CN104477378B - A kind of aircraft fore-and-aft control limit method for limiting and its device - Google Patents
A kind of aircraft fore-and-aft control limit method for limiting and its device Download PDFInfo
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- CN104477378B CN104477378B CN201410664019.6A CN201410664019A CN104477378B CN 104477378 B CN104477378 B CN 104477378B CN 201410664019 A CN201410664019 A CN 201410664019A CN 104477378 B CN104477378 B CN 104477378B
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Abstract
The invention belongs to flight control design case technology, is related to a kind of aircraft fore-and-aft control limit method for limiting and its device.The limit limits device includes steering engine (101), spring pull rod (102), sealing outlet (103).The present invention provides a kind of aircraft fore-and-aft control limit limits device and method, body that can be when aircraft reaches restrictive condition to pilot significantly implies, prompting aircraft has reached capacity state, it is noted that control action, the ability of a part of override of pilot is also gived at the same time, it is more directly perceived and effective compared with the simple limitation using software for emergency maneuver in case of emergency.
Description
Technical field
The invention belongs to flight control design case technology, is related to a kind of aircraft fore-and-aft control limit method for limiting and its device.
Background technology
The limit angle of attack and the extreme overload limitation of conventional fax aircraft longitudinal direction are limited usually using software.From flight quality angle
Degree sets out, software be limited under some complex situations can not to pilot one intuitively prompt：Aircraft has reached the limit
State.In the case of big ram compression, too fast and excessive longitudinal tie manipulates the normal g-load that can lift aircraft rapidly, serious conditions
It is lower to be limited beyond the intensity of aircraft, so as to cause aircraft stall.
The content of the invention
The technical problem to be solved in the present invention is：One kind is provided when aircraft angle of attack or overload transfinite on pilot's body
The aircraft fore-and-aft control limit method for limiting substantially prompted.
The technical scheme is that：
A kind of aircraft fore-and-aft control limit limits device, it is characterized in that：The limit limits device includes steering engine 101, bullet
Spring pull rod 102, sealing outlet 103；
The steering engine 101 includes hydraulic actuation cartridge module I, electromechanical transducer II, hydraulic amplifier III；The steering engine 101
As the execution annex of limit limitation, the control instruction movement of flight control computer is received；
The hydraulic actuation cartridge module I includes oily filter 201, microswitch 203, feedback transducer 202, connection valve 207；
The signal that the feedback transducer 202 is sent is proportional to the displacement of steering engine rocking arm 206；Two microswitches 203 shake to steering engine
The extreme position of arm 206 sends signal；The purification of oily filter 201 enters the working solution of limit limitation steering engine；The connection valve
The chamber of 207 one group of cylinders connect when no working fluid pressure, and there are when working fluid pressure and handle
They are separated；The hydraulic actuation cartridge module I is the hydraulic motor of single-chamber, can be the energy that working solution flows by promoting piston
Bar movement is changed into mechanical energy；
The hydraulic amplifier III manipulates hydraulic motor and amplifies the power of manipulation electric signal at the same time by working solution, its
For a hydraulic bridge, wherein two bridge arm is constant liquid resistance, and the liquid resistance of another two bridge arms can change；
Hydraulic power source is connected on a diagonal of hydraulic bridge, coming oil circuit is pipeline E, and oil return circuit is pipeline D；And in hydraulic bridge
Another diagonal be load, separator is the first pipeline F1 and the second pipeline F2；Throttle valve A 209, throttle valve B214 are used for
Constant liquid resistance is provided, the nozzle A211 of the first baffle 212 with electromechanical transducer II, nozzle B 213 can for providing
The liquid resistance of change, the first valve 210 are used as reducing and keep working fluid pressure constant；
Electromechanical transducer II is used as the transformation of control electric signal, and the transformation of electric signal will be with the baffle of hydraulic amplifier III
Displacement is proportional；
Steering engine 101 works in the following way：When connecting solenoid valve 215, working solution is in hydraulic system pressure lower edge
Oil feed line B and flow into hydraulic amplifier III by oily filter 201, while flow to the end of connection valve 207；Acted in pressure
Under, connect the distributing valve movement of valve 207 and the working chamber of hydraulic actuation cartridge module I is separated；In no control electric signal
When, nozzle A211, the end face of nozzle B 213 are equal with the gap between first baffle 212, and hydraulic bridge keeps balance；Distributing valve
208 both ends surface pressure is equal；Distributing valve 208 is centrally located, does not produce the distribution of working fluid；Electricity is manipulated providing
Signal to electromechanical transducer II coil when, first baffle 212 by centre position deflection just destroy hydraulic bridge it is steady；In the second pipe
Working liquid pressure declines in the F2 of road, and pressure rise in the first pipeline F1, occurs pressure difference at two end of distributing valve, causes a point oil
Valve 208 is moved to the small side of pressure, and is opened working solution entrance and entered pipeline C by oil feed line B；Working solution is by pipeline A
Into hydraulic oil-returning pipeline, that is, pipeline D；The flow of working solution is proportional to controlling the size of electric signal；Working solution is suitable under stress
Pipeline C and enter hydraulic actuation cartridge module I, mobile piston 204 simultaneously drives steering engine rocking arm 206 to move together；Opposite polarity
When signal reaches, distributing valve 208 moves in the opposite direction, and the opposite chamber of hydraulic actuation cartridge module I passes through pipeline A and confession
Oil pipe line B is communicated, therefore steering engine rocking arm 206 is just moved to another direction；Working solution flows into oil return line, that is, pipeline by pipeline C
D；Feedback transducer 202 is connected by piston 204 with steering engine rocking arm 206, and with the change of 206 position of steering engine rocking arm, feedback passes
Sensor 202 changes the angle rotated, and at this moment feedback transducer 202 sends position signal to flight control computer, this signal corresponds to
The stroke of neutral position is left in steering engine rocking arm 206；It is more than working line in the distance that steering engine rocking arm 206 is moved to this face or that face
Cheng Shi, microswitch 203 are switched on；When releasing manipulation electric signal, all parts return to initial position；Do not supplying oil pressure
When not having voltage on 215 binding post of power or solenoid valve, steering engine rocking arm 206 is stabilized to neutral position under the action of spring 205
Put；
Spring pull rod 102 transmits the movement of steering engine as the transmission parts of steering engine 101, transfinites there is the angle of attack and overload
When, there is provided the additional manipulation power of control stick；
The shaft 403 of sealing outlet 103 is installed on bearing A405, bearing B406 and bearing 404, is provided with shaft
Rocking arm A401, rocking arm B407, rocking arm C414；
Rocking arm A401 is arranged in cockpit and the pull rod A402 with being connected control stick is connected；Rocking arm B407, rocking arm C414 cloth
Put under cockpit floor, rocking arm B407 is connected with control feel simulator 410 and first sensor 409 respectively；
Rocking arm C414 is connected by spring pull rod 102 with steering engine 101；
Rocking arm B407 is rigid connection with shaft 403, and adjustable bridle 412 is carried on the lug of rocking arm B407, when winged
When machine enters the critical angle of attack and overload, by adjustable bridle 412, non-adjustable bridle 413, ensure to increase on control stick attached
Add stick force；
Bearing 404 is installed on cockpit floor with bolt seal.
A kind of aircraft fore-and-aft control limit method for limiting using above-mentioned limit limits device, it is characterized in that the method bag
Include：
1) in not up to restrictive condition, flight control computer calculates steering engine according to the displacement signal of control stick pitch orientation
101 command signal, the steering engine rocking arm 206 of control steering engine 101 follow the deflection of control stick；Control stick pull rod within the specific limits
When, the setting gap between adjustable bridle 412 and non-adjustable bridle 413 is constant all the time, and the nonintervention of steering engine 101 manipulates；
2) when the angle of attack or pitch orientation overload are more than limit value, steering engine 101 stops tracking control stick movement, continues
30 '~2 ° of pull rod 1 ° will eliminate gap between adjustable bridle 412 and non-adjustable bridle 413, such as continue pull rod at this time,
The power of 150N~190N need to be applied on the basis of normal operational power, so as to prompt pilot's aircraft angle of attack or overload super more
Limit.
The beneficial effects of the invention are as follows：The present invention provides a kind of aircraft fore-and-aft control limit limits device and method, can be with
Body when aircraft reaches restrictive condition to pilot significantly implies, prompts aircraft to reach capacity state, it should be noted that behaviour
Vertical action, while the ability of a part of override of pilot is also gived, for emergency maneuver in case of emergency, with making merely
With software limitation compared to more directly perceived and effective.
Brief description of the drawings
Fig. 1 is the fore-and-aft control limit limits device composition schematic diagram in the present invention；
Fig. 2 is the steering engine composition schematic diagram in the present invention；
Fig. 3 is the spring pull rod composition schematic diagram in the present invention；
Fig. 4 is the sealing outlet composition schematic diagram in the present invention；
Fig. 5 is longitudinal limit limitation schematic diagram in the present invention；
Wherein, 101- steering engines, 102- springs pull rod, 103- sealings outlet, I-hydraulic actuation cartridge module, II-data-collection
Device, III-hydraulic amplifier, 201- oily filters, 202- feedback transducers, 203- microswitches, 204- pistons, 205- springs, 206-
Steering engine rocking arm, 207- connections valve, 208- distributing valves, 209- throttle valve As, the first valve of 210-, 211- nozzles A, 212- the
One baffle, 213- nozzle Bs, 214- throttle valve B, 215- solenoid valve, 301- forked elements, 302- safety keys, 303- nuts A,
304- motion bars, 305- check screw A, 306- check screw B, 307- check screw C, 308- sleeve, 309- check screws D,
310- split pins, 311- nut B, 312- bushing A, 313- spring A, 314- bushing B, 315- spring B, 316- cylindrical sleeves,
317- bushing C, 318- spring C, 319- bushings D, 320- lid, 321- check screws E, 322- obturage bushing, 401- rocking arms A,
402- pull rod A, 403- shaft, 404- bearings, 405- bearing A, 406- bearing B, 407- rocking arm B, 408- pull rods B, 409- first
Sensor, 410- control feel simulators, the projection seat of 411- bridles, 412- is adjustable bridle, the non-adjustable bridles of 413-, 414- rocking arms
C, 415- sealing rings.
Embodiment
The embodiment of the present invention is described further below in conjunction with the accompanying drawings.
Referring to Fig. 1, a kind of aircraft fore-and-aft control limit limits device, including steering engine 101, spring pull rod 102, sealing outlet
103。
Fig. 2 is participated in, the composition and working principle of steering engine 101 is as follows：
(1) steering engine 101
Steering engine 101 includes hydraulic actuation cartridge module I, electromechanical transducer II, hydraulic amplifier III；101 conduct of steering engine
The execution annex of limit limitation, receives the control instruction movement of flight control computer.
Hydraulic actuation cartridge module I includes oily filter 201, microswitch 203, feedback transducer 202, connection valve 207.
Feedback transducer 202 is used for the displacement for measuring steering engine rocking arm 206.
Two microswitches 203 send signal according to the extreme position of steering engine rocking arm 206.
The purification of oily filter 201 enters the working solution of limit limitation steering engine.
Connection valve 207 when no working fluid pressure connects the chamber of one group of cylinder to get up, and there are work
They are separated again when hydraulic coupling.
Hydraulic actuation cartridge module I is the hydraulic motor of single-chamber, can be the energy that working solution flows by promoting piston rod to move
Turn is changed into mechanical energy.
Hydraulic amplifier III manipulates hydraulic motor and amplifies the power of manipulation electric signal at the same time by working solution, it is one
A hydraulic bridge, wherein two bridge arm is constant liquid resistance, and the liquid resistance of another two bridge arms can change.In liquid
Hydraulic power source is connected on one diagonal of breaking the bridge, coming oil circuit is pipeline E, and oil return circuit is pipeline D, and in the another of hydraulic bridge
One diagonal is load, and separator is the first pipeline F1 and the second pipeline F2.Throttle valve A 209, throttle valve B214 are used for providing
Constant liquid resistance, the nozzle A211 of the first baffle 212 with electromechanical transducer II, nozzle B 213 are used for providing variable
Liquid resistance, the first valve 210 are used as reducing and keep working fluid pressure constant.
Electromechanical transducer II is used as the transformation of control electric signal, and the transformation of electric signal will be with the baffle of hydraulic amplifier III
Displacement is proportional；
Electromechanical transducer II is used as the transformation of control electric signal, and the transformation of electric signal will amplify with nozzle-baffle type hydraulic pressure
The displacement of the baffle of device is proportional.
(2) operation principle of steering engine 101
When connecting solenoid valve 215, working solution flows under hydraulic system pressure along oil feed line B by oily filter 201
Enter hydraulic amplifier III, while flow to the end of connection valve 207.Under pressure, the distributing valve for connecting valve 207 moves
Move and the working chamber of hydraulic actuation cartridge module I is separated.In no control electric signal, nozzle A211, the end face of nozzle B 213
Gap between first baffle 212 is equal, and hydraulic bridge keeps balance, and the both ends surface pressure of distributing valve 208 is equal, and point oil is living
Door 208 is centrally located, does not produce the distribution of working fluid.Coil of the manipulation electric signal to electromechanical transducer II is being provided
When, just destruction hydraulic bridge is steady by centre position deflection for first baffle 212, and working liquid pressure declines in the second pipeline F2,
And pressure rise in the first pipeline F1, occur pressure difference at two end of distributing valve, cause distributing valve 208 to be moved to the small side of pressure
It is dynamic, and open working solution entrance and pipeline C is entered by oil feed line B, working solution enters hydraulic oil-returning pipeline, that is, pipeline D by pipeline A.
The flow of working solution is proportional to controlling the size of electric signal.Working solution enters hydraulic actuator group along pipeline C under stress
Part I, mobile piston 204 simultaneously drive steering engine rocking arm 206 to move together.When opposite polarity signal reaches, distributing valve 208 to
Opposite direction movement, the opposite chamber of hydraulic actuation cartridge module I is communicated by pipeline A with oil feed line B, therefore steering engine rocking arm
206 just move to another direction, and working solution flows into oil return line, that is, pipeline D by pipeline C.Feedback transducer 202 passes through piston
204 are connected with steering engine rocking arm 206, and with the change of 206 position of steering engine rocking arm, feedback transducer 202 changes the angle rotated, this
When feedback transducer 202 send position signal to flight control computer, this signal leaves neutral position corresponding to steering engine rocking arm 206
Stroke.When the distance that steering engine rocking arm 206 is moved to this face or that face is more than impulse stroke, microswitch 203 is switched on.
When releasing manipulation electric signal, all parts return to initial position.On 215 binding post of no charge oil pressure or solenoid valve
When not having voltage, steering engine rocking arm 206 is stabilized to neutral position under the action of spring 205.
Referring to Fig. 3, the composition of spring pull rod 102 as shown in the figure, its movement as the transmission parts transmission steering engine of steering engine,
When there is the angle of attack and overload transfinites, there is provided the additional manipulation power of control stick.
Referring to Fig. 4, the shaft 403 of sealing outlet 103 is installed on bearing A405, bearing B406 and bearing 404, in shaft
On rocking arm A401, rocking arm B407, rocking arm C414 are installed.
Rocking arm A401 is arranged in cockpit and the pull rod A402 with being connected control stick is connected；Rocking arm B407, rocking arm C414 cloth
Put under cockpit floor, rocking arm B407 is connected with control feel simulator 410 and first sensor 409 respectively.
Rocking arm C414 is connected by spring pull rod 102 with steering engine 101.
Rocking arm B407 is rigid connection with shaft 403, and adjustable bridle 412 is carried on the lug of rocking arm B407, when winged
When machine enters the critical angle of attack and overload, by adjustable bridle 412, non-adjustable bridle 413, ensure to increase on control stick attached
Add stick force；
Bearing 404 is installed on cockpit floor with bolt seal.
Bearing 4 is installed on cockpit floor with bolt seal.
Referring to Fig. 5, in not up to restrictive condition, flight control computer is resolved according to the displacement signal of control stick pitch orientation
Go out the command signal of steering engine 101, the steering engine rocking arm 206 of control steering engine 101 follows the deflection of control stick.Control stick is in a certain range
During draw-in bar, the setting gap between adjustable bridle 412 and non-adjustable bridle 413 is constant all the time, the nonintervention behaviour of steering engine 101
It is vertical.When the angle of attack or pitch orientation overload are more than limit value, steering engine 101 stops tracking control stick movement, continues 1 ° of pull rod
30 '~2 ° will eliminate gap between adjustable bridle 412 and non-adjustable bridle 413, such as continue pull rod at this time, need to be just
It is on the basis of normal steering force to apply 150N~190N kgs more, so as to prompt pilot's aircraft angle of attack or overload to transfinite.
Claims (2)
1. a kind of aircraft fore-and-aft control limit limits device, it is characterized in that：The limit limits device includes steering engine (101), bullet
Spring pull rod (102), sealing outlet (103)；
The steering engine (101) includes hydraulic actuation cartridge module I, electromechanical transducer II, hydraulic amplifier III；The steering engine (101)
As the execution annex of limit limitation, the control instruction movement of flight control computer is received；
The hydraulic actuation cartridge module I includes oily filter (201), microswitch (203), feedback transducer (202), connection valve
(207)；The signal that the feedback transducer (202) sends is proportional to the displacement of steering engine rocking arm (206)；Two microswitches
(203) extreme position to steering engine rocking arm (206) sends signal；Oily filter (201) purification enters the work of limit limitation steering engine
Make liquid；The connection valve (207) when no working fluid pressure connects the chamber of one group of cylinder to get up, and there are work
They are separated again when making hydraulic coupling；The hydraulic actuation cartridge module I is the hydraulic motor of single-chamber, working solution can be flowed
Energy by promote piston rod movement be changed into mechanical energy；
The hydraulic amplifier III manipulates hydraulic motor and amplifies the power of manipulation electric signal at the same time by working solution, it is one
A hydraulic bridge, wherein two bridge arm is constant liquid resistance, and the liquid resistance of another two bridge arms can change；In liquid
Hydraulic power source is connected on one diagonal of breaking the bridge, coming oil circuit is pipeline E, and oil return circuit is pipeline D；And in the another of hydraulic bridge
One diagonal is load, and separator is the first pipeline F (1) and the second pipeline F (2)；Throttle valve A (209), throttle valve B (214)
For providing constant liquid resistance, the nozzle A (211) of the first baffle (212) with electromechanical transducer II, nozzle B (213)
For providing variable liquid resistance, the first valve (210) is used as reducing and keeps working fluid pressure constant；
Electromechanical transducer II is used as the transformation of control electric signal, and the transformation of electric signal will be with the displacement of the baffle of hydraulic amplifier III
It is proportional；
Steering engine (101) works in the following way：When connecting solenoid valve (215), working solution is in hydraulic system pressure lower edge
Oil feed line B and flow into hydraulic amplifier III by oily filter (201), while flow to the end of connection valve (207)；Make in pressure
Under, the distributing valve of connection valve (207) is mobile and the working chamber of hydraulic actuation cartridge module I is separated；In no control electricity
During signal, nozzle A (211), the end face of nozzle B (213) are equal with the gap between first baffle (212), and hydraulic bridge keeps flat
Weighing apparatus；The both ends surface pressure of distributing valve (208) is equal；Distributing valve (208) is centrally located, does not produce point of working fluid
Match somebody with somebody；When providing coil of the manipulation electric signal to electromechanical transducer II, first baffle (212) just destroys liquid by centre position deflection
Breaking the bridge is steady；Working liquid pressure declines in the second pipeline F (2), and pressure rise in the first pipeline F (1), in distributing valve
There is pressure difference in two ends, cause distributing valve (208) to be moved to the small side of pressure, and open working solution entrance by oil feed line B
Into pipeline C；Working solution enters hydraulic oil-returning pipeline, that is, pipeline D by pipeline A；The size of the flow of working solution and control electric signal
It is proportional；Working solution enters hydraulic actuation cartridge module I along pipeline C under stress, and mobile piston (204) simultaneously drives steering engine rocking arm
(206) move together；When opposite polarity signal reaches, distributing valve (208) moves in the opposite direction, hydraulic actuator
The opposite chamber of component I is communicated by pipeline A with oil feed line B, therefore steering engine rocking arm (206) is just moved to another direction；
Working solution flows into oil return line, that is, pipeline D by pipeline C；Feedback transducer (202) passes through piston (204) and steering engine rocking arm (206)
It is connected, with the change of steering engine rocking arm (206) position, feedback transducer (202) changes the angle rotated, at this moment feedback transducer
(202) position signal is sent to flight control computer, this signal corresponds to the stroke that steering engine rocking arm (206) leaves neutral position；
When the distance that steering engine rocking arm (206) is moved to this face or that face is more than impulse stroke, microswitch (203) is switched on；Solving
During except manipulating electric signal, all parts return to initial position；On no charge oil pressure or solenoid valve (215) binding post
When not having voltage, steering engine rocking arm (206) is stabilized to neutral position under the action of spring (205)；
Spring pull rod (102) transmits the movement of steering engine as the transmission parts of steering engine (101), transfinites there is the angle of attack and overload
When, there is provided the additional manipulation power of control stick；
The shaft (403) of sealing outlet (103) is installed on bearing A (405), bearing B (406) and bearing (404), in shaft
Rocking arm A (401), rocking arm B (407), rocking arm C (414) are installed；
Rocking arm A (401) is arranged in cockpit and the pull rod A (402) with being connected control stick is connected；Rocking arm B (407), rocking arm C
(414) it is arranged under cockpit floor, rocking arm B (407) is connected with control feel simulator (410) and first sensor (409) respectively；
Rocking arm C (414) is connected by spring pull rod (102) same to steering engine (101)；
Rocking arm B (407) is rigid connection with shaft (403), and adjustable bridle (412) is carried on the lug of rocking arm B (407),
When aircraft enters the critical angle of attack and overload, by adjustable bridle (412), non-adjustable bridle (413), ensure in control stick
The upper additional stick force of increase；
Bearing (404) is installed on cockpit floor with bolt seal.
2. a kind of usage right requires the aircraft fore-and-aft control limit method for limiting of 1 limit limits device, it is characterized in that institute
The method of stating includes：
2.1) in not up to restrictive condition, flight control computer calculates steering engine according to the displacement signal of control stick pitch orientation
(101) command signal, the steering engine rocking arm (206) of control steering engine (101) follow the deflection of control stick；Control stick is in a certain range
During draw-in bar, the setting gap between adjustable bridle (412) and non-adjustable bridle (413) is constant all the time, and steering engine (101) is no
Intervene and manipulate；
2.2) when the angle of attack or pitch orientation overload are more than limit value, steering engine (101) stops tracking control stick movement, continues
30 '~2 ° of pull rod 1 ° will eliminate the gap between adjustable bridle (412) and non-adjustable bridle (413), such as continue at this time
Pull rod, need to apply the power of 150N~190N, so as to prompt pilot's aircraft angle of attack or mistake more on the basis of normal operational power
Load transfinites.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410664019.6A CN104477378B (en) | 2014-11-19 | 2014-11-19 | A kind of aircraft fore-and-aft control limit method for limiting and its device |
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| CN201410664019.6A CN104477378B (en) | 2014-11-19 | 2014-11-19 | A kind of aircraft fore-and-aft control limit method for limiting and its device |
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| SU1826414A1 (en) * | 1977-07-28 | 1995-11-10 | Павловский машиностроительный завод "Восход" | Three-channel electrohydraulic servo unit |
| EP0718734A1 (en) * | 1994-12-22 | 1996-06-26 | EUROCOPTER FRANCE, Société Anonyme dite: | Cyclic control stick system with gradient of increasing effort feedback for helicopter |
| JP2004249784A (en) * | 2003-02-19 | 2004-09-09 | Ts Corporation | Aircraft control surface drive |
| EP1604896A2 (en) * | 2004-06-09 | 2005-12-14 | Liebherr-Aerospace Lindenberg GmbH | Airplane high lift system with overload prevention |
| CN103010457A (en) * | 2011-09-26 | 2013-04-03 | 空中客车运营简化股份公司 | Electrical rudder control system for an aircraft |
| CN102591348A (en) * | 2012-03-01 | 2012-07-18 | 孟祥谦 | Calculation and analysis control method of drag load effect on airplane maneuverability |
| CN202593853U (en) * | 2012-03-09 | 2012-12-12 | 陕西飞机工业（集团）有限公司 | Novel control surface control device |
| CN103473967A (en) * | 2013-08-29 | 2013-12-25 | 南京航空航天大学 | Airplane simulation manipulator with operating force feel |
| CN203793644U (en) * | 2014-03-27 | 2014-08-27 | 中国航空工业集团公司沈阳飞机设计研究所 | Four-redundant combined steering engine with monitoring piston |
| CN203832761U (en) * | 2014-04-17 | 2014-09-17 | 中国航空工业集团公司沈阳飞机设计研究所 | Control stick lateral loading device applicable to aircraft fatigue tests |
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