spring seat (39) abuts against the upper step surface of the piston pin (42), so that the left and right driving positions can be operated synchronously. When any of the left and right driving position control lines is stuck, the pilot operates forcefully. At this time, the axial load borne by the slide bar (36) is greater than the preload force of the radial spring (41), and at the same time, the left and right driving positions are locked. The piston pin (42) and the radial spring (41) exert an upward reaction force, and the radial spring (41) is compressed. When the piston pin (42) moves upward for a certain distance, the radial through hole end face of the axial spring seat (38) is pushed into the lower part of the step surface of the piston pin (42) under the action of the axial compression spring, thereby clamping the piston pin (42), so that the piston pin (42) no longer contacts the slide bar (36), and the pull rod type disengagement mechanism (4) is disengaged, and the slide bar (36) can slide freely in the axial direction, and the unstuck side can continue to be operated.

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