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CN107097934B - A kind of switching method of the main Passive Mode of aircraft side lever system - Google Patents

A kind of switching method of the main Passive Mode of aircraft side lever system Download PDF

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Publication number
CN107097934B
CN107097934B CN201710200143.0A CN201710200143A CN107097934B CN 107097934 B CN107097934 B CN 107097934B CN 201710200143 A CN201710200143 A CN 201710200143A CN 107097934 B CN107097934 B CN 107097934B
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handle
linear motor
spring
side lever
output end
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CN107097934A (en
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孙永荣
陈悦
王欢
袁洋
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Mechanical Control Devices (AREA)

Abstract

The invention discloses a kind of switching methods of main Passive Mode of aircraft side lever system, in the positive lower end at side lever rotatable handle center, linear motor and position feedback device are set, and spring is set between linear motor and side lever handle, so that spring one end is connected with the lower end of the side lever handle, the other end is connected with the output end of the linear motor；Wherein, position feedback device is used for the extension elongation of the current linear motor output end of Real-time Feedback, and spring can only generate elastic potential energy by elongation, i.e. elongation is strong, and compression is powerless.When aircraft side lever system has the initiative mode, so that spring is in the state not stretched, the sense quality when work of active side lever is not influenced；When aircraft switches to Passive Mode by aggressive mode, control linear motor pulls spring, during side lever handle quickly returns, so that control stick work is in passive working condition.The present invention improves the safety coefficient of aircraft control stick.

Description

A kind of switching method of the main Passive Mode of aircraft side lever system
Technical field
The present invention relates to flight control method more particularly to a kind of switching methods of the main Passive Mode of aircraft side lever system.
Background technique
For aircraft, reliability is vital.
In order to improve the functional reliability of aircraft side lever system, it is ensured that in torque motor or control system failure, nothing In the case that method provides accurate reaction force, pilot is able to achieve the normal operational to aircraft, increased in side lever system by Dynamic formula working method is as backup.
Passive Mode exports angular displacement and the angular velocity information of side lever handle, after guaranteeing motor failure, pilot's energy Enough drive an airplane the basic function maked a return voyage safely.
In systems, how to realize that the switching between aggressive mode and Passive Mode is a difficult point, in the active mode, quilt Dynamic side lever cannot interfere active side lever.
Main Passive Mode handoff technique in domestic relevant aeroplane master end lever system not yet, if therefore the technical program For the functional reliability of aircraft side lever system being improved, to China in the master end lever system of seating plane and military aircraft Aviation development it is meaningful.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of aircraft side for defect involved in background technique The switching method of the main Passive Mode of lever system makes aircraft safety make a return voyage so that system enters Passive Mode when motor failure.
The present invention uses following technical scheme to solve above-mentioned technical problem:
A kind of switching method of the main Passive Mode of aircraft side lever system includes following procedure:
Linear motor and position feedback device are set in the positive lower end at side lever rotatable handle center, and in linear motor and side lever Spring is set between handle, so that spring one end is connected with the lower end of the side lever handle, the other end and the linear motor Output end is connected；The position feedback device is used for the extension elongation of the current linear motor output end of Real-time Feedback, and the spring is only Elastic potential energy can be generated by elongation, i.e. elongation is strong, and compression is powerless；
When aircraft side lever system has the initiative mode:
Step 1.1), pilot sets the neutral position of side lever handle, if pilot does not set the neutral position of side lever handle, It is neutral position when default side lever handle is in a vertical state；
Step 1.2), according to side lever handle neutral position relative to deflection angle of side lever handle when in a vertical state, side Bar handle relative to the hard-over of neutral position, the former length of spring, rotation center to the bar between side lever handle bottom end it is long and The distance when extension elongation of linear motor output end is zero at the top of rotation center to linear motor output end, calculates at spring The extension elongation d of linear motor output end when not tensional state0；
Step 1.3), control linear motor work, so that the extension elongation of its output end is equal to d0；
When aircraft switches to Passive Mode by aggressive mode:
Position of side lever handle when in a vertical state is set default neutral position by step 2.1)；
Step 2.2), according to when antero-lateral rod handle relative to the corner of default neutral position, in conjunction with needed for side lever handle tip The table of comparisons of Hui Zhongli obtains the Hui Zhongli required for its top when antero-lateral rod handle returns middle；
Step 2.3), according to when antero-lateral rod handle relative to default neutral position corner, when antero-lateral rod handle return in when its Elasticity system of the Hui Zhongli, rotation center required for top to the distance between side lever handle tip, the former length of spring, spring Several and rotation center is long to the bar between side lever handle bottom end, calculates after antero-lateral rod handle Hui Zhonghou spring elongation Length；
Step 2.4), rotation center is to linear motor output end top when the extension elongation according to linear motor output end is zero The distance in portion, length after antero-lateral rod handle Hui Zhonghou spring elongation, rotation center are long to the bar between side lever handle bottom end, Calculate the extension elongation d of the linear motor output end when antero-lateral rod handle returns middle1；
Step 2.5), control linear motor work, so that the extension elongation of its output end is equal to d1。
As a kind of further prioritization scheme of switching method of the main Passive Mode of aircraft side lever system of the present invention, the step It is rapid 1.2) in calculate according to the following formula spring be in not tensional state when linear motor output end extension elongation d0:
Wherein, L is the extension elongation of linear motor output end when being zero at the top of rotation center to linear motor output end Distance, L0Long for the original of spring, α is hard-over of the side lever handle relative to neutral position, and Δ θ is that side lever handle neutral position is opposite Deflection angle when side lever handle is in a vertical state, L1It is long to the bar between side lever handle bottom end for rotation center.
As a kind of further prioritization scheme of switching method of the main Passive Mode of aircraft side lever system of the present invention, the step It is rapid 2.3) in calculate length L after antero-lateral rod handle Hui Zhonghou spring elongation according to the following formula0+ Δ L:
Wherein, F0Hui Zhongli, k needed for returning to neutral position handle tip in current location for side lever handle0For the elasticity of spring Coefficient, Δ L are the length that spring is elongated, L2For the distance between rotation center to side lever handle tip, θ is aircraft actively Corner of the side lever handle relative to neutral position when mode.
As a kind of further prioritization scheme of switching method of the main Passive Mode of aircraft side lever system of the present invention, the step It is rapid 2.4) in calculate according to the following formula when antero-lateral rod handle return in when linear motor output end extension elongation d1:
d1=L-L1-L0-ΔL。
The invention adopts the above technical scheme compared with prior art, has following technical effect that
1. can reduce the volume and weight of aircraft master end lever system, more there is practical equipment meaning；
2. the neutral position of master end lever system can facilitate adjusting, and side lever returns middle process according to the habit of pilot Rapidly, position is accurate in returning；
3. passive side lever will not interfere active side lever within the scope of side lever movement travel；
4. torque motor or control system break down, system is switched to Passive Mode, and pilot can drive an airplane Safety is maked a return voyage.
Detailed description of the invention
Fig. 1 is the passive switching method of aircraft master end lever system master and schematic illustration；
Fig. 2 is the working state schematic representation of side lever handle in the active mode in the present invention；
Fig. 3 is the working state schematic representation of side lever handle in the passive mode in the present invention.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
To realize that the switching between main Passive Mode, the invention realize this function using special spring and linear motor.Such as Shown in Fig. 1, linear motor and position feedback device are set in the positive lower end at side lever rotatable handle center, and in linear motor and side lever Spring is set between handle, so that spring one end is connected with the lower end of the side lever handle, the other end and the linear motor Output end is connected；The position feedback device is used for the extension elongation of the current linear motor output end of Real-time Feedback, and the spring is only Elastic potential energy can be generated by elongation, i.e. elongation is strong, and compression is powerless.
To save installation space, pitch axis and wobble shaft share a spring.Main Passive Mode is illustrated by taking pitch axis as an example Between switching, setting pitch angle be positive forward.
When aircraft side lever system has the initiative mode:
The neutral position that pilot sets side lever handle first is defaulted if pilot does not set the neutral position of side lever handle It is neutral position when side lever handle is in a vertical state；
Then deflection angle, the side lever handle according to side lever handle neutral position relative to side lever handle when in a vertical state Relative to the hard-over of neutral position, the former length of spring, rotation center to the bar length and straight-line electric between side lever handle bottom end The distance when extension elongation of machine output end is zero at the top of rotation center to linear motor output end, calculate spring be in do not draw The extension elongation d of linear motor output end when stretching state0；
Finally control linear motor work, so that the extension elongation of its output end is equal to d0。
As shown in Fig. 2, enabling side lever handle neutral position relative to deflection angle of side lever handle when in a vertical state is Δ θ, side lever handle is α relative to the hard-over of neutral position, when side lever handle is located at hard-over between spring and vertical direction Angle be β.
Enable a length of L of original of spring0, rotation center to a length of L of bar between side lever handle bottom end1, linear motor output end Distance when extension elongation is zero at the top of rotation center to linear motor output end is L, and current rotation center is defeated to linear motor Distance at the top of outlet is L '.
According to sine, it is known that
It acquires
According to sine, it is known that
It acquires
Due to the extension elongation d of linear motor output end when spring is in not tensional state0=L-L ', then
Therefore, according to the neutral position of setting, linear motor moves to d0Place, just can guarantee system in the active mode, side Bar moves in stroke range, and spring is in relaxation or tensional state, passive side lever will not interfere active side lever.
When aircraft switches to Passive Mode by aggressive mode:
Firstly, setting default neutral position for position of side lever handle when in a vertical state；
Then, according to when antero-lateral rod handle relative to the corner of default neutral position, in conjunction with needed for side lever handle tip return in The table of comparisons of power obtains the Hui Zhongli required for its top when antero-lateral rod handle returns middle；
Secondly, according to when antero-lateral rod handle relative to neutral position corner, when antero-lateral rod handle return in when its top needed for The distance between the Hui Zhongli that wants, rotation center to side lever handle tip, the former length of spring, the coefficient of elasticity of spring, Yi Jixuan Turn that center is long to the bar between side lever handle bottom end, calculates length after antero-lateral rod handle Hui Zhonghou spring elongation；
Then, when being zero according to the extension elongation of linear motor output end at the top of rotation center to linear motor output end Distance, length after antero-lateral rod handle Hui Zhonghou spring is drawn high, rotation center are long to the bar between side lever handle bottom end, calculate Out when antero-lateral rod handle return in when linear motor output end extension elongation d1；
Finally, control linear motor work, so that the extension elongation of its output end is equal to d1。
As shown in figure 3, when system is switched to Passive Mode, enable aircraft in aggressive mode side lever handle relative to neutrality The corner of position is θ, since side lever handle neutral position is Δ θ relative to deflection angle of side lever handle when in a vertical state, that After switching to Passive Mode, neutral position be reset to side lever handle it is in a vertical state when position, at this point, side lever hand Handle is θ+Δ θ relative to the corner of neutral position.
Enable the extension elongation d for adjusting linear motor output end1When, make spring elongation, providing enough power keeps side lever quick Hui Zhong.
Enable rotation center to the distance between side lever handle tip be L2, the length of spring is L at vertical position0+ΔL (Δ L >=0), Δ L are the length that spring is elongated, then
d1=L-L1-L0-ΔL
According to the cosine law, the length of current spring is
Spring occur deformation Δ x be
According to sine, the angle between the location of spring and bar is γ at this time
ByKnown to:
The coefficient of elasticity for enabling spring is k0, then power suffered by spring is F=k0×Δx；Power is decomposed vertical with bar Direction, the power F that vertical direction is subject to1For F1=Fsin γ.
Enabling side lever handle power in current location returns to needed for the handle tip of default neutral position and returns is F0, according to equalising torque Theorem, F0×L2=F1×L1, then:
I.e.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention Protection scope within.

Claims (4)

1.一种飞机侧杆系统主被动模式的切换方法，其特征在于，包含以下过程：1. a switching method of an active-passive mode of an aircraft side stick system, is characterized in that, comprises following process: 在侧杆手柄旋转中心的正下端设置直线电机和位置反馈器，并在直线电机和侧杆手柄之间设置弹簧，使得弹簧一端和所述侧杆手柄的下端相连、另一端和所述直线电机的输出端相连；所述位置反馈器用于实时反馈当前直线电机输出端的伸出长度，所述弹簧只能通过伸长产生弹性势能，即伸长有力，压缩无力；A linear motor and a position feedback device are arranged at the lower end of the rotation center of the side lever handle, and a spring is arranged between the linear motor and the side lever handle, so that one end of the spring is connected to the lower end of the side lever handle, and the other end is connected to the linear motor. The position feedback device is used for real-time feedback of the current extension length of the output end of the linear motor, and the spring can only generate elastic potential energy through extension, that is, the extension is strong, and the compression is weak; 当飞机侧杆系统处于主动模式时：When the aircraft sidestick system is in active mode: 步骤1.1)，飞行员设定侧杆手柄的中立位，若飞行员不设定侧杆手柄的中立位，则默认侧杆手柄处于竖直状态时为侧杆手柄的中立位；Step 1.1), the pilot sets the neutral position of the side stick handle, if the pilot does not set the neutral position of the side stick handle, the default side stick handle is the neutral position when the side stick handle is in the vertical state; 步骤1.2)，根据侧杆手柄中立位相对于侧杆手柄处于竖直状态时的偏转角度、侧杆手柄相对于侧杆手柄中立位的最大转角、弹簧的原长、侧杆手柄旋转中心到侧杆手柄底端之间的杆长、以及直线电机输出端的伸出长度为零时侧杆手柄旋转中心至直线电机输出端顶部的距离，计算出弹簧处于不拉伸状态时直线电机输出端的伸出长度d0；Step 1.2), according to the deflection angle of the neutral position of the sidebar handle relative to the sidebar handle when it is in a vertical state, the maximum rotation angle of the sidebar handle relative to the neutral position of the sidebar handle, the original length of the spring, the rotation center of the sidebar handle to the sidebar The rod length between the bottom ends of the handle and the distance from the rotation center of the side rod handle to the top of the linear motor output when the extension length of the output end of the linear motor is zero, calculate the extension length of the output end of the linear motor when the spring is not stretched d 0 ; 步骤1.3)，控制直线电机工作，使得其输出端的伸出长度等于d0；Step 1.3), control the linear motor to work, so that the extension length of its output end is equal to d 0 ; 当飞机由主动模式切换至被动模式时：When the aircraft switches from active mode to passive mode: 步骤2.1)，将侧杆手柄处于竖直状态时的位置设置为默认侧杆手柄中立位；Step 2.1), set the position of the side stick handle in the vertical state as the default side stick handle neutral position; 步骤2.2)，根据当前侧杆手柄相对于默认侧杆手柄中立位的转角、结合侧杆手柄顶端所需回中力的对照表，得到侧杆手柄在当前位置回到侧杆手柄中立位手柄顶端所需的回中力；Step 2.2), according to the angle of the current side stick handle relative to the neutral position of the default side stick handle, combined with the comparison table of the required return force at the top of the side stick handle, get the side stick handle at the current position to return to the top of the side stick handle neutral position handle required return force; 步骤2.3)，根据当前侧杆手柄相对于默认侧杆手柄中立位的转角、当前侧杆手柄回中时其顶端所需要的回中力、侧杆手柄旋转中心到侧杆手柄顶端之间的距离、弹簧的原长、弹簧的弹性系数、以及侧杆手柄旋转中心到侧杆手柄底端之间的杆长，计算出当前侧杆手柄回中后弹簧拉伸后的长度；Step 2.3), according to the rotation angle of the current side stick handle relative to the neutral position of the default side stick handle, the return force required for the top of the current side stick handle to return to the center, and the distance between the rotation center of the side stick handle and the top of the side stick handle , the original length of the spring, the elastic coefficient of the spring, and the rod length between the rotation center of the side rod handle and the bottom end of the side rod handle, and calculate the length of the spring after the current side rod handle is returned to the center; 步骤2.4)，根据直线电机输出端的伸出长度为零时侧杆手柄旋转中心至直线电机输出端顶部的距离、当前侧杆手柄回中后弹簧拉伸后的长度、侧杆手柄旋转中心到侧杆手柄底端之间的杆长，计算出当前侧杆手柄回中时直线电机输出端的伸出长度d1；Step 2.4), according to the distance from the rotation center of the side rod handle to the top of the output end of the linear motor when the extension length of the output end of the linear motor is zero, the length of the spring after the current side rod handle is returned to the center, and the rotation center of the side rod handle to the side The rod length between the bottom ends of the rod handle, calculate the extension length d 1 of the output end of the linear motor when the current side rod handle returns to the center; 步骤2.5)，控制直线电机工作，使得其输出端的伸出长度等于d1。Step 2.5), control the linear motor to work so that the protruding length of its output end is equal to d 1 . 2.根据权利要求1所述的飞机侧杆系统主被动模式的切换方法，其特征在于，所述步骤1.2)中根据以下公式计算弹簧处于不拉伸状态时直线电机输出端的伸出长度d0：2. the switching method of the active-passive mode of the aircraft side stick system according to claim 1, is characterized in that, in described step 1.2), according to the following formula, calculate the extension length d of the linear motor output end when the spring is in an unstretched state. : 其中，L为直线电机输出端的伸出长度为零时侧杆手柄旋转中心至直线电机输出端顶部的距离，L0为弹簧的原长,α为侧杆手柄相对于侧杆手柄中立位的最大转角，Δθ为侧杆手柄中立位相对于侧杆手柄处于竖直状态时的偏转角度，L1为侧杆手柄旋转中心到侧杆手柄底端之间的杆长。Among them, L is the distance from the rotation center of the side rod handle to the top of the output end of the linear motor when the extension length of the output end of the linear motor is zero, L 0 is the original length of the spring, and α is the maximum distance of the side rod handle relative to the neutral position of the side rod handle Rotation angle, Δθ is the deflection angle of the side stick handle in the neutral position relative to the side stick handle in the vertical state, and L 1 is the rod length between the rotation center of the side stick handle and the bottom end of the side stick handle. 3.根据权利要求2所述的飞机侧杆系统主被动模式的切换方法，其特征在于，所述步骤2.3)中根据以下公式计算当前侧杆手柄回中后弹簧拉伸后的长度L0+ΔL：3. the switching method of the active-passive mode of the aircraft side stick system according to claim 2, it is characterized in that, in described step 2.3), according to the following formula, calculate the length L 0 + after the spring after the current side stick handle is returned to the middle ΔL: 其中，F0为侧杆手柄在当前位置回到侧杆手柄中立位手柄顶端所需回中力，k0为弹簧的弹性系数，ΔL为弹簧被拉长的长度，L2为侧杆手柄旋转中心到侧杆手柄顶端之间的距离，θ为飞机在主动模式时侧杆手柄相对于侧杆手柄中立位的转角。Among them, F 0 is the neutralizing force required for the side lever handle to return to the top of the side lever handle at the current position, k 0 is the elastic coefficient of the spring, ΔL is the length of the spring being elongated, and L 2 is the rotation of the side lever handle The distance from the center to the top of the side stick handle, θ is the rotation angle of the side stick handle relative to the neutral position of the side stick handle when the aircraft is in active mode. 4.根据权利要求3所述的飞机侧杆系统主被动模式的切换方法，其特征在于，所述步骤2.4)中根据以下公式计算当前侧杆手柄回中时直线电机输出端的伸出长度d1：4. the switching method of the active-passive mode of the aircraft side stick system according to claim 3, is characterized in that, in the described step 2.4), according to the following formula, calculate the extension length d of the linear motor output end when the current side stick handle is returned to the center. : d1＝L-L1-L0-ΔL。d 1 =LL 1 -L 0 -ΔL.
CN201710200143.0A 2017-03-30 2017-03-30 A kind of switching method of the main Passive Mode of aircraft side lever system Active CN107097934B (en)

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US7888901B2 (en) * 2006-11-15 2011-02-15 Honeywell International Inc. Active human-machine interface system including an electrically controllable damper
US9051045B2 (en) * 2010-07-28 2015-06-09 Woodward Mpc, Inc. Indirect drive active control column
US10118688B2 (en) * 2015-08-18 2018-11-06 Woodward, Inc. Inherently balanced control stick
CN105700615A (en) * 2016-02-25 2016-06-22 南京航空航天大学 Airplane active side lever system
CN105620729B (en) * 2016-02-25 2017-08-01 南京航空航天大学 A sidestick automatic centering method of an aircraft active sidestick system
CN205652337U (en) * 2016-02-25 2016-10-19 南京航空航天大学 Aircraft initiative side lever

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