CN112061381B - Rotorcraft equipped with adaptive landing gear for taking off and landing on complex terrain and control method - Google Patents

Abstract

The invention provides a rotor craft with self-adaptive landing gear for taking off and landing in complex terrain and a control method thereof, wherein a controller, a gyroscope and a propeller are arranged at the top of a craft body, and three landing gears are arranged on the craft body according to a front three-point landing gear layout mode; the first power mechanism of every undercarriage articulates in last connecting rod mid portion, and upward the connecting rod upper end articulates on the aircraft body, and the lower extreme articulates in connecting rod one end down, and second power mechanism articulates in connecting rod mid portion down, and connecting rod upper end articulates on the aircraft body down, and the buffer is connected to the lower extreme, connects the load bearing wheel under the buffer, and the laser range finder extends down the connecting rod near the place outwards hangs on connecting rod down. The invention solves the problems that the rotor craft can not make the craft take off and land on the shaking plane, the practicality and the universality are poor, and the control accuracy is not high.

Description

Rotorcraft equipped with adaptive landing gear for complex terrain take-off and landing and its control method

technical field

The invention relates to a rotorcraft equipped with self-adaptive landing gear for taking off and landing on complex terrain and a control method, and belongs to the field of related equipment and control technology for aircraft landing on unknown terrain.

Background technique

At present, with the expansion of human working space, the working conditions of a series of aircraft such as unmanned aerial vehicles and manned aircraft have become extremely harsh. drop.

However, the existing adaptive landing gear technology is still immature. Traditional wheeled landing gear and skid-type landing gear cannot efficiently assist the aircraft to independently complete take-off and landing on rough ground or shaking planes. Many adaptive landing gears cannot be applied to Manned heavy aircraft, and unable to make the aircraft take off and land on the shaking plane, its practicability and versatility are poor, and the accuracy of control is not high, so it needs to be improved.

Contents of the invention

In order to solve the problem that the adaptive landing gear mentioned in the above-mentioned background technology cannot be applied to heavy-duty aircraft that can carry people, and it cannot make the aircraft take off and land on a shaking plane, its practicability and versatility are poor, and the accuracy of control In order to solve the low-level problem, a rotorcraft equipped with adaptive landing gear for take-off and landing on complex terrain and a control method are proposed, which can improve the ground adaptability of the aircraft during landing, so as to realize safe take-off and landing on complex terrain. Meet the needs of modern aircraft that can take off and land on complex terrain.

The present invention proposes a rotorcraft equipped with self-adaptive landing gear for take-off and landing in complex terrain, including an aircraft body, a controller, a gyroscope and three landing gears; the top of the aircraft body is equipped with a controller, a gyroscope and a propeller , the controller is used to receive the data returned by the laser rangefinder and the gyroscope, and the gyroscope is used to measure the inclination angle of the aircraft body itself, and the aircraft body is arranged with a front landing gear and two a main landing gear; each landing gear includes a first power mechanism, a second power mechanism, an upper connecting rod, a lower connecting rod, a laser range finder, a buffer and a load-bearing wheel, and the first power mechanism is hinged on the The middle part of the connecting rod, the upper end of the upper connecting rod is hinged on the aircraft body, the lower end is hinged on one end of the lower connecting rod, the second power mechanism is hinged on the middle part of the lower connecting rod, the upper end of the lower connecting rod is hinged on the aircraft body, The lower end is connected with a buffer, and the load-bearing wheel is connected under the buffer, and the laser range finder is hung on the lower connecting rod near the ground by extending the lower connecting rod.

Preferably, the first power mechanism includes a first servo valve, a first hydraulic cylinder and a first hydraulic rod. During the movement of the landing gear, the opening and closing of the first servo valve is controlled to adjust the movement of the first hydraulic cylinder to drive the first hydraulic rod. The movement of the first power mechanism is realized by the expansion and contraction amount. The upper end of the first hydraulic cylinder block is hinged on the aircraft body, and the lower end of the first hydraulic rod is hinged on the middle part of the upper connecting rod.

Preferably, the second power mechanism includes a second servo valve, a second hydraulic cylinder and a second hydraulic rod. During the movement of the landing gear, the opening and closing of the second hydraulic cylinder is controlled to drive the second hydraulic rod. The telescopic amount realizes the movement of the second power mechanism, the upper end of the second hydraulic cylinder body is hinged on the upper connecting rod, and the lower end of the second hydraulic rod is hinged on the middle part of the lower connecting rod.

Preferably, the rotorcraft equipped with adaptive landing gear for taking off and landing on complex terrain further includes a motor pump and a fuel tank, and the motor pump and fuel tank are used to provide hydraulic oil for the hydraulic servo system.

A control method for a rotorcraft equipped with adaptive landing gear for taking off and landing in complex terrain, specifically comprises the following steps:

S1. The rotorcraft starts to take off on the rough ground, the aircraft body takes off, and after the laser range finder judges that all the load-bearing wheels are off the ground, the landing gear is retracted;

S2. The rotorcraft starts to land over the rough ground, the aircraft body hovers over the rough ground, the landing gear is fully retracted during flight to the maximum mechanical structure expansion state, and the landing gear where the three laser range finders are located is recorded respectively All the height data on the respective paths measured during the unfolding process, the controller calculates the expected spatial positions of the three landing gears, controls the extended attitude of the landing gears, adjusts the landing gears to the desired spatial positions, and starts landing. After the range finder judges that all load-bearing wheels touch the ground, the landing is completed;

A control method for a rotorcraft equipped with adaptive landing gear for taking off and landing in complex terrain, specifically comprises the following steps:

S1. The rotorcraft starts to take off on the shaking plane. The aircraft body controls the extended attitude of the landing gear according to the body tilt data measured by the gyroscope, and continuously adjusts the landing gear according to the data measured by the gyroscope. Repeat the above process to make the aircraft body Maintain the horizontal state, the aircraft body takes off, and the landing gear is retracted after judging that all load-bearing wheels are off the ground through the laser rangefinder;

S2. The rotorcraft starts to land above the shaking plane, the aircraft body hovers over the shaking plane, and the landing gear is fully retracted during flight to the maximum state of mechanical structure expansion. According to the real-time data measured by the laser rangefinder, Calculate the desired spatial position of the three landing gears through the controller, control the extended attitude of the landing gear, so that the landing gear can be adjusted to the desired spatial position, start landing, and continuously adjust the landing gear according to the data measured by the laser range finder, repeat the above During the process, after the laser rangefinder judges that all the load-bearing wheels have touched the ground, the landing gear is retracted and the landing is completed.

The beneficial effects of the rotorcraft equipped with self-adaptive landing gear for taking off and landing in complex terrain and the control method of the present invention are as follows:

1. The rotorcraft equipped with self-adaptive landing gear for taking off and landing on complex terrain according to the present invention has the function of actively adjusting the attitude to ensure that the aircraft is stable and will not roll over when taking off on rough ground or a shaking plane .

2. The rotorcraft equipped with self-adaptive landing gear for taking off and landing on complex terrain according to the present invention can ensure that when the aircraft lands on a rough ground or a shaking plane, it can be equipped with a powered landing gear by adopting the front three-point landing gear structure layout. Keeping itself stable greatly reduces the time consumed by the operator when controlling the take-off and landing of the aircraft, and improves the overall operating efficiency and the safety of the take-off and landing process.

3. The self-adaptive landing gear of the present invention is equipped with a rotorcraft for complex terrain take-off and landing. A laser range finder is installed on the robot installation base and a gyroscope is installed on the aircraft, so that the ship surface situation can be accurately detected, and the The smooth landing of the landing gear provides useful information.

Description of drawings

The accompanying drawings constituting a part of this application are used to provide further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention.

In the attached picture:

Fig. 1 is a structural schematic diagram of a rotorcraft equipped with adaptive landing gear for complex terrain takeoff and landing according to the present invention;

Fig. 2 is a schematic diagram of a method for taking off from rough ground in a control method for a rotorcraft equipped with adaptive landing gear for complex terrain takeoff and landing according to the present invention;

Fig. 3 is a schematic diagram of a method for taking off from a swaying plane in a control method for a rotorcraft equipped with adaptive landing gear for taking off and landing on complex terrain according to the present invention;

In the figure, 1-aircraft body; 2-motor pump; 3-fuel tank; 4-controller; 5-gyroscope; 6-first servo valve; 7-first hydraulic cylinder; 8-first hydraulic rod; 9- 10-lower connecting rod; 11-laser range finder; 12-bumper; 13-load bearing wheel; 14-second hydraulic rod; 15-second hydraulic cylinder; 16-second servo valve.

Detailed ways

The specific embodiment of the present invention is described in further detail below in conjunction with accompanying drawing:

Specific implementation mode 1: Referring to Fig. 1-3, this implementation mode will be described. The rotorcraft equipped with adaptive landing gear for taking off and landing on complex terrain described in this embodiment includes an aircraft body 1, a controller 4, a gyroscope 5 and three landing gears;

Controller 4, gyroscope 5 and propeller are installed on the top of described aircraft body 1, and described controller 4 is used for receiving the data that laser rangefinder 11 and gyroscope 5 transmit back, and described gyroscope 5 is used for measuring aircraft body 1 self-inclination, a front landing gear and two main landing gears are arranged on the aircraft body 1 according to the layout of the front three-point landing gear,

Each landing gear comprises a first power mechanism, a second power mechanism, an upper connecting rod 9, a lower connecting rod 10, a laser range finder 11, a buffer 12 and load bearing wheels 13, and the first power mechanism is hinged on the The middle part of the connecting rod 9, the upper end of the upper connecting rod 9 is hinged on the aircraft body 1, the lower end is hinged at one end of the lower connecting rod 10, the second power mechanism is hinged at the middle part of the lower connecting rod 10, the upper end of the lower connecting rod 10 Hinged on the aircraft body 1, the lower end is connected to the buffer 12, and the buffer 12 is connected to the load-bearing wheel 13, and the laser range finder 11 is extended to the lower connecting rod 10 and hung on the lower connecting rod 10 near the ground.

A front landing gear and two main landing gears are arranged on the aircraft body 1 according to the layout of the front three-point landing gear. The aircraft body 1 horizontally extends three bearing points according to the front three-point distribution mode. There are landing gears that work independently of each other but have the same structure. By adopting the three-point landing gear structure layout and equipped with a powered landing gear, it can ensure that the aircraft keeps itself stable when landing on rough ground or shaking planes, which greatly reduces the need for operators to control the aircraft to take off and land. The time consumed during the operation improves the overall operation efficiency and the safety of the take-off and landing process.

The first power mechanism includes a first servo valve 6, a first hydraulic cylinder 7, and a first hydraulic rod 8. During the movement of the landing gear, the first hydraulic cylinder 7 is controlled to drive the first hydraulic pressure by controlling the opening and closing of the first servo valve 6. The telescopic amount of rod 8 realizes the motion of first power mechanism, and the upper end of first hydraulic cylinder 7 cylinder blocks is hinged on the aircraft body 1, and the lower end of first hydraulic rod 8 is hinged on the middle part of upper connecting rod 9.

The second power mechanism includes a second servo valve 16, a second hydraulic cylinder 15, and a second hydraulic rod 14. During the movement of the landing gear, the opening and closing of the second servo valve 16 is controlled to adjust the second hydraulic cylinder 15 to drive the second hydraulic pressure. The telescoping amount of rod 14 realizes the motion of second power mechanism, and the upper end of second hydraulic cylinder 15 cylinder blocks is hinged on the upper connecting rod 9, and the lower end of second hydraulic rod 14 is hinged on the middle part of lower connecting rod 10.

The rotorcraft equipped with adaptive landing gear for taking off and landing on complex terrain also includes a motor pump 2 and a fuel tank 3, which are used to provide hydraulic oil for the hydraulic servo system.

The first power mechanism consists of a first servo valve 6, a first hydraulic cylinder 7 and a first hydraulic rod 8 to form a servo hydraulic system, and the two ends are respectively hinged on the rotorcraft body 1 and the middle part of the upper connecting rod 9, so The second power mechanism is composed of a second servo valve 16, a second hydraulic cylinder 15 and a second hydraulic rod 14 to form a set of servo hydraulic system. One end of the rod 9 is hinged with the aircraft body 1, and the other end is hinged with the lower connecting rod 10. The lower end of the lower connecting rod 10 is connected to the buffer, and the lower end of the buffer 10 is connected to the load-bearing wheel 13. The laser range finder 11 is extended to the lower connecting rod 10 and hangs near the ground. On the lower connecting rod 10.

A control method for a rotorcraft equipped with adaptive landing gear for taking off and landing in complex terrain, which is a method of taking off from rough ground, specifically includes the following steps:

S1. The rotorcraft starts to take off on the rough ground, and the aircraft body 1 takes off. After the laser range finder 11 judges that all the load-bearing wheels 13 are all off the ground, the landing gear retracts;

S2. The rotorcraft starts to land over the rough ground, the aircraft body 1 hovers over the rough ground, unfolds the landing gear from the fully retracted state during flight to the maximum expanded state of the mechanical structure, and records the positions of the three laser range finders 11 respectively All height data on the respective paths measured during the deployment of the landing gear, the controller 4 calculates the expected spatial positions of the three landing gears, controls the extended attitude of the landing gear, adjusts the landing gear to the desired spatial position, and starts landing After judging by the laser rangefinder 11 that all load-carrying wheels 13 have touched the ground, the landing is completed.

A method for controlling a rotorcraft equipped with adaptive landing gear for taking off and landing in complex terrain, which is a method of taking off from a swaying plane, specifically includes the following steps:

S1, the rotorcraft starts to take off on the shaking plane, the aircraft body 1 controls the stretching attitude of the landing gear according to the body tilt data measured by the gyroscope 5, and constantly adjusts the landing gear according to the data measured by the gyroscope, repeating the above process, so that The aircraft body 1 maintains a horizontal state, the aircraft body 1 takes off, and after the laser rangefinder 11 judges that all load-bearing wheels 13 are all off the ground, the landing gear retracts;

S2. The rotorcraft begins to land over the shaking plane, the aircraft body 1 hovers over the shaking plane, and the landing gear is fully retracted during flight to the maximum state of mechanical structure expansion. According to the real-time measured by the laser rangefinder 11 data, the controller 4 calculates the expected spatial positions of the three landing gears, controls the extended attitude of the landing gears, so that the landing gears can be adjusted to the desired spatial positions, starts to land, and continuously adjusts the landing gears according to the data measured by the laser rangefinder , repeat the above-mentioned process, after judging by the laser rangefinder that all load-bearing wheels 13 touch the ground, the landing gear is retracted to complete the landing.

The specific embodiments described above have further described the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific examples of the present invention, and are not intended to limit the present invention, and may also be a reasonable combination of the features described in the above-mentioned implementations, within the spirit and principles of the present invention, Any modification, equivalent replacement, improvement, etc. should be included in the protection scope of the present invention.

Claims (3)

1. A rotorcraft equipped with adaptive landing gear for taking off and landing in complex terrain, characterized by comprising an aircraft body (1), a controller (4), a gyroscope (5), a nose landing gear and two main landing gears;

the device comprises an aircraft body (1), wherein a controller (4), a gyroscope (5) and a propeller are arranged at the top of the aircraft body (1), the controller (4) is used for receiving data transmitted back by a laser range finder (11) and the gyroscope (5), the gyroscope (5) is used for measuring the self dip angle of the aircraft body (1), and a front landing gear and two main landing gears are arranged on the aircraft body (1) according to a front three-point landing gear layout mode;

each landing gear comprises a first power mechanism, a second power mechanism, an upper connecting rod (9), a lower connecting rod (10), a laser range finder (11), a buffer (12) and a bearing wheel (13), wherein the first power mechanism is hinged to the middle part of the upper connecting rod (9), the upper end of the upper connecting rod (9) is hinged to an aircraft body (1), the lower end of the upper connecting rod is hinged to one end of the lower connecting rod (10), the second power mechanism is hinged to the middle part of the lower connecting rod (10), the upper end of the lower connecting rod (10) is hinged to the aircraft body (1), the lower end of the lower connecting rod is connected with the buffer (12), the buffer (12) is connected with the bearing wheel (13), and the laser range finder (11) is hung on the lower connecting rod (10) outwards along the position close to the lower connecting rod (10);

the first power mechanism comprises a first servo valve (6), a first hydraulic cylinder (7) and a first hydraulic rod (8), the first hydraulic cylinder (7) is controlled to drive the expansion and contraction amount of the first hydraulic rod (8) to realize the movement of the first power mechanism in the movement process of the undercarriage, the upper end of a cylinder body of the first hydraulic cylinder (7) is hinged on the aircraft body (1), and the lower end of the first hydraulic rod (8) is hinged at the middle part of the upper connecting rod (9);

the second power mechanism comprises a second servo valve (16), a second hydraulic cylinder (15) and a second hydraulic rod (14), the second hydraulic cylinder (15) is controlled to drive the expansion and contraction amount of the second hydraulic rod (14) to realize the movement of the second power mechanism in the movement process of the undercarriage, the upper end of a cylinder body of the second hydraulic cylinder (15) is hinged on the upper connecting rod (9), and the lower end of the second hydraulic rod (14) is hinged at the middle part of the lower connecting rod (10);

the rotor craft provided with the self-adaptive landing gear for taking off and landing on complex terrains further comprises a motor pump (2) and an oil tank (3), wherein the motor pump (2) and the oil tank (3) are used for providing hydraulic oil for a hydraulic servo system.

2. A method of controlling a rotorcraft fitted with an adaptive landing gear for take-off and landing on complex terrain as claimed in claim 1, comprising the steps of:

s1, starting taking off of a rotor craft on rugged ground, taking off of a craft body (1), and after all the bearing wheels (13) are judged to be completely separated from the ground by a laser range finder (11), retracting an undercarriage;

s2, the rotor craft starts to land on the rugged ground, the craft body (1) hovers on the rugged ground, the landing gear is unfolded from a fully retracted state to a mechanical structure unfolding maximum state during flying, all height data on respective paths measured in the unfolding process of the landing gear where the three laser rangefinders (11) are located are recorded respectively, the expected space positions of the three landing gears are calculated through the controller (4), the stretching postures of the landing gear are controlled, the landing gear is adjusted to the expected space positions, landing is started, and after all the bearing wheels (13) are judged to touch the ground through the laser rangefinders (11), landing is completed.

3. A method of controlling a rotorcraft fitted with an adaptive landing gear for take-off and landing on complex terrain as claimed in claim 1, comprising the steps of:

s1, starting taking off of the rotor craft on a shaking plane, controlling the stretching posture of the landing gear by the craft body (1) according to the fuselage inclination data measured by the gyroscope (5), continuously adjusting the landing gear according to the data measured by the gyroscope, repeating the process to enable the craft body (1) to maintain a horizontal state, taking off of the craft body (1), and retracting the landing gear after all the bearing wheels (13) are judged to be completely separated from the ground by the laser range finder (11);

s2, the rotor craft starts to land on the shaking plane, the craft body (1) hovers on the shaking plane, the landing gear is unfolded from a fully retracted state to a mechanical structure unfolding maximum state during flying, according to real-time data measured by the laser range finders (11), expected space positions of three landing gears are calculated through the controller (4), the stretching posture of the landing gear is controlled, the landing gear can be adjusted to the expected space positions, landing is started, the landing gear is continuously adjusted according to the data measured by the laser range finders, the process is repeated, and after all the bearing wheels (13) are judged to be fully contacted with the ground by the laser range finders (11), the landing gear is retracted, and landing is completed.