CN116424548B - Electric proportional flight control system, control method and application - Google Patents
Electric proportional flight control system, control method and application Download PDFInfo
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- CN116424548B CN116424548B CN202310332597.9A CN202310332597A CN116424548B CN 116424548 B CN116424548 B CN 116424548B CN 202310332597 A CN202310332597 A CN 202310332597A CN 116424548 B CN116424548 B CN 116424548B
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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
- B64C13/24—Transmitting means
- B64C13/38—Transmitting means with power amplification
- B64C13/50—Transmitting means with power amplification using electrical energy
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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
- B64C13/04—Initiating means actuated personally
- B64C13/042—Initiating means actuated personally operated by hand
- B64C13/0421—Initiating means actuated personally operated by hand control sticks for primary flight controls
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses an electric proportion flight control system, a control method and an application thereof, comprising a force feedback manipulator, a control steering engine and a force sensing monitoring device, wherein the force feedback manipulator is connected with the control steering engine, the control steering engine is connected with an aircraft control surface, the aircraft control surface is provided with the force sensing monitoring device for monitoring the real-time stress change of the aircraft control surface, the force sensing monitoring device is connected with the force feedback manipulator, the force sensing monitoring device converts the force which is monitored on the aircraft control surface in real time into an electric signal and transmits the electric signal to the force feedback manipulator, and the force feedback manipulator generates action resistance with corresponding proportion according to the signal, namely the state of the flight control surface is fed back to a pilot in real time through the action resistance of the manipulator. According to the electric proportional flight control system, a pilot can sense the loaded state of the control surface of the aircraft in real time through the feedback force of the control rod, and the pilot can have the same control force sense as the traditional mechanical control system on the premise of simplifying the structure of the control system.
Description
Technical Field
The invention relates to the technical field of aircraft control system design, in particular to an electric proportional flight control system, a control method and application.
Background
At present, the control system of the manned aircraft mainly comprises two types of mechanical transmission and electric transmission. The mechanical transmission system mainly comprises a proportional connecting rod, a steel rope and the like, and the steering rod of the cockpit transmits force and moment to each control surface of the aircraft. The electric transmission system sends out the action applied by the pilot at the steering column in the form of an electric signal, analyzes the state and the steering action of the flight sensor through the control computer, and controls the steering engine at each control surface to act so as to control the flight of the aircraft. Compared with a mechanical transmission system, the electric transmission system has the advantages of simple structure, small volume, light weight, high operation sensitivity and the like. However, all control instructions of the electric transmission system are distributed by a flight control computer and a control algorithm thereof, on one hand, the safety of a software layer is ensured by complex logic, and on the other hand, the hardware aspect also needs multi-channel redundancy to ensure the reliability of electronic equipment such as a sensor, a computer and the like, so that the flight risk caused by control software is difficult to avoid; on the other hand, fly-by-wire systems cannot restore the steering force sense of equivalent mechanical steering systems, and pilots have difficulty in accurately controlling and adjusting the flight of an aircraft according to feedback experience and flight experience.
If the control surface load of the aircraft using the fly-by-wire control system cannot be reversely transmitted through the control system, and the flight personnel cannot feel the real operation sense and the state of the aircraft, a fly-by-wire aircraft control force generating device disclosed in CN201911265448.5 comprises an electric actuator and force sensing devices arranged at two synchronous output ends of the electric actuator, wherein the force sensing devices are provided with torsional deformation elastic pieces; the outer side of the force sensing device is coaxially connected with a rocker arm, the rocker arm is hinged with one end of a connecting rod at the free end, and the other end of the connecting rod is hinged with a main steering column and a co-steering column, so that visual operation feeling is provided for pilots, the flight quality is improved, and the flight safety is ensured. The purpose of this patent is to eliminate or reduce the driver's steering force, so-called force feedback, from its elastic deformation means, and then to eliminate the elastic deformation by means of the motor at the current position of the steering column, so that there is no feedback force on the steering column and thus no feedback of the actual steering column force. In the actual flight process, when the same control surface state position is different in flight speed, height and the like, the stress of the control surface is different, but the existing manipulator cannot reflect different control force senses according to the actual stress of the control surface, so that a pilot can not quickly adjust the flight state according to personal experience and actual operation experience.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the electric proportional flight control system aiming at the problems that the transmission structure of a mechanical transmission system in the existing flight control system is complex, the fly control system relies on equipment such as a control computer, a sensor and the like to lead flight control, a pilot cannot control an aircraft through real-time control force sense, and the flight risk caused by unreliable control software and the like cannot be avoided.
Another technical problem to be solved by the invention is to provide a control method based on the electric proportional flight control system.
The aim of the invention is realized by the following technical scheme:
The utility model provides an electricity proportion flight control system, includes force feedback manipulator, control steering wheel and force sense monitoring devices, force feedback manipulator is connected with control steering wheel, and control steering wheel is connected with the aircraft rudder face, and the aircraft rudder face is equipped with the force sense monitoring devices who monitors its real-time atress and changes, force sense monitoring devices is connected with force feedback manipulator. According to the invention, the force sensing monitoring device is arranged to feed back the state of the control surface of the aircraft to the force feedback manipulator of the pilot in real time, and the pilot can sense the loaded state of the control surface of the aircraft in real time through the feedback force of the control rod, so that the pilot is ensured to have the same operating force sense as the traditional mechanical operating system.
Further, the force feedback manipulator comprises a manipulator and a force feedback device, wherein the force feedback device is connected with an action mechanism of the manipulator.
Further, an operator in the force feedback operator is connected with the control steering engine through an electric signal.
Further, the input end of a force feedback device in the force feedback manipulator is connected with the force sensing monitoring device, and the output end of the force feedback device is connected with the action structure of the manipulator.
Further, the force feedback device includes one of a real-time variable resistor and a real-time variable damper.
Further, the real-time variable damper comprises a magnetorheological damper, an electromagnetic valve variable damper and other variable dampers with current or voltage real-time control of damping change.
Further, the real-time variable resistor comprises a variable resistor in the form of an electrohydraulic brake disc or the like, which controls the resistance change in real time.
Further, the manipulator comprises one of a lever, a disc, or a handle.
Further, the force feedback device comprises a linear force feedback device or a rotary force feedback device, including a linear damper, a rotary variable damper, and the like. The linear damper generates resistance to linear motion, the rotary variable damper generates resistance to angular motion, and force feedback in different modes can be provided for different manipulator manipulation methods.
Further, a linear motion and angular motion direction conversion device can be arranged between the manipulator and the variable damper in different modes, so that the universal adaptation of the manipulator and the variable damper is realized.
Further, the manipulator includes a main lever and a sub lever.
Further, the main operating rod and the auxiliary operating rod share a set of force feedback device, namely the output end of the force feedback device is simultaneously connected with the action mechanisms of the main operating rod and the auxiliary operating rod.
Further, the main operating rod and the auxiliary operating rod are respectively and independently connected with the force feedback device, namely, the two sets of force feedback devices are respectively used for outputting resistance to the main operating rod and the auxiliary operating rod.
An electric proportional flight control system control method comprises the following steps: the pilot controls the force feedback manipulator, the control rod in the force feedback manipulator transmits an action signal to the control steering engine through an electric signal, the control steering engine controls the aircraft control surface to perform corresponding actions according to the electric signal of the manipulator, the force sensing monitoring device monitors the force received by the aircraft control surface in real time and converts the force to an electric signal, the electric signal is transmitted to the input end of the force feedback device in the force feedback manipulator, the force feedback device outputs damping or resistance in a corresponding proportion to the action mechanism of the manipulator according to the electric signal, and the pilot can sense the real-time loaded state of the control surface through the action resistance on the manipulator.
Further, the feedback force of the force feedback device is in a proportional relation with the force born by the control surface of the aircraft, the proportional range is adjustable, and the action resistance proportion of the control lever can be adjusted according to the requirement of the maneuvering capability, such as habit of a pilot or maneuvering limitation requirement. After the adjustment is completed, aerodynamic force on the control surface in the whole flight process is fed back to the manipulator in real time according to the proportion.
Further, the electro-proportional flight control system is applied to a piloted aircraft.
The beneficial effects are that:
The invention sets the force sensing monitoring device and the force feedback device in the flight control system, when the manipulator controls the action of the control surface of the aircraft through controlling the steering engine, the force sensing monitoring device feeds the stress of the control surface of the aircraft to the manipulator with the force feedback device in the pilot in real time according to a certain proportion. The invention maintains the pilot's operation feeling under the mechanical operation system on the basis of adopting an electric signal transmission mode and simplifying the structure of the mechanical transmission system. Meanwhile, the invention takes the loaded state of the aircraft control surface perceived by the pilot in real time through the motion resistance of the control lever as the main part, and simplifies the calculation and the processing of the control surface state by a plurality of devices such as a control computer, control software, a sensor and the like in the fly-by-fly system, thereby effectively ensuring that the pilot can quickly and effectively adjust the current flight according to the flight experience, avoiding various risks caused by the calculation of flight control software and improving the safety of the pilot in flight.
Drawings
FIG. 1 is a schematic diagram of an electrical proportional flight control system in example 1;
FIG. 2 is a schematic diagram of an electrical proportional flight control system in example 4;
FIG. 3 is a schematic diagram of an electrical scale flight control system in example 5.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear) are involved in the embodiment of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed. If there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1
The embodiment provides an electric proportional flight control system, as shown in fig. 1, the electric proportional flight control system comprises a manipulator, a force feedback device, a control steering engine and a force sensor, wherein the manipulator is connected with the control steering engine through an electric signal transmission line, the control steering engine is connected with an actuating mechanism of an aircraft control surface, and the manipulator can drive the aircraft control surface to act through the control steering engine so as to achieve the purpose of controlling the aircraft to move. The force sensor is connected with the force feedback device, the force sensor converts the force variation received by the control surface of the aircraft into an electric signal to be transmitted to the input end of the force feedback device, and the force feedback device converts the electric signal into resistance force sensing of the action of the manipulator according to a certain proportion.
The pilot performs action control on the manipulator, the action of the pilot is transmitted to the control steering engine through an electric signal, and the control steering engine controls an action mechanism of a control surface of the aircraft to perform corresponding flight actions. In the flight process, the force on the control surface of the aircraft is changed due to the change of the motion states such as the control surface of the aircraft, the speed, the height and the like, the force sensor on the control surface of the aircraft is changed due to the force on the control surface of the aircraft and is converted into an electric signal to be input into the force feedback device, the force feedback device adjusts and generates corresponding motion damping according to the input of the electric signal and outputs the corresponding motion damping to the manipulator, so that the manipulator can feel resistance when continuously acting, the state of the control surface of the aircraft is fed back to the pilot in real time through the action resistance of the manipulator, the fact that the stress of the manipulator and the control surface of the pilot are kept synchronous and real is guaranteed, and the control of the pilot on the flight attitude of the aircraft is improved.
Example 2
The embodiment further provides an electric proportional flight control system based on the embodiment 1, wherein the electric proportional flight control system comprises a rod-type manipulator, a magnetorheological damper, a control steering engine and a force sensor, the rod-type manipulator is connected with the control steering engine through a cable harness, the control steering engine is connected with an action mechanism of an aircraft control surface, and action electric signals of the rod-type manipulator are transmitted to the control steering engine through the cable harness to drive the aircraft control surface to act. The aircraft control surface is provided with a force sensor, the control surface force or the control surface torque in the flying process is monitored, the force sensor is connected with the input end of the magnetorheological damper through a cable harness, the output end of the magnetorheological damper is connected with the actuating mechanism of the rod-type manipulator, the force sensor inputs an electric signal converted from the control surface force or the control surface torque into the magnetorheological damper, the magnetorheological damper adjusts the damping size according to the electric signal and outputs the electric signal to the actuating mechanism of the rod-type manipulator, and the rod-type manipulator can feel resistance when continuously exerting the action of making the rod-type manipulator perform linear motion, namely force feedback is formed.
Example 3
The embodiment further provides an electric proportional flight control system based on the embodiment 1, wherein the electric proportional flight control system comprises a disc-type manipulator, a rotary variable damper, a control steering engine and a force sensor, the disc-type manipulator is connected with the control steering engine through a cable harness, the control steering engine is connected with an action mechanism of an aircraft control surface, and action electric signals of the disc-type manipulator are transmitted to the control steering engine through the cable harness to drive the aircraft control surface to act. The aircraft control surface is provided with a force sensor, the force sensor is connected with the input end of the rotary variable damper through a cable harness, the output end of the rotary variable damper is connected with the action mechanism of the disk manipulator, the force sensor inputs an electric signal converted from the force or torque of the control surface into the rotary variable damper, the rotary variable damper adjusts the damping size according to the electric signal and outputs the electric signal to the action mechanism of the disk manipulator, and the disk manipulator can feel resistance when continuously applying the action for angular movement, namely force feedback is formed.
Example 4
As shown in fig. 2, the present embodiment further provides an electric proportional flight control system based on embodiment 1, where the electric proportional flight control system includes a main control lever, an auxiliary control lever, a magnetorheological damper, a control steering engine and a force sensor, where the main control lever and the auxiliary control lever are connected with the control steering engine through a cable harness, the control steering engine is connected with an action mechanism of an aircraft control surface, and action electric signals of the main control lever and the auxiliary control lever are transmitted to the control steering engine through the cable harness to drive the aircraft control surface to generate actions. The aircraft control surface is provided with a force sensor, the control surface force or the control surface torque in the flying process is monitored, the force sensor is connected with the input end of the magnetorheological damper through a cable harness, the output end of the magnetorheological damper is respectively connected with the action mechanisms of the main control rod and the auxiliary control rod, the force sensor inputs an electric signal converted from the control surface force or the control surface torque into the magnetorheological damper, the magnetorheological damper adjusts the damping size according to the electric signal and outputs the electric signal to the action mechanisms of the main control rod and the auxiliary control rod, and the main control rod and the auxiliary control rod feel resistance when the action of the linear motion is continuously applied, so that force feedback is formed.
Example 5
Referring to fig. 3, the present embodiment further provides an electric proportional flight control system based on embodiment 1, where the electric proportional flight control system includes a main control lever, an auxiliary control lever, a first magnetorheological damper, a second magnetorheological damper, a control steering engine and a force sensor, where the main control lever and the auxiliary control lever are connected with the control steering engine through a cable harness, the control steering engine is connected with an actuating mechanism of an aircraft control surface, and actuating electric signals of the main control lever and the auxiliary control lever are transmitted to the control steering engine through the cable harness to drive the aircraft control surface to actuate. The force sensor is arranged on the aircraft steering surface, monitors the steering surface force or the steering surface torque in the flying process, is connected with the input ends of the first magnetorheological damper and the second magnetorheological damper respectively through cable harnesses, the output ends of the first magnetorheological damper and the second magnetorheological damper are connected with the action mechanisms of the main operating rod and the auxiliary operating rod respectively, the force sensor inputs the electric signals converted from the steering surface force or the steering surface torque into the first magnetorheological damper and the second magnetorheological damper respectively, the first magnetorheological damper and the second magnetorheological damper regulate the damping size according to the electric signals and output the electric signals to the action mechanisms of the main operating rod and the auxiliary operating rod, and the main operating rod and the auxiliary operating rod feel resistance when the action of linear motion is continuously applied, so that force feedback is formed. The first magnetorheological damper and the second magnetorheological damper can be respectively provided with different control surface external force and resistance ratios of the manipulator, so that the operating requirements of different pilots are met.
It is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (7)
1. The electric proportional flight control system is characterized by comprising a force feedback manipulator, a control steering engine and a force sensing monitoring device, wherein the force feedback manipulator is connected with the control steering engine, the control steering engine is connected with an aircraft control surface, the aircraft control surface is provided with the force sensing monitoring device for monitoring the real-time stress change of the aircraft control surface, and the force sensing monitoring device is connected with the force feedback manipulator; the force feedback manipulator comprises a manipulator and a force feedback device, the manipulator is connected with the control steering engine through an electric signal, and the force feedback device is connected with an action mechanism of the manipulator;
the pilot controls the force feedback manipulator, an action signal of an operating rod in the force feedback manipulator is transmitted to the control steering engine through an electric signal, the control steering engine controls the aircraft control surface to perform corresponding actions according to the electric signal of the manipulator, the force sensing monitoring device monitors the force born by the aircraft control surface in real time and converts the force into an electric signal to be transmitted to the input end of the force feedback device in the force feedback manipulator, the force feedback device outputs damping or resistance in a corresponding proportion to an action mechanism of the manipulator according to the electric signal, and the state of the aircraft control surface is fed back to the pilot in real time through the action resistance of the manipulator.
2. The electro-proportional flight control system of claim 1, wherein the force feedback device in the force feedback manipulator has an input coupled to the force sensing device and an output coupled to the actuation structure of the manipulator.
3. The electro-proportional flight control system of claim 1, wherein the force feedback device comprises a real-time variable resistor or a real-time variable damper.
4. The electro-proportional flight control system of claim 1, wherein the manipulator comprises one of a lever, a disk, or a handle.
5. The electro-proportional flight control system of claim 1, wherein the force feedback device comprises a linear force feedback device or a rotary force feedback device.
6. The electric proportional flight control system of claim 1, wherein the feedback force of the force feedback device is proportional to the force experienced by the aircraft control surface, and the proportional range is adjustable.
7. The electro-proportional flight control system of any one of claims 1-5, wherein the electro-proportional flight control system is applied to a piloted aircraft.
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| CN202310332597.9A CN116424548B (en) | 2023-03-30 | 2023-03-30 | Electric proportional flight control system, control method and application |
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| CN202310332597.9A CN116424548B (en) | 2023-03-30 | 2023-03-30 | Electric proportional flight control system, control method and application |
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| CN117799822A (en) * | 2023-11-27 | 2024-04-02 | 湖南山河华宇航空科技有限公司 | Flight control device, control system and aircraft |
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| CN116424548A (en) | 2023-07-14 |
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