Aircraft docking method based on vector magnetic force control

Abstract

The invention discloses an aircraft docking method based on vector magnetic force control, which comprises a coil module, an information processing system, a permanent magnet module and a data interface, the coil module is formed by winding an enameled wire with the wire diameter of 1mm by taking 50cm as the radius, the permanent magnet module is composed of four cube permanent magnets, and the data interface is connected with the permanent magnet module. The data interface is connected with the tractor traction device and the control system through a wire rod or a wireless communication module, and the information processing system uses an STM32F103VET6 single-chip microcomputer as a master controller. The use effect is good, induced electromotive force can be generated when the permanent magnet gets close to the coils, the aircraft orientation is judged according to the induced electromotive force generated by the coils at different positions, the aircraft docking situation is judged in real time, corresponding is made, and the docking accuracy and the operation effect of a tractor are greatly improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of aircraft towing vehicles, in particular to an aircraft docking method based on vector magnetic force control. BACKGROUND

[0002] Magnetic induction technology is used to detect and measure magnetic fields, based on the law of electromagnetic induction to determine the presence and strength of the magnetic field. This technology can perceive the magnetic field in the environment through sensors and convert it into an electrical signal for system processing. Magnetic induction technology is used to detect and measure magnetic fields, based on the law of electromagnetic induction to determine the presence and strength of the magnetic field. This technology can perceive the magnetic field in the environment through sensors and convert it into an electrical signal for system processing. To achieve high-precision control of the aircraft, adaptive control algorithms need to be used. These algorithms can monitor environmental changes and respond accordingly to achieve stable control and docking processes. Common adaptive control algorithms include fuzzy control, neural network control, and adaptive sliding mode control. To achieve accurate perception and measurement during the aircraft docking process, various sensors are needed to obtain position, force, and angle information. Common sensors include magnetometers, accelerometers, gyroscopes, and laser range finders. SUMMARY

[0003] To deepen the degree of automation of aircraft and lead the development of aircraft automation, the application proposes an aircraft docking method based on vector magnetic force control, which automatically finds the aircraft landing gear wheel set and automatically completes the docking and wheel holding task. The application realizes the aircraft docking method based on vector magnetic force control on the aircraft rodless towing vehicle, which uses the interaction between magnetic force and the aircraft to achieve precise docking of the aircraft and the towing vehicle. The system allows the aircraft rodless towing vehicle to automatically hold the aircraft after receiving the automatic clamping command, under the detection of the coil module and the operation of the information processing system. Its characteristics include: coil module, information processing system, permanent magnet module and data interface.

[0004] The coil module uses 1mm diameter enameled wire and is wound with a radius of 50cm, which can be used to detect the position of the permanent magnet and perform adsorption docking of the aircraft and the towing vehicle.

[0005] The permanent magnet module is composed of four cubic permanent magnets, which can also be replaced by electromagnets, providing aircraft position information and adsorption points. The information processing system uses an STM32F103VET6 single-chip microcomputer as the main control, and the program flow design can well perform positioning judgment.

[0006] According to different aircraft and aircraft towing vehicles, appropriate magnetic materials are selected and appropriate points are installed;

[0007] On the aircraft and docking platform, magnetic force sensors are installed to measure the magnitude and direction of the magnetic force. The magnetic force sensors can help adjust the position and force of the magnets to achieve accurate docking:

[0008] The control system adjusts the magnetic force control system in real time by monitoring the feedback signals of the magnetic force sensors and the aircraft state information, and can adjust the magnitude and direction of the magnetic force according to the position and speed of the target docking point, and maintain the stability and safety of the docking process;

[0009] Once the control system is activated, the aircraft begins to move and gradually approaches the docking platform. The magnetic force of the magnets will be adjusted by the control system according to the feedback to ensure correct docking;

[0010] When the magnetic force between the aircraft and the docking platform reaches a certain threshold, the docking is considered successful. At this time, the activation of the magnetic force can be stopped, and other methods (such as mechanical locking or pneumatic pressure) can be used to increase the stability of the docking; BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 is the workflow of the aircraft docking method of the present application; DETAILED DESCRIPTION

[0012] The technical solutions of the present application are further described below, but the scope of protection is not limited to the description.

[0013] Example 1:

[0014] As shown in Figure 1 , the present application is a kind of aircraft docking method based on vector magnetic force control, including coil module, information processing system, permanent magnet module and data interface, the coil module uses 1mm wire diameter enameled wire, and is wound with 50cm radius, the permanent magnet module is composed of four cubic permanent magnets, the data interface uses wire or wireless communication module and traction vehicle traction device, control system is connected, the information processing system uses STM32F103VET6 single chip microcomputer as main control. The present application has good use effect, and the permanent magnet will generate induced electromotive force when it is close to the coil. The size of the induced electromotive force generated by the coil at different positions is used to judge the position of the aircraft, and the docking situation of the aircraft is judged in real time and the corresponding is made, which greatly improves the docking accuracy and operation effect of the tractor.

[0015] The working principle is that after receiving the docking instruction sent by the aircraft, the information processing system reads the coil control module data, judges the position of the permanent magnet, and controls the traction vehicle throttle and steering wheel position for pre-docking. When the coil detects that the magnetic field is greater than the threshold, the coil generates a magnetic field to attract the permanent magnet, and after the adsorption is completed, a mechanical or hydraulic mechanism is used to realize the connection, and the docking work is completed.

Claims

1. A method for aircraft docking based on vector magnetic force control, applied to a rodless aircraft tractor, which uses the interaction between magnetic force and the aircraft to achieve precise docking of the aircraft with the tractor. The system allows the rodless aircraft tractor to automatically embrace the aircraft after receiving the automatic embrace aircraft command, under the detection of the coil module and the operation of the information processing system, characterized by comprising: Coil module, information processing system, permanent magnet module and data interface.

2. The aircraft docking method of claim 1, wherein: The coil module is a key component commonly used in the method of docking aircraft based on vector magnetic force control. It is usually composed of multiple coils wound on wires, each of which is an inductor. These coil modules can be placed on the fuselage or wings of the aircraft, as well as on the ground equipment, playing the role of accurately controlling the magnetic field during docking. The main function of the coil module is to generate and control the magnetic field to attract or repel other target objects with magnetic materials (such as aircraft) for docking. By applying current to different coils, a specific spatial distribution of the magnetic field can be generated, thereby achieving accurate positioning and control of the target object. The design of the coil module should take into account multiple factors, including current density, coil layout, number of coils and shape, etc. The selection of these factors depends on the specific requirements of the docking task, such as the required docking force, stability and speed, etc.

3. The method of docking an aircraft of claim 1, wherein: The information processing system is responsible for collecting, processing and analyzing data related to docking in order to achieve safe and accurate completion of docking operations. Components: sensors, a variety of sensors are used to obtain relevant information about the aircraft and its surrounding environment, such as magnetic force sensors, force sensors, attitude sensors, etc. These sensors transmit real-time data to the information processing system; data acquisition and processing, the information processing system is responsible for collecting data generated by sensors and performing preprocessing and filtering. Through calibration and rationalization of data processing, noise and errors can be eliminated, improving the accuracy and stability of the docking system; Data analysis and decision-making, the information processing system analyzes the data of various sensors and makes decisions based on previously designed docking algorithms. These algorithms can calculate corresponding control commands based on changes in current sensor data to achieve docking operations; control command sending, the information processing system sends the calculated control commands to the vector magnetic force control system to accurately control the movement of the aircraft. These commands may include changes in thrust, attitude adjustment, etc. to achieve accurate control of docking; control command sending, the information processing system sends the calculated control commands to the vector magnetic force control system to accurately control the movement of the aircraft. These commands may include changes in thrust, attitude adjustment, etc. to achieve accurate control of docking.

4. The method of docking an aircraft of claim 1, wherein: The permanent magnet module is composed of a series of aligned permanent magnet elements designed to generate a strong magnetic field. The module's role is to achieve precise control and sustained adhesion between the aircraft and the target docking device by manipulating the magnetic field. Composed of a series of aligned permanent magnet elements designed to generate a strong magnetic field. The module's role is to achieve precise control and sustained adhesion between the aircraft and the target docking device by manipulating the magnetic field. When the magnetic field is applied to the aircraft, the aircraft must be equipped with special magnetic materials to fully utilize the magnetic force provided by the permanent magnet module and ensure reliable docking. This design enables the aircraft to be firmly connected to the target device without the need for mechanical hooks or other physical connections. The aircraft docking method based on vector magnetic force control has many potential applications, such as space station docking, unmanned aerial vehicle charging, and aircraft maintenance. Through precise control of the permanent magnet module, this docking method can provide high flexibility and accurate position control, thereby improving the safety and effectiveness of aircraft docking.

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