Hydraulic start torque control apparatus, method and aircraft

Abstract

This application discloses a hydraulic starting torque control device, method, and aircraft, belonging to the field of flight control system technology. The hydraulic starting torque control device includes: a hydraulic motor, a transmission assembly, a load acquisition assembly, a pressure monitoring assembly, an electro-hydraulic servo valve, and a control assembly. The control assembly calculates the actuation load based on a preset load curve and the load of the drive mechanism, and calculates the displacement requirement of the hydraulic motor by combining the pressure value of the hydraulic oil in the hydraulic motor. The hydraulic motor adjusts the tilt angle of the swashplate according to the displacement requirement to regulate the torque output of the hydraulic motor. The load acquisition assembly actively acquires the load of the drive mechanism, calculates the displacement requirement of the hydraulic motor, and adjusts the tilt angle of the swashplate according to the displacement requirement to regulate the torque output of the hydraulic motor, thereby achieving more precise control of the starting torque of the high-lift system and improving the smoothness of system startup.

Description

Technical Field

[0001] This application relates to the field of flight control system technology, and in particular to a hydraulic starting torque control device, method and aircraft. Background Technology

[0002] Hydraulic motors are widely used in aerodynamic systems due to their high power-to-weight ratio, especially in wide-body aircraft with heavy loads. Variable displacement hydraulic motors have lower throttling losses and lower energy consumption than fixed displacement motors. Recent technological advancements have further improved their reliability, laying the foundation for their widespread application. The core characteristic of hydraulic motors is that the swashplate angle dynamically adjusts with the external load, and the flow consumption changes accordingly. They are often used as a power source in high-lift aircraft systems.

[0003] In related technologies, the starting torque control method of variable displacement hydraulic motors controls the swashplate to the maximum design angle in advance to ensure full torque output, and then relies on high lift computer PID (Proportional-Integral-Derivative) closed-loop speed control. This method is prone to causing the hydraulic motor to accelerate too quickly after braking and release, making it difficult to ensure the smoothness of starting. Summary of the Invention

[0004] This application provides a hydraulic starting torque control device, method, and aircraft to solve the problem in the related art where the hydraulic motor accelerates too quickly after braking and releases the brake, making it difficult to ensure the smoothness of starting.

[0005] In a first aspect, embodiments of this application provide a hydraulic starting torque control device, comprising: A hydraulic motor, including a swashplate, wherein the tilt angle of the swashplate is proportional to the displacement of the hydraulic motor; Multiple transmission components, each including an actuator, a torque tube and a drive mechanism, the input end of the actuator is connected to the hydraulic motor, and the output end of the actuator is connected to the torque tube and the drive mechanism, used to transmit the driving torque of the hydraulic motor to the external flap; A load acquisition component is disposed at the drive mechanism of at least part of the transmission components for acquiring the drive mechanism load of the drive mechanism. A pressure monitoring component, installed in the input path of the hydraulic motor, is used to monitor the pressure of the hydraulic oil entering the hydraulic motor in real time; and An electro-hydraulic servo valve, connected to a hydraulic motor, is used to adjust the swashplate angle of the hydraulic motor. The control component is electrically connected to the drive mechanism, the pressure monitoring component, and the electro-hydraulic servo valve. The control component is used to: calculate the actuation load based on the preset load curve and the load of the drive mechanism, and calculate the displacement requirement of the hydraulic motor by combining the pressure value of the hydraulic oil in the hydraulic motor. The hydraulic motor adjusts the tilt angle of the swashplate according to the displacement requirement to adjust the torque output of the hydraulic motor.

[0006] In some embodiments, the control component includes: The load acquisition module is used to receive the drive mechanism load transmitted to each drive mechanism by the load acquisition component; The load reverse calculation module obtains the actuation load of each actuator based on the preset load curve and the load of the drive mechanism; The power source load calculation module is used to calculate the load requirement of the hydraulic motor based on the actuation load of each actuator and the load transmission path of the transmission components. The displacement requirement calculation module is used to calculate the displacement requirement of the hydraulic motor based on the load requirements of the hydraulic motor and the real-time hydraulic oil pressure value monitored by the pressure monitoring component; and The torque output module is used to adjust the swashplate angle of the hydraulic motor according to the displacement requirements of the hydraulic motor, so as to regulate the output torque.

[0007] In some embodiments, the hydraulic starting torque control device further includes: The first solenoid valve is used to receive hydraulic oil. The directional valve is connected to the first solenoid valve and the electro-hydraulic servo valve through a pipeline; the directional valve is also connected to the hydraulic motor through a pipeline, and the directional valve is used to control the amount of hydraulic oil entering the electro-hydraulic servo valve and the hydraulic motor. In some embodiments, the hydraulic motor further includes a plunger, which is connected to an electro-hydraulic servo valve via a pipeline, and the plunger is used to control the tilt angle of the swashplate.

[0008] In some embodiments, a motor brake is also included, which is connected to the hydraulic motor and is used to provide braking force to the hydraulic motor.

[0009] In some embodiments, the power source further includes a second solenoid valve, which is connected to the directional valve and the motor brake via a pipeline, and is used to control the amount of hydraulic oil entering the motor brake.

[0010] In some embodiments, the system further includes a wingtip brake disposed on the torque tube for braking the torque tube.

[0011] Secondly, embodiments of this application provide a hydraulic starting torque control method, comprising the following steps: Receive the drive mechanism load transmitted to each drive mechanism by the load acquisition component; The actuation load of each actuator is obtained based on the preset load curve and the load of the drive mechanism; Based on the actuation load of each actuator and the load transmission path of the transmission components, the load requirement of the hydraulic motor is calculated. Based on the load requirements of the hydraulic motor and the real-time hydraulic oil pressure value monitored by the pressure monitoring component, the displacement requirement of the hydraulic motor is calculated. Adjust the swashplate angle of the hydraulic motor according to the displacement requirements of the hydraulic motor to regulate the output torque.

[0012] In some embodiments, the load curve is used to characterize the relationship between the drive mechanism load and the crank torque.

[0013] In some embodiments, the actuation load of each actuator is obtained according to a preset load curve and the load of the drive mechanism, including: The crank torque is obtained by substituting the load of the drive mechanism into the load curve; The actuating load is obtained from the crank torque.

[0014] In some embodiments, the load transmission path sequentially includes the output end of the hydraulic motor, the torque tube, the actuator input end, and the actuator output end.

[0015] In some embodiments, the load requirement of the hydraulic motor is calculated based on the actuation load of each actuator and the load transmission path of the transmission assembly, including: The actuation load is introduced into the output end of the actuator. Based on the torque transmission relationship between the output end of the hydraulic motor, the torque tube, the input end of the actuator, and the output end of the actuator, the load requirement of the hydraulic motor at the output end of the hydraulic motor is obtained.

[0016] In some embodiments, the displacement requirement of the hydraulic motor is calculated based on the load requirements of the hydraulic motor and the real-time hydraulic oil pressure value monitored by the pressure monitoring component, including: Real-time monitoring of hydraulic oil pressure in the hydraulic motor; The displacement requirement of the hydraulic motor is determined based on the load requirements and hydraulic oil pressure.

[0017] In some embodiments, adjusting the swashplate angle of the hydraulic motor according to the displacement requirements of the hydraulic motor to regulate the output torque includes: The control signal for the electro-hydraulic servo valve is generated based on the displacement requirements of the hydraulic motor. The opening degree of the electro-hydraulic servo valve is adjusted according to the control signal of the electro-hydraulic servo valve to adjust the swashplate angle of the hydraulic motor. The torque is output through the adjusted swashplate.

[0018] In some embodiments, a control signal for the electro-hydraulic servo valve is generated based on the displacement requirement of the hydraulic motor, including: Based on the displacement requirements of the hydraulic motor, the current requirement value of the electro-hydraulic servo valve is generated through continuous interpolation or multi-stage discrete methods. The control signal for the electro-hydraulic servo valve is generated based on the current demand value.

[0019] Thirdly, embodiments of this application provide an aircraft, including a hydraulic starting torque control device or a hydraulic starting torque control method.

[0020] This application actively collects the load of the drive mechanism through a load acquisition component, calculates the displacement requirement of the hydraulic motor, and adjusts the tilt angle of the swashplate according to the displacement requirement of the hydraulic motor to adjust the torque output of the hydraulic motor. This achieves more precise control of the starting torque of the high-lift system and improves the smoothness of system startup. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0023] Figure 1 A schematic diagram of the structure of a hydraulic starting torque control device provided in an exemplary embodiment of this disclosure; Figure 2 A hydraulic oil pipeline diagram of a hydraulic starting torque control device provided as an exemplary embodiment of this disclosure; Figure 3 A schematic diagram showing the position of the load acquisition component of a hydraulic starting torque control device provided in an exemplary embodiment of this disclosure; Figure 4 A schematic diagram of the structure of a control component of a hydraulic starting torque control device provided in an exemplary embodiment of this disclosure; Figure 5 A schematic diagram of the control position of the control component of a hydraulic starting torque control device provided in an exemplary embodiment of this disclosure; Figure 6 A flowchart illustrating a hydraulic starting torque control method provided as an exemplary embodiment of this disclosure; Figure 7A load curve of a hydraulic starting torque control method provided as an exemplary embodiment of this disclosure; Figure 8 A schematic diagram of the load transfer path for a hydraulic starting torque control method provided in an exemplary embodiment of this disclosure; Figure 9 A flowchart illustrating step S104 of a hydraulic starting torque control method provided in an exemplary embodiment of this disclosure; Figure 10 A flowchart illustrating step S105 of a hydraulic starting torque control method provided in an exemplary embodiment of this disclosure; Figure 11 Matching curve diagram of a hydraulic starting torque control method provided for an exemplary embodiment of this disclosure.

[0024] Explanation of icon numbers: 100. Hydraulic motor; 101. Swashplate; 102. Piston; 200. Transmission assembly; 201. Actuator; 202. Torque tube; 203. Drive mechanism; 300. Load acquisition assembly; 400. Pressure monitoring assembly; 500. Electro-hydraulic servo valve; 600. First solenoid valve; 700. Directional valve; 800. Motor brake; 900. Second solenoid valve; 1000. Wingtip brake; 1100. Control assembly; 1001. Load acquisition module; 1002. Load reverse propulsion module; 1003. Power source load calculation module; 1004. Displacement demand calculation module; 1005. Torque output module. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0026] In the embodiments of this application, "at least one" refers to one or more; "multiple" refers to two or more. In the description of this application, the terms "first," "second," "third," etc., are used only for the purpose of distinguishing descriptions and should not be construed as indicating or implying relative importance, nor should they be construed as indicating or implying order.

[0027] References such as “one embodiment” or “some embodiments” as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the terms “comprising,” “including,” “having,” and variations thereof, as used in this specification, mean “including, but not limited to,” unless otherwise specifically emphasized.

[0028] It should be noted that in the embodiments of this application, "and / or" describes the relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. In addition, the character " / ", unless otherwise specified, generally indicates that the associated objects before and after it are in an "or" relationship.

[0029] It should be noted that in the embodiments of this application, "connection" can be understood as electrical connection. The connection between two electrical components can be a direct or indirect connection between the two electrical components. For example, the connection between A and B can be a direct connection between A and B, or an indirect connection between A and B through one or more other electrical components.

[0030] This application provides a hydraulic starting torque control device, such as... Figure 1 As shown, Figure 1 This is a schematic diagram of the structure provided for an embodiment of this application.

[0031] The hydraulic starting torque control device includes a hydraulic motor 100, a transmission assembly 200, a load acquisition assembly 300, a pressure monitoring assembly 400, an electro-hydraulic servo valve 500, a first solenoid valve 600, a reversing valve 700, a motor brake 800, a second solenoid valve 900, a wingtip brake 1000, and a control assembly 1100.

[0032] The hydraulic motor 100 includes a swashplate 101 and a piston 102. The tilt angle of the swashplate 101 is proportional to the displacement of the hydraulic motor 100, and the piston 102 is used to control the tilt angle of the swashplate 101.

[0033] The hydraulic motor 100 is an actuator that converts the pressure energy of hydraulic oil into the kinetic energy of rotational motion. The displacement of the hydraulic motor 100 is the volume of hydraulic oil discharged or drawn into the working chamber per revolution of the hydraulic motor 100. The swashplate 101 is a circular metal disc that oscillates around the interior of the hydraulic motor 100.

[0034] In one embodiment, the hydraulic motor 100 is a variable displacement hydraulic motor. The displacement of the variable displacement hydraulic motor can be dynamically adjusted by the piston 102 driving the swashplate 101 to match the external load requirements.

[0035] like Figure 2As shown, the first solenoid valve 600 receives external hydraulic oil. The directional valve 700 is connected to the first solenoid valve 600 and the electro-hydraulic servo valve 500 via a pipeline. The directional valve 700 is connected to the hydraulic motor 100 via a first branch and to the electro-hydraulic servo valve 500 via a second branch. The electro-hydraulic servo valve 500 is connected to the plunger 102 via a pipeline. Upon receiving a control command, the first solenoid valve 600 is energized and opens, allowing hydraulic oil from the external hydraulic oil source to enter the directional valve 700. The directional valve 700 divides the hydraulic oil into two branches for delivery. The directional valve 700 controls the flow direction of the hydraulic oil in the first branch. For example, when the flaps are lowered, the hydraulic motor 100 needs to rotate forward, so the hydraulic oil enters from the forward direction of the hydraulic motor 100; when the flaps are raised, the hydraulic motor 100 needs to rotate in reverse, so the hydraulic oil enters from the reverse direction of the hydraulic motor 100. The directional valve 700 controls the hydraulic oil in the second branch to enter the electro-hydraulic servo valve 500, which is used to drive the electro-hydraulic servo valve 500. The angle of the swashplate 101 is adjusted by driving the plunger 102 to control the opening size of the electro-hydraulic servo valve 500.

[0036] The pressure monitoring component 400 is disposed on the input path of the hydraulic motor 100 to monitor the pressure value of the hydraulic oil entering the hydraulic motor 100 in real time. In one embodiment, the pressure monitoring component 400 is a pressure sensor that detects the pressure value of the hydraulic oil entering the hydraulic motor 100.

[0037] The second solenoid valve 900 is connected to the directional valve 700 and the motor brake 800 via pipelines. The second solenoid valve 900 controls the amount of hydraulic oil entering the motor brake 800. The motor brake 800 is connected to the hydraulic motor 100 and provides braking force to the hydraulic motor 100. The hydraulic oil in the motor brake 800 and the hydraulic motor 100 originates from the same source; the motor brake 800 can only be activated when the directional valve 700 is open. The second solenoid valve 900 controls the flow of hydraulic oil after passing through the directional valve 700 into the motor brake 800. The motor brake 800 clamps the hydraulic motor 100 with brake calipers to brake the hydraulic motor 100.

[0038] The transmission assembly 200 includes an actuator 201, a torque tube 202, and a drive mechanism 203. The input end of the actuator 201 is connected to the hydraulic motor 100, and the output end of the actuator 201 is connected to the torque tube 202 and the drive mechanism 203, for transmitting the driving torque of the hydraulic motor 100 to the external flap.

[0039] Multiple stations can be set on the flaps, and each station is equipped with a corresponding transmission assembly 200. The multiple transmission assemblies 200 are powered by a hydraulic motor 100, and the torque of the hydraulic motor 100 is distributed to the entire length of the aircraft flaps to ensure the consistency of movement of each component and avoid wing surface tilting failure.

[0040] The actuator 201 is used to transmit the driving torque of the hydraulic motor 100 to the torque tube 202 and the drive mechanism 203. In one embodiment, the actuator 201 is a gear rotary actuator, which converts the torque of the hydraulic motor 100 according to a fixed ratio through the gear transmission ratio to ensure that the output torque tube 202 and the torque of the drive mechanism 203 meet the load-bearing capacity.

[0041] In one embodiment, the torque tube 202 is a rigid metal tube used to achieve synchronous torque transmission among multiple transmission components 200. The drive mechanism 203 is a linkage mechanism that forms a crank-connecting rod structure with the actuator 201, used to convert the rotational torque of the actuator 201 into linear or rotational motion of the flaps, driving the flaps to extend and retract.

[0042] like Figure 3 As shown, the load acquisition component 300 is disposed at at least part of the drive mechanism 203 of the transmission component 200, and is used to acquire the drive mechanism load of the drive mechanism 203. In one embodiment, the load acquisition component 300 is a load sensor disposed in the drive mechanism 203, which can directly acquire the drive mechanism load of the drive mechanism 203 during its movement. The load acquisition component 300 can be disposed in all stations of the drive mechanism 203, or in some stations, such as drive mechanisms 203 disposed at both ends or at intervals.

[0043] The wingtip brake 1000 is mounted on the torque tube 202 and is used to brake the torque tube 202.

[0044] The control component 1100 is electrically connected to the drive mechanism 203, the pressure monitoring component 400, and the electro-hydraulic servo valve 500. The control component 1100 is used to: calculate the actuation load based on the preset load curve and the load of the drive mechanism, and calculate the displacement requirement of the hydraulic motor 100 in combination with the pressure value of the hydraulic oil in the hydraulic motor 100. The hydraulic motor 100 adjusts the tilt angle of the swashplate 101 according to the displacement requirement to adjust the torque output of the hydraulic motor 100.

[0045] like Figure 4 As shown, the control component 1100 includes a load acquisition module 1001, a load reverse calculation module 1002, a power source load calculation module 1003, a displacement demand calculation module 1004, and a torque output module 1005.

[0046] like Figure 5As shown, the load acquisition module 1001 receives the drive mechanism load transmitted to each drive mechanism 203 by the load acquisition component 300. By actively acquiring the drive mechanism load of the drive mechanism 203 at least some of the transmission components 200 via the load acquisition component 300, the actual load under the current flight conditions is accurately reflected, providing data support for subsequent torque adjustment and avoiding the problem of load-torque mismatch. The load reverse calculation module 1002 obtains the actuation load of each actuator 201 based on a preset load curve and the drive mechanism load. By accurately matching the mechanical transmission characteristics of the drive mechanism 203 and the actuator 201 through the load curve, the actuation load is ensured to be consistent with the actual requirements, avoiding insufficient or excessive torque of the actuator 201 caused by conversion deviation.

[0047] The power source load calculation module 1003 is used to calculate the load requirement of the hydraulic motor 100 based on the actuation load of each actuator 201 and the load transmission path of the transmission assembly 200. Instead of calculating a single actuation load, the actuation load of each actuator 201 is aggregated according to the load transmission path to ensure that the load requirement of the hydraulic motor covers the drive needs of all stations and avoids insufficient power at some stations.

[0048] The displacement requirement calculation module 1004 is used to calculate the displacement requirement of the hydraulic motor 100 based on the load requirement of the hydraulic motor 100 and the real-time hydraulic oil pressure value monitored by the pressure monitoring component 400. It combines the dynamic pressure difference of the hydraulic motor 100 to calculate the displacement requirement, ensuring a dynamic balance between displacement and torque requirements and avoiding torque deviations caused by pressure fluctuations.

[0049] The torque output module 1005 is used to adjust the angle of the swashplate 101 of the hydraulic motor 100 according to the displacement requirements of the hydraulic motor 100, so as to adjust the output torque.

[0050] Secondly, such as Figure 6 As shown, this application provides a hydraulic starting torque control method, including the following steps: S101, Receive the drive mechanism load transmitted from the load acquisition component 300 to each of the drive mechanisms 203.

[0051] By actively collecting the drive mechanism load of the drive mechanism 203 by the load acquisition component 300 set at at least part of the transmission components 200, the actual load under the current flight conditions is accurately reflected, providing data support for subsequent torque adjustment and avoiding the problem of load and torque mismatch.

[0052] S102. Obtain the actuation load of each actuator 201 according to the preset load curve and the load of the drive mechanism.

[0053] The load curve is used to characterize the correspondence between the drive mechanism load and the crank torque. Once the structural form of the transmission mechanism is determined, a definite correspondence exists between the drive mechanism load, the crank torque of the actuator 201, and the crank angle, such as... Figure 7 As shown, the load curves represent the loads. These load curves can be obtained through ground experiments and simulation calculations.

[0054] The crank torque is obtained by substituting the drive mechanism load into the load curve. Based on the value of the drive mechanism load, the current crank torque and crank angle of the actuator 201 are determined in the load curve. When there are multiple corresponding points for the values ​​of the drive mechanism load, the corresponding point with the larger crank torque value of the actuator 201 is used as the subsequent adjustment target.

[0055] The actuation load is obtained from the crank torque. The actuation load is the torque load of the actuator 201. The force load on the drive mechanism 203 needs to be converted into the torque load on the actuator 201 before the load requirements of the hydraulic motor can be further calculated.

[0056] By precisely matching the mechanical transmission characteristics of the drive mechanism 203 and the actuator 201 with the load curve, it is ensured that the actuation load is consistent with the actual requirements, and the insufficient or excessive torque of the actuator 201 caused by the conversion deviation is avoided.

[0057] S103. Based on the actuation load of each actuator 201 and the load transmission path of the transmission assembly 200, the load requirement of the hydraulic motor 100 is calculated.

[0058] The load transmission path includes, in sequence, the output end of the hydraulic motor 100, the torque tube 202, the input end of the actuator 201, and the output end of the actuator 201.

[0059] The actuation load is brought into the output end of the actuator 201. Based on the torque transmission relationship between the output end of the hydraulic motor, the torque tube 202, the input end of the actuator 201, and the output end of the actuator 201, the load requirement of the hydraulic motor at the output end of the hydraulic motor 100 is obtained.

[0060] The load requirement of the hydraulic motor is the minimum torque value that the hydraulic motor 100 needs to output, which must cover the operating load and transmission loss of all transmission components 200 to ensure that it can drive the movement of the entire wing surface.

[0061] In one embodiment, to ensure the conservatism of the load calculation, the frictional resistance and transmission efficiency of the transmission components are selected under the worst-case scenario. The load transfer calculation proceeds from the output end of the gear rotary actuator 201 to the input end of the actuator 201, then to the torque tube 202, and finally converges at the power source end. A schematic diagram of the load transfer calculation is shown below. Figure 8 As shown. The load transfer calculation is shown in the following formula: ; ; Among them, T x Let T be the torque at the Xth station. x+1 For the torque at station X+1, T x-1 The torque at station X-1, T GRAX GR is the actuator torque, GR is the transmission ratio of actuator 201, EFF is the transmission efficiency, and DR is the transmission torque. x-1 This is for drag. If a partial station detection force configuration is adopted, since the stiffness distribution of the two stations under the same airfoil is fixed, the crank torque value of the other station can be calculated based on the crank torque of the one station.

[0062] The actuation load of each actuator 201 is aggregated according to the load transmission path, rather than encouraging the calculation of a single actuation load, to ensure that the load requirements of the hydraulic motor can cover the drive requirements of all stations and avoid insufficient power in some stations.

[0063] S104. Based on the load requirements of the hydraulic motor 100 and the real-time hydraulic oil pressure value monitored by the pressure monitoring component 400, the displacement requirements of the hydraulic motor 100 are calculated.

[0064] like Figure 9 As shown, step S104 includes steps S1041-S1042.

[0065] S1041. Real-time monitoring of the hydraulic oil pressure of the hydraulic motor 100.

[0066] The hydraulic oil pressure of the hydraulic motor 100 is obtained by real-time monitoring of the pressure value of the hydraulic oil entering the hydraulic motor 100 through the pressure monitoring component 400 set on the input path of the hydraulic motor 100.

[0067] S1042. The displacement requirement of hydraulic motor 100 is obtained based on the load requirements and hydraulic oil pressure of the hydraulic motor.

[0068] The formula for calculating the displacement requirement of hydraulic motor 100 is as follows: ; in Displacement To meet the displacement requirement of a 100cc hydraulic motor, Torque For the load of hydraulic motor 100, Δ pressure This refers to the pressure difference of the hydraulic motor 100. The pressure difference is the difference between the inlet oil pressure and the return oil pressure of the hydraulic motor 100. Due to factors such as load calculation errors and small-range variations in the actual pneumatic load, the preset starting torque value can be appropriately increased, that is, the angle value of the swashplate 101 can be increased.

[0069] The displacement requirement of the hydraulic motor 100 is calculated by combining the dynamic pressure difference of the hydraulic motor 100 to ensure the dynamic balance between displacement and torque requirements and avoid torque deviation caused by pressure fluctuations.

[0070] S105. Adjust the angle of the swashplate 101 of the hydraulic motor 100 according to the displacement requirement of the hydraulic motor 100 to adjust the output torque.

[0071] like Figure 10 As shown, step S105 includes steps S1051-1053.

[0072] S1051. Generate control signals for the electro-hydraulic servo valve 500 based on the displacement requirements of the hydraulic motor 100.

[0073] Based on the displacement requirement of the hydraulic motor 100, the current requirement value of the electro-hydraulic servo valve 500 is generated by continuous interpolation or multi-stage discrete method, and the control signal of the electro-hydraulic servo valve 500 is generated based on the current requirement value.

[0074] like Figure 11 As shown in the figure, the horizontal axis represents the swashplate angle 101, and the vertical axis represents the control signal of the electro-hydraulic servo valve 500. The matching curve is set in a multi-stage discrete manner according to the actual demand curve, thereby adjusting the control signal of the electro-hydraulic servo valve 500.

[0075] S1052. Adjust the opening degree of the electro-hydraulic servo valve 500 according to the control signal of the electro-hydraulic servo valve 500 to adjust the angle of the swashplate 101 of the hydraulic motor 100.

[0076] The control signal of the electro-hydraulic servo valve 500 controls the current of the electro-hydraulic servo valve 500, thereby adjusting the opening degree of the electro-hydraulic servo valve 500. The larger the current of the electro-hydraulic servo valve 500, the larger the opening degree of the electro-hydraulic servo valve 500, and the larger the angle of the driving plunger 102 adjusting the swashplate 101. The smaller the current of the electro-hydraulic servo valve 500, the smaller the opening degree of the electro-hydraulic servo valve 500, and the smaller the angle of the driving plunger 102 adjusting the swashplate 101.

[0077] S1053, output torque through the adjusted swashplate 101.

[0078] The relationship between the displacement requirement of hydraulic motor 100 and the angle of swashplate 101 is shown in the following formula: ; in Displacement Motor displacement d For a plunger diameter of 102, D The diameter of the distribution circle of plunger 102 is... z For the number of plungers 102, αThe swashplate angle is 101. Different valve openings are achieved by adjusting the swashplate angle 101 according to the control current of the electro-hydraulic servo valve 500, resulting in different motor displacement settings and ultimately outputting the torque of the hydraulic motor 100.

[0079] By controlling and adjusting the angle of the swashplate 101 through the electro-hydraulic servo valve 500, there is no instantaneous acceleration caused by excess torque, and the wing can start smoothly. This completely solves the defect of vibration caused by outputting maximum torque in the traditional method. At the same time, it avoids over-adjustment of the swashplate 101 due to inaccurate displacement requirements, thus protecting the durability of the transmission mechanism.

[0080] Thirdly, this application provides an aircraft, including a hydraulic starting torque control device or a method for applying hydraulic starting torque control.

[0081] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0082] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Although this application has disclosed preferred embodiments as above, it is not intended to limit this application. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the technical solution of this application. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A hydraulic start torque control device characterized by, include: A hydraulic motor, including a swashplate, wherein the tilt angle of the swashplate is proportional to the displacement of the hydraulic motor; Multiple transmission components, each of which includes an actuator, a torque tube, and a drive mechanism, wherein the input end of the actuator is connected to the hydraulic motor, and the output end of the actuator is connected to the torque tube and the drive mechanism, for transmitting the driving torque of the hydraulic motor to the external flap; A load acquisition component is disposed at at least part of the drive mechanism of the transmission component for acquiring the drive mechanism load of the drive mechanism; A pressure monitoring component is installed on the input path of the hydraulic motor to monitor the pressure value of the hydraulic oil entering the hydraulic motor in real time. as well as An electro-hydraulic servo valve, connected to the hydraulic motor, is used to adjust the swashplate angle of the hydraulic motor; The control component is electrically connected to the drive mechanism, the pressure monitoring component, and the electro-hydraulic servo valve, respectively. The control component is used to: calculate the actuation load based on the preset load curve and the load of the drive mechanism, and calculate the displacement requirement of the hydraulic motor in combination with the pressure value of the hydraulic oil in the hydraulic motor. The hydraulic motor adjusts the tilt angle of the swashplate according to the displacement requirement to adjust the torque output of the hydraulic motor.

2. The hydraulic start torque control device of claim 1, wherein, The control component includes: A load acquisition module is used to receive the drive mechanism load transmitted to each of the drive mechanisms by the load acquisition component; The load reverse calculation module obtains the actuation load of each actuator based on the preset load curve and the load of the drive mechanism; The power source load calculation module is used to calculate the load requirement of the hydraulic motor based on the actuation load of each actuator and the load transmission path of the transmission component. The displacement requirement calculation module is used to calculate the displacement requirement of the hydraulic motor based on the load requirement of the hydraulic motor and the real-time hydraulic oil pressure value monitored by the pressure monitoring component; and The torque output module is used to adjust the swashplate angle of the hydraulic motor according to the displacement requirements of the hydraulic motor, so as to adjust the output torque.

3. The hydraulic start torque control device of claim 1, wherein, Also includes: A first solenoid valve, which is used to receive hydraulic oil; A reversing valve is connected between the first solenoid valve and the electro-hydraulic servo valve via a pipeline; the reversing valve is also connected to the hydraulic motor via a pipeline, and the reversing valve is used to control the amount of hydraulic oil entering the electro-hydraulic servo valve and the hydraulic motor.

4. The hydraulic starting torque control device according to claim 1, characterized in that, The hydraulic motor further includes a plunger, which is connected to the electro-hydraulic servo valve via a pipeline, and the plunger is used to control the tilt angle of the swashplate.

5. The hydraulic starting torque control device according to claim 3, characterized in that, It also includes a motor brake, which is connected to the hydraulic motor and is used to provide braking force to the hydraulic motor.

6. The hydraulic starting torque control device according to claim 5, characterized in that, It also includes a second solenoid valve, which is connected to the directional valve and the motor brake via a pipeline. The second solenoid valve is used to control the amount of hydraulic oil entering the motor brake.

7. The hydraulic starting torque control device according to claim 1, characterized in that, The device also includes a wingtip brake disposed on the torque tube, the wingtip brake being used to brake the torque tube.

8. A hydraulic starting torque control method, characterized in that, The hydraulic starting torque control device according to any one of claims 1 to 7 comprises the following steps: Receive the drive mechanism load transmitted to each drive mechanism by the load acquisition component; The actuation load of each actuator is obtained according to the preset load curve and the load of the drive mechanism; Based on the actuation load of each actuator and the load transmission path of the transmission assembly, the load requirement of the hydraulic motor is calculated. Based on the load requirements of the hydraulic motor and the real-time hydraulic oil pressure value monitored by the pressure monitoring component, the displacement requirements of the hydraulic motor are calculated. Adjust the swashplate angle of the hydraulic motor according to the displacement requirements of the hydraulic motor to regulate the output torque.

9. The method according to claim 8, characterized in that, The load curve is used to characterize the relationship between the load on the drive mechanism and the crank torque.

10. The method according to claim 9, characterized in that, The step of obtaining the actuation load of each actuator based on the preset load curve and the load of the drive mechanism includes: The crank torque is obtained by substituting the load of the drive mechanism into the load curve. The actuating load is obtained from the crank torque.

11. The method according to claim 8, characterized in that, The load transmission path includes, in sequence, the output end of the hydraulic motor, the torque tube, the input end of the actuator, and the output end of the actuator.

12. The method according to claim 11, characterized in that, The step of calculating the load requirement of the hydraulic motor based on the actuation load of each actuator and the load transmission path of the transmission assembly includes: The actuation load is introduced into the output end of the actuator, and the load requirement of the hydraulic motor at the output end of the hydraulic motor is obtained according to the torque transmission relationship between the output end of the hydraulic motor, the torque tube, the input end of the actuator, and the output end of the actuator.

13. The method according to claim 8, characterized in that, The step of calculating the displacement requirement of the hydraulic motor based on its load requirements and the real-time hydraulic oil pressure value monitored by the pressure monitoring component includes: Real-time monitoring of the hydraulic oil pressure of the hydraulic motor; The displacement requirement of the hydraulic motor is obtained based on the load requirements of the hydraulic motor and the hydraulic oil pressure.

14. The method according to claim 8, characterized in that, The step of adjusting the swashplate angle of the hydraulic motor according to the displacement requirement of the hydraulic motor to adjust the output torque includes: The control signal for the electro-hydraulic servo valve is generated based on the displacement requirement of the hydraulic motor. The opening degree of the electro-hydraulic servo valve is adjusted according to the control signal of the electro-hydraulic servo valve to adjust the swashplate angle of the hydraulic motor; The adjusted swashplate outputs torque.

15. The method according to claim 8, characterized in that, The step of generating the control signal for the electro-hydraulic servo valve based on the displacement requirement of the hydraulic motor includes: Based on the displacement requirement of the hydraulic motor, the current requirement value of the electro-hydraulic servo valve is generated by continuous interpolation or multi-stage discrete method. The control signal for the electro-hydraulic servo valve is generated based on the current demand value.

16. An aircraft, characterized in that, Includes the hydraulic starting torque control device according to any one of claims 1 to 7 or the method according to any one of claims 8 to 15.

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