CN101604490B - Semi-physical simulation platform structure of airplane brake system - Google Patents

Abstract

The invention belongs to electromechanical system control and semi-physical simulation technology, and relates to the improvement of the traditional aircraft braking test system. The hardware-in-the-loop simulation platform includes load pressing system, inertia simulation system, wheel brake system, simulation calculation/virtual instrument system and visual system. Among them, the load depression system can simulate the radial load of the tire during the braking process of the aircraft; the inertia simulation system is used to simulate the translational inertia of the aircraft, and at the same time can realize the compensation of the residual thrust of the aircraft engine, aerodynamic resistance and front wheel friction during the braking process; The wheel brake system is a physical aircraft brake device; in the simulation calculation/virtual instrument system and the simulation computer in the visual system, the six-degree-of-freedom model of the aircraft landing and rolling is solved, and the torque reference value of the motor and the left and right load depressing system depressing load are output The reference value of the aircraft is calculated, and the calculated position and attitude of the aircraft are transmitted to the visual system. The virtual instrument part can display the airspeed, attitude, altitude, heading and engine speed of the aircraft in real time. The research results provide an effective means and development environment for the design, experiment and verification of aircraft landing roll and brake control laws, which not only reduces the risk of real experiments, but also saves a lot of money. It has originality and significant economic benefits .

Description

Structure of hardware-in-the-loop simulation platform for aircraft braking system

technical field

The invention belongs to electromechanical system control and semi-physical simulation technology, and relates to the improvement of the traditional aircraft braking test system. the

Background technique

The aircraft braking system is an important system to ensure the normal take-off and landing of the aircraft, and the inspection of its performance and quality is an important measure to ensure the flight safety of the aircraft. The traditional aircraft braking test system uses a large-diameter inertial disc to simulate the runway, and converts the rolling of the aircraft tires relative to the ground into the rolling of the wheels relative to the inertial disc to simulate the actual braking process of the aircraft to test the performance of the aircraft's braking system. The main problems in the traditional aircraft braking test system: (1) The inertia of the inertia disk with fixed mass is used to simulate the translational inertia of the aircraft, so only the braking system of a specific mass aircraft can be tested. When the mass of the tested aircraft changes At the same time, the moment of inertia of the inertia disk is adjusted by increasing or decreasing the counterweight of the inertia disk. The disadvantage of this method is that it is difficult to achieve dynamic balance for the entire inertia disk system, and the inertia of the inertia disk cannot be adjusted steplessly; The hardware-in-the-loop simulation method does not use the six-degree-of-freedom mathematical model of the aircraft landing and rolling, and cannot compensate for engine residual thrust, aerodynamic drag, and front wheel friction. (2) The traditional aircraft braking test system does not have a real landing gear system, which cannot truly simulate the dynamic characteristics of the landing gear during the braking process, that is, it cannot simulate the radial load of the wheel during the braking process. (3) The traditional aircraft braking test system adopts a unilateral loading method. Since the real aircraft wheel has a left-right symmetrical structure, it cannot reproduce the real working environment of the aircraft braking system. Also due to the unilateral loading method of the traditional aircraft braking test system, it is impossible to study the correction control problem of the aircraft braking process. (4) The traditional aircraft brake test system does not have a three-dimensional visual system, and cannot display the coordinates and attitude of the aircraft during the aircraft brake test. the

Therefore, there are certain limitations in testing the aircraft braking system on the traditional aircraft braking experimental system. In order to reproduce the actual working conditions of the braking system and realize the testing of the braking system of the aircraft within a certain mass range, it is necessary to design a hardware-in-the-loop simulation platform for the braking system of the aircraft. the

Contents of the invention

The purpose of the invention is to provide a test platform capable of simulating the real working environment of the aircraft braking system. the

The technical solution of the present invention is: a semi-physical simulation platform for the aircraft brake system, which mainly includes: a load depression system, an inertia simulation system, a wheel brake system, a simulation calculation/virtual instrument system and a visual system. Among them, the load depression system can simulate the radial load of the tire during the braking process of the aircraft; the inertia simulation system is used to simulate the translational inertia of the aircraft, and at the same time can realize the compensation of the residual thrust of the aircraft engine, aerodynamic resistance and front wheel friction during the braking process; The wheel brake system is a physical aircraft brake device; in the simulation calculation/virtual instrument system and the simulation computer in the visual system, the six-degree-of-freedom model of the aircraft landing and rolling is solved, and the torque reference value of the motor and the left and right load depressing system depressing load are output The reference value of the aircraft is calculated, and the calculated position and attitude of the aircraft are transmitted to the visual system. The virtual instrument part can display the airspeed, attitude, altitude, heading and engine speed of the aircraft in real time.

The invention has the advantages that: compared with the traditional aircraft brake test system, it can realize the tracking of the radial load of the wheel during the experiment; the mechanical inertia electric simulation technology is used to test the brake system of different quality aircraft; This brake device can not only study the anti-skid braking control of the aircraft, but also the correction control during the braking process of the aircraft; the simulation computer adopts the six-degree-of-freedom model of the aircraft landing and rolling, and calculates the torque reference value of the motor and the depressing point of the left and right load depressing system in real time The reference value of the load, and transmit the calculated position and attitude of the aircraft to the visual system. The virtual instrument part can display the airspeed, attitude, altitude, heading and engine speed of the aircraft in real time. The research results provide an effective means and development environment for the design, experiment and verification of aircraft landing roll and brake control laws, which not only reduces the risk of real experiments, but also saves a lot of money. It has originality and significant economic benefits . the

Description of drawings

Figure 1 is a schematic diagram of the structure of the load-down system. the

Figure 2 is a schematic diagram of the structure of the inertia simulation system. the

Figure 3 is a schematic diagram of the structure of the wheel braking system. the

Figure 4 is the visual system. the

Figure 5 is a virtual instrument. the

Fig. 6 is the control cabinet of the aircraft brake experiment system. the

Fig. 7 is a schematic diagram of the signal conditioning of the experimental system. the

Fig. 8 is the visual display and simulation computer control cabinet. the

Figure 9 is an aircraft cockpit. the

Figure 10 The overall structure of the hardware-in-the-loop simulation platform for the aircraft braking system. the

Detailed ways

The present invention will be described in further detail below. the

The hardware-in-the-loop simulation platform mainly includes: load depressing system, inertia simulation system, wheel brake system, simulation calculation/virtual instrument system and visual system. the

The load pressing system shown in Figure 1 mainly includes: oil source, servo valve, hydraulic cylinder, position sensor (LVDT) and pressure sensor. The oil source system is self-developed, and the pressure adjustment range is 0-18MPa. The servo valve model is FF-102/30. The cylinder is self-developed. The model of the high-precision displacement sensor is DA-75, and the measuring range is 0-100mm; the displacement sensor measures the displacement of the actuator to form the position control of the load pressing system. The model of the pressure sensor is BK-2F, and the range is 0-3T; the pressure sensor measures the output force of the actuator to form the force control of the load pressing system, and the reference value of the pressing force is given by the simulation control computer. the

The inertia simulation system shown in Figure 2 mainly includes: inertia disk, motor, frequency converter, torque sensor and rotary encoder. The inertia disk is a solid iron cylinder with a diameter of 0.8m, a thickness of 0.3m, a mass of 1176kg, and a moment of inertia of 94.08kgm ² ; the inertia disk is used to simulate the inertia of the airstrip and part of the aircraft. The motor adopts Siemens frequency conversion speed regulation motor, Siemens motor model 1LG6 223-6AA10-Z, rated power 30kW, rated speed 980rpm, rated torque 292Nm; the motor can apply positive and negative torque to the inertia disk to realize part of the inertia of the aircraft The simulation and compensation of engine residual thrust, aerodynamic resistance, front wheel friction, etc., and the reference value of torque are given by the simulation control computer. Siemens inverter model 6SE7026-0ED61. The torque sensor model is AKC-205 torque sensor with a measuring range of ±1000Nm; the torque sensor measures the output force of the motor to form a torque closed-loop control. The rotary encoder model is ERN120-5000-01, and the speed control of the inertia disk is formed by counting and measuring the rotation speed of the inertia disk.

The wheel braking system shown in Figure 3 mainly includes: wheel and tire, proportional electronically controlled brake valve and controller, magnetoresistor speed sensor, and brake torque sensor. The wheel model is LS-137, which is used with (360×130-127) tubeless tires. Proportional electronically controlled brake valve and controller model YS-146 is composed of controller, motor assembly, brake valve, etc. The control signal with input duty ratio of 0-100% corresponds to the output pressure of 0-6MPa. The magnetoresistive speed sensor model CS-J1-M12 produces 600 pulses per revolution. The braking torque sensor is composed of a resistance strain load sensor (CZLYB-4H/300kg) and a moment arm (150mm), so the measuring range of the braking torque sensor is 441Nm. the

Among them, the simulation calculation/virtual instrument system and the simulation computer in the visual system solve the six-degree-of-freedom model of the aircraft landing roll, output the torque reference value of the motor and the reference value of the depressing load of the left and right load depressing system, and the calculated The position and attitude of the aircraft are transmitted to the visual system shown in Figure 4; the virtual instrument part shown in Figure 5 can display the airspeed, attitude, altitude, heading and engine speed of the aircraft in real time. . the

The following is a detailed introduction to the test system of the hardware-in-the-loop simulation platform. the

Figure 6 shows the control cabinet of the aircraft experiment system, which is composed of three Advantech 610H series industrial control computers and two signal conditioning chassis; the top of the three industrial control computers is the system management host computer, which has a real-time network card GE-VMIC-PCI- One piece of 5565; the following two are the load pressing and inertia simulation lower computer, and the brake lower computer respectively. There are real-time network card GE-VMIC-PCI-5565, AD card PCI-1716, DA card PCI-1723, and counting board. One PCI-1784 each; three industrial computers are connected through a real-time network. The signal conditioning chassis is self-developed to realize signal filtering, amplification, etc., as shown in Figure 7. the

Fig. 8 is the visual display and simulation computer control cabinet. The above is a simulation computer, which contains a real-time network card GE-VMIC-PCI-5565, an IO card AC4165, and an AD card AC1558. The computer collects the control data in the cockpit shown in Figure 9, and solves the mathematical model of the six degrees of freedom of the aircraft in real time. , transmit the relevant parameters of the aircraft to the virtual instrument panel in the cockpit, and transmit the motor output torque reference value and the left and right load depression reference values to the load depression and inertia simulation lower computer through the real-time network; the following is the visual display computer , the computer receives the three coordinates and Euler angles of the aircraft transmitted by the simulation computer, and displays the position and attitude of the aircraft in three dimensions through the projector, as shown in Figure 4. the

In this way, the three industrial computers in Fig. 6 and the simulation computer in Fig. 8 are connected through the real-time network shown in Fig. 10 . the

Claims (1)

1. The structure of the hardware-in-the-loop simulation platform for the aircraft brake system is characterized in that: The load depressing system is a left-right symmetrical valve-controlled cylinder structure, including oil source, servo valve, hydraulic cylinder, displacement sensor (LVDT) and pressure sensor; it can perform position control and force control, and the aircraft brake test can be realized through force control. Simulation of wheel radial loads; The inertia simulation system includes an inertia disk, a motor, a frequency converter, a torque sensor and a rotary encoder; the inertia disk is a solid iron cylinder, which is used to simulate the inertia of the airstrip and part of the aircraft; the motor adopts a Siemens frequency conversion motor, and the motor can The disc applies torque in both positive and negative directions to realize the simulation of part of the inertia of the aircraft and the compensation of engine residual thrust, aerodynamic resistance, and front wheel friction; the torque sensor measures the output force of the motor to form a torque closed-loop control; The rotational speed of the inertia disk is obtained to form the speed control of the inertia disk; The wheel brake system includes the wheel and tires, proportional electronically controlled brake valve and controller, magnetoresistor speed sensor, and brake torque sensor; two brake devices with left and right symmetry are used to simulate the brake system of the left and right main wheels of the aircraft respectively. , which can be used to study the anti-skid braking control law and steering control law of the aircraft in the case of asymmetrical braking; Simulation calculation/virtual instrument system and visual system in the simulation computer to solve the six-degree-of-freedom model of the aircraft landing roll, output the torque reference value of the motor and the reference value of the depressing load of the left and right load depressing system, and the calculated aircraft The position and attitude are transmitted to the visual system; the virtual instrument part can display the airspeed, attitude, altitude, heading and engine speed of the aircraft in real time.

Images