CN120229376B - Aircraft front wheel electrical zero calibration method, device, equipment and medium - Google Patents
Aircraft front wheel electrical zero calibration method, device, equipment and mediumInfo
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- CN120229376B CN120229376B CN202510704579.8A CN202510704579A CN120229376B CN 120229376 B CN120229376 B CN 120229376B CN 202510704579 A CN202510704579 A CN 202510704579A CN 120229376 B CN120229376 B CN 120229376B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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Abstract
The application discloses a method, a device, equipment and a medium for calibrating an electric zero position of a front wheel of an airplane, which relate to the technical field of front wheel operation of the airplane and are applied to ground comprehensive maintenance equipment, and comprise the steps of controlling a scale mark of a rotating sleeve of a front landing gear to align with a scale mark of a front pillar outer cylinder by utilizing a target angle instruction; the method comprises the steps of sending a front wheel swing reducing instruction to a front wheel control box of an airplane so that the front wheel control box can control the front wheel to keep stable, determining the angle information of a current front wheel angle sensor as current electric zero reference information, controlling the front wheel and the rotating sleeve to rotate by utilizing a front wheel rotating instruction, and judging that the electric zero calibration of the front wheel of the airplane is finished if the deflection angle of a scale mark of the rotating sleeve is matched with the front wheel rotating instruction. The accuracy and the simplicity of the electrical zero calibration of the front wheel of the aircraft are improved.
Description
Technical Field
The invention relates to the technical field of airplane front wheel operation, in particular to an airplane front wheel electrical zero calibration method, device, equipment and medium.
Background
The front wheel control system of the aircraft is an important direction control means in the processes of taking off and landing of the aircraft and driving in and out, and the electrical zero position of the front wheel is used as a front wheel angle feedback and front wheel angle closed-loop control reference, and the accuracy is a key factor for keeping the aircraft to run in a straight line and controlling the direction.
The traditional front wheel electric zero calibration process is to lift the aircraft under the cooperation of a plurality of aircraft brackets and a plurality of crew members, so that all tires leave the ground, the front landing gear is in a full-extension state, high-pressure gas is arranged in a front landing gear buffer support column, a piston rod is engaged with a cam in a front support column outer cylinder, the piston rod can extend and rotate under the action of the high-pressure gas and the cam mechanism, and the position where the piston rod finally stops, namely a mechanical zero position, in the process, because the front wheel and a front wheel operating actuator are connected with the piston rod through a mechanism, the mechanical zero position can be also realized, then a skin or a cover plate is opened after dozens of screws on a machine body are taken down, a front wheel operating control box is found, and a zero setting switch on the control box is pressed, so that the zero calibration purpose is achieved. The traditional method needs to lift the aircraft and manually touch the front wheel control box to carry out zero setting, has large workload and poor accessibility, and buffers the influence of uncertain factors such as manufacturing tolerance, assembly tolerance, mechanism abrasion and the like of a cam mechanism in a strut, and the mechanical zero position has the characteristic of poor precision, has the common tolerance range of +/-1.5 degrees, and is not beneficial to the linear sliding and deviation correction of the aircraft.
In summary, how to improve the accuracy and the simplicity of the calibration of the electrical zero position of the front wheel of the aircraft is a problem to be solved in the field.
Disclosure of Invention
Therefore, the invention aims to provide a method, a device, equipment and a medium for calibrating the electrical zero position of the front wheel of the aircraft, and the accuracy and the simplicity of the calibration of the electrical zero position of the front wheel of the aircraft are improved. The specific scheme is as follows:
In a first aspect, the application discloses a method for calibrating an electrical zero position of a front wheel of an aircraft, which is applied to ground comprehensive maintenance equipment and comprises the following steps:
the target angle instruction is used for controlling the scale marks of the rotating sleeve of the nose landing gear to align with the scale marks of the front pillar outer cylinder;
Transmitting a front wheel swing reducing instruction to a front wheel control box of the aircraft so that the front wheel control box controls the front wheel to keep stable;
Determining the angle information of a current front wheel angle sensor as current electrical zero reference information;
and controlling the front wheel and the rotating sleeve to rotate by utilizing a front wheel rotating instruction, and judging that the electrical zero calibration of the front wheel of the aircraft is finished if the deflection angle of the scale mark of the rotating sleeve is matched with the front wheel rotating instruction.
Optionally, the controlling the alignment of the scale mark of the rotating sleeve with the scale mark of the outer cylinder of the front strut by using the target angle command includes:
And if the aircraft currently meets the preset calibration starting condition, the target angle instruction is utilized to control the scale marks of the rotating sleeve of the nose landing gear and the scale marks of the outer cylinder of the front support column to be aligned, wherein the preset calibration starting condition is that the upper torque arm and the lower torque arm of the nose landing gear of the aircraft are in a disconnected state, and the ground comprehensive maintenance equipment is communicated with the aircraft management computer.
Optionally, before the front wheel and the rotating sleeve are controlled to rotate by the front wheel rotation command, the method further comprises:
and sending an arm rotation instruction to the front wheel manipulation control box so that the front wheel manipulation control box controls the upper torque arm to rotate based on the arm rotation instruction until the upper torque arm is aligned with the lower torque arm so as to communicate the upper torque arm with the lower torque arm.
Optionally, the controlling the alignment of the scale mark of the rotating sleeve with the scale mark of the outer cylinder of the front strut by using the target angle command includes:
and sending a target angle instruction to a front wheel control box, so that the front wheel control box utilizes the target angle instruction to control a rotating sleeve in the nose landing gear to rotate until zero graduation marks of the rotating sleeve are aligned with zero graduation marks of the front strut outer barrel.
Optionally, the determining the angle information of the current front wheel angle sensor as the current electrical zero reference information includes:
Transmitting a zeroing instruction to the front wheel control box so as to judge whether the duration time of the zeroing instruction is larger than a first preset threshold value through the front wheel control box, and if so, determining the angle information of the current front wheel angle sensor as current electrical zero reference information;
And receiving a zero information updating success signal returned by the front wheel control box.
Optionally, if the deflection angle of the scale line of the rotating sleeve is matched with the front wheel rotation instruction, determining that the calibration of the electrical zero position of the front wheel of the aircraft is completed includes:
Determining a target rotation angle in the front wheel rotation instruction and a deflection angle of a scale mark of the rotating sleeve;
judging whether the error angle between the target rotation angle and the deflection angle is not larger than a second preset threshold value or not;
And if the error angle is not greater than the second preset threshold value, judging that the deflection angle is matched with the front wheel rotation instruction, and judging that the front wheel electrical zero calibration of the aircraft is finished.
Optionally, after the determining whether the error angle between the target rotation angle and the deflection angle is not greater than the second preset threshold, the method further includes:
And if the error angle is larger than the second preset threshold value, the step of controlling the alignment of the scale mark of the rotating sleeve of the nose landing gear and the scale mark of the front support outer cylinder by utilizing the target angle instruction is performed again until the number of times of re-jumping is larger than a third preset threshold value.
In a second aspect, the application discloses an aircraft front wheel electrical zero calibration device, which is applied to ground comprehensive maintenance equipment and comprises:
The front wheel stability control module is used for sending a front wheel swing reducing instruction to a front wheel control box of the aircraft so that the front wheel control box can control the front wheel to keep stable;
the scale mark alignment module is used for controlling the scale mark of the rotating sleeve of the front landing gear to be aligned with the scale mark of the front strut outer cylinder by utilizing the target angle instruction;
the reference information determining module is used for determining the angle information of the current front wheel angle sensor as current electrical zero reference information;
And the zero calibration completion module is used for controlling the front wheel to rotate with the rotating sleeve by utilizing a front wheel rotating instruction, and judging that the electrical zero calibration of the front wheel of the aircraft is completed if the deflection angle of the scale mark of the rotating sleeve is matched with the front wheel rotating instruction.
In a third aspect, the present application discloses an electronic device, comprising:
A memory for storing a computer program;
And the processor is used for executing the computer program to realize the steps of the method for calibrating the electrical zero position of the front wheel of the airplane.
In a fourth aspect, the application discloses a computer readable storage medium for storing a computer program, wherein the computer program when executed by a processor implements the steps of the previously disclosed aircraft front wheel electrical zero calibration method.
The application has the beneficial effects that the application is applied to ground comprehensive maintenance equipment and comprises the steps of utilizing a target angle instruction to control the alignment of the scale mark of the rotating sleeve of the nose landing gear and the scale mark of the outer cylinder of the front support, sending a front wheel swing reducing instruction to a front wheel control box of an airplane so that the front wheel control box can control the front wheel to keep stable, determining the angle information of a current front wheel angle sensor as current electrical zero reference information, utilizing a front wheel rotating instruction to control the rotation of the front wheel and the rotating sleeve, and judging that the electrical zero calibration of the front wheel of the airplane is finished if the deflection angle of the scale mark of the rotating sleeve is matched with the front wheel rotating instruction. Therefore, the application is applied to ground comprehensive maintenance equipment, and sends various instructions for electrical zero calibration to the front wheel control box so as to control the calibration lines of the rotating sleeve of the front landing gear to be aligned with the calibration lines of the outer cylinder of the front support, thus ensuring that the mechanical zero position of the front wheel is consistent with the electrical zero position, then determining the angle information of the current front wheel angle sensor as the current electrical zero position reference information, and verifying the zero adjustment result, namely judging that the electrical zero position calibration of the front wheel of the aircraft is completed if the deflection angle of the calibration lines of the rotating sleeve is matched with the front wheel rotating instruction.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for calibrating the electrical zero position of a front wheel of an aircraft;
FIG. 2 is a schematic illustration of a specific aircraft nose wheel electrical zero calibration flow disclosed herein;
FIG. 3 is a schematic structural view of an aircraft front wheel electrical zero calibration device according to the present application;
fig. 4 is a block diagram of an electronic device according to the present disclosure.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The front wheel control system of the aircraft is an important direction control means in the processes of taking off and landing of the aircraft and driving in and out, and the electrical zero position of the front wheel is used as a front wheel angle feedback and front wheel angle closed-loop control reference, and the accuracy is a key factor for keeping the aircraft to run in a straight line and controlling the direction.
The traditional front wheel electric zero calibration process is to use a plurality of aircraft brackets and a plurality of crew members to cooperate with a jacking aircraft, and particularly use 2-3 aircraft brackets and 4 crew members to cooperate with a jacking aircraft, so that all tires leave the ground, the front landing gear is in a full-extension state, high-pressure gas is arranged in a front landing gear buffer strut, a piston rod is meshed with a cam in a front strut outer cylinder, the piston rod can extend and rotate under the action of the high-pressure gas and the cam mechanism, and the position where the piston rod finally stops is a mechanical zero position. The traditional method needs to lift the aircraft and manually touch the front wheel control box to carry out zero setting, has large workload and poor accessibility, and buffers the influence of uncertain factors such as manufacturing tolerance, assembly tolerance, mechanism abrasion and the like of a cam mechanism in a strut, and the mechanical zero position has the characteristic of poor precision, has the common tolerance range of +/-1.5 degrees, and is not beneficial to the linear sliding and deviation correction of the aircraft.
Therefore, the application correspondingly provides an aircraft front wheel electrical zero calibration scheme, which improves the accuracy and the simplicity of aircraft front wheel electrical zero calibration.
Referring to fig. 1, the embodiment of the application discloses an aircraft front wheel electrical zero calibration method, which is applied to ground comprehensive maintenance equipment and comprises the following steps:
and S11, controlling the scale marks of the rotating sleeve of the nose landing gear to align with the scale marks of the outer cylinder of the front support column by utilizing a target angle instruction.
The aircraft front wheel electric zero calibration process relates to ground comprehensive maintenance equipment (Portable MAINTENANCE AID, i.e. PMA), an aircraft management Computer (VEHICLE MANAGEMENT Computer, i.e. VMC), a front wheel control box (Nose WHEEL STEERING Controller, i.e. NWSC) and a Nose landing gear. The ground comprehensive maintenance equipment interacts with the aircraft management computer, the aircraft management computer interacts with the front wheel control box, and the front wheel control box can control the front landing gear to perform corresponding movement.
In the embodiment, the step of controlling the scale marks of the rotating sleeve of the nose landing gear to align with the scale marks of the outer cylinder of the front support column by utilizing the target angle instruction comprises the step of judging that the aircraft currently meets the preset calibration starting condition, and controlling the scale marks of the rotating sleeve of the nose landing gear to align with the scale marks of the outer cylinder of the front support column by utilizing the target angle instruction, wherein the preset calibration starting condition is that an upper torque arm and a lower torque arm of the nose landing gear of the aircraft are in a disconnected state, and the ground comprehensive maintenance equipment is communicated with an aircraft management computer.
The front landing gear specifically comprises a front support outer cylinder, a front wheel control controller, a gear cover, a rotating sleeve, an upper torque arm, a quick-release pin, a lower torque arm, a piston rod, a wheel fork and a wheel tire, before the target angle instruction is used for controlling the calibration line of the rotating sleeve of the front landing gear to be aligned with the calibration line of the front support outer cylinder, whether the current of the aircraft meets the preset calibration starting condition or not needs to be judged, namely, an operator takes down the quick-release pin or not, the upper and lower torque arms are disconnected, and the ground comprehensive maintenance equipment is communicated with an aircraft management computer.
The ground comprehensive maintenance equipment is used for carrying out ground maintenance and ground test work of the aircraft, is directly connected to the quick plug of the aircraft body through a data line, and can control the aircraft to carry out ground inspection, namely, zero setting trigger is installed on the ground comprehensive maintenance equipment in a software mode, and no additional equipment is required. And the aircraft management computer receives the ground comprehensive maintenance equipment instruction when the aircraft is in the ground maintenance mode and transfers the information to each subsystem.
In this embodiment, the step of controlling the alignment of the scale mark of the rotating sleeve in the nose landing gear with the scale mark of the outer cylinder of the front strut by using the target angle command includes sending the target angle command to the front wheel steering control box, so that the front wheel steering control box controls the rotating sleeve in the nose landing gear to rotate by using the target angle command until the zero scale mark of the rotating sleeve is aligned with the zero scale mark of the outer cylinder of the front strut.
The ground comprehensive maintenance equipment sends a target angle instruction to a front wheel control box through an airplane management computer, and the front wheel control box controls a rotating sleeve in the nose landing gear to rotate by utilizing the target angle instruction until zero scale marks of the rotating sleeve are aligned with zero scale marks of the front pillar outer barrel. Specifically, the front wheel control actuator is fixed on the front pillar outer cylinder through a pin shaft (after the front landing gear is put down in place, the front pillar outer cylinder is relatively fixed with the machine body position), the front wheel control actuator and the rotating sleeve (are meshed with the front pillar outer cylinder rotating pair) are meshed through gears, the front wheel control box utilizes target angle instructions to control the front wheel control actuator to rotate, and then drives the upper torque arm, the lower torque arm, the piston rod, the wheel fork and the machine wheel tire to rotate, wherein the piston rod and the wheel fork are connected with the front pillar outer cylinder through the cylindrical pair, the rotating sleeve is connected with the front pillar outer cylinder through the rotating pair, and can rotate around the front pillar outer cylinder, zero scale marks are carved on the front pillar outer cylinder and serve as references of a front wheel mechanical zero position, namely, the machine body, the front pillar outer cylinder and the front wheel control actuator are in a whole 1, the rotating sleeve, the upper torque arm, the lower torque arm, the piston rod and the wheel fork and the machine wheel tire are in a whole 2 (can be ignored in a vertical degree of freedom, because zero setting is working in a vertical deflection direction), the two parts are meshed with the gears between the front wheel control actuator and the rotating sleeve, and thus the zero scale marks can be aligned with the front pillar outer cylinder when the front pillar outer cylinder rotates, and the zero scale marks are aligned with the zero scale marks when the front pillar outer cylinder rotates, and the front pillar outer cylinder rotates.
It can be understood that the purpose of zeroing is to keep the plane of the tire of the wheel in the whole 2 and the plane of symmetry of the machine body in the whole 1 parallel when the front wheel command is 0 degrees, that is, the electrical zero position and the mechanical zero position are kept consistent, so that the plane can slide linearly and rectify the deviation. The nose landing gear (except for the tires and the front wheel steering actuators) is normally supplied as a whole as a structural member, requiring the fork axle to be parallel to the front post outer barrel mounting axis, and then scoring the front post outer barrel and the rotating sleeve. It should be noted that as a mechanical null and a measure of the angle of front wheel deflection, electrical null adjustment is made based on a new front wheel steering actuator installed or when the angle sensor in the front wheel steering actuator is shifted for a certain period of time.
And step S12, sending a front wheel swing reducing instruction to a front wheel control box of the airplane so that the front wheel control box controls the front wheels to keep stable.
When the electric zero calibration of the front wheel is carried out, the front wheel needs to be positioned at a stable position to ensure the calibration accuracy, and if the front wheel swings or moves in the calibration process, the zero calibration inaccuracy can be caused, and the linear sliding and the direction control of the aircraft are affected.
And S13, determining the angle information of the current front wheel angle sensor as current electrical zero reference information.
In this embodiment, the determining the angle information of the current front wheel angle sensor as the current electrical zero reference information includes sending a zeroing instruction to the front wheel steering control box, judging whether the duration of the zeroing instruction is greater than a first preset threshold value through the front wheel steering control box, if so, determining the angle information of the current front wheel angle sensor as the current electrical zero reference information, and receiving a zero information updating success signal returned by the front wheel steering control box.
It should be noted that, because there may be a case where the zeroing instruction is erroneously triggered, the front wheel steering control box determines whether the duration of the zeroing instruction is greater than a first preset threshold, for example, determines whether the duration of the zeroing instruction is greater than 1 second, and if so, the zeroing instruction is not deemed to be erroneously triggered, so the front wheel steering control box needs to respond to the zeroing instruction, that is, the front wheel steering control box determines the angle information of the current front wheel angle sensor as the current electrical zero reference information, and then the front wheel steering control box feeds back a zero information update success signal to the ground integrated maintenance device, that is, when the ground integrated maintenance device receives the zero information update success signal returned by the front wheel steering control box, it is proved that the front wheel steering control box has recorded the angle information of the current front wheel angle sensor. The front wheel steering control box may store angle information of the current front wheel angle sensor in NVRAM (Non-Volatile Random Access Memory, i.e., nonvolatile random access memory) as a zero reference.
And S14, controlling the front wheels and the rotating sleeve to rotate by utilizing a front wheel rotating instruction, and judging that the calibration of the electrical zero position of the front wheels of the aircraft is completed if the deflection angle of the scale marks of the rotating sleeve is matched with the front wheel rotating instruction.
In this embodiment, before the front wheel and the rotating sleeve are controlled to rotate by the front wheel rotation command, the method further comprises the step of sending a moment arm rotation command to the front wheel manipulation control box so that the front wheel manipulation control box controls the rotation of the upper moment arm based on the moment arm rotation command until the upper moment arm is aligned with the lower moment arm to communicate the upper moment arm with the lower moment arm. Specifically, the manual rotation upper torque arm or the ground comprehensive maintenance equipment sends a torque arm rotation instruction to the front wheel control box, wherein the torque arm rotation instruction can comprise a front wheel connection instruction and a torque arm rotation angle instruction, so that the front wheel control box aligns and connects the upper torque arm and the lower torque arm according to the torque arm rotation instruction, and a quick-release pin is installed.
In this embodiment, if the deflection angle of the scale line of the rotating sleeve is matched with the front wheel rotating instruction, determining that the front wheel electrical zero calibration of the aircraft is completed includes determining a target rotating angle in the front wheel rotating instruction and the deflection angle of the scale line of the rotating sleeve, determining whether an error angle between the target rotating angle and the deflection angle is not greater than a second preset threshold, and if the error angle is not greater than the second preset threshold, determining that the deflection angle is matched with the front wheel rotating instruction, and determining that the front wheel electrical zero calibration of the aircraft is completed.
It should be noted that, in order to ensure whether the current aircraft front wheel electrical zero calibration is qualified, the calibration result is also required to be verified, and only the verification can be performed to calculate that the actual calibration is completed. The verification process specifically may be:
1) The front wheel rotation instructions are utilized to control the front wheel and the rotating sleeve to rotate, the front wheel rotation instructions can be multiple, for example, the target rotation angle in the front wheel rotation instructions can be used for representing that the front wheel rotates left by 10 degrees, rotates right by 10 degrees in the front wheel circle in sequence.
2) Each time the front wheel completes rotation according to the front wheel rotation command, a target rotation angle in the front wheel rotation command and a deflection angle of a scale line of the rotary sleeve are determined, wherein the target rotation angle represents that the front wheel rotates left by 10 degrees, and the deflection angle of the scale line of the rotary sleeve is 9.7 degrees.
3) Judging whether the error angle between the target rotation angle and the deflection angle is not more than a second preset threshold, for example, the error angle between the target rotation angle and the deflection angle is 0.3 degrees, the second preset threshold is specifically 0.5 degrees, namely, the error angle is not more than the second preset threshold, judging that the deflection angle is matched with a front wheel rotation instruction, judging that the front wheel electrical zero calibration of the aircraft is finished, powering down the whole aircraft, disconnecting the aircraft body from the ground comprehensive maintenance equipment, and determining that the front wheel electrical zero calibration is finished.
In this embodiment, after the determining whether the error angle between the target rotation angle and the deflection angle is not greater than a second preset threshold, the method further includes the step of, if the error angle is greater than the second preset threshold, re-jumping to the step of controlling alignment between the scale line of the rotating sleeve of the nose landing gear and the scale line of the front strut outer cylinder by using the target angle instruction until the re-jumping frequency is greater than a third preset threshold.
It can be understood that if the error angle is greater than the second preset threshold, it indicates that the current calibration still has an abnormality, and the aircraft front wheel electrical zero calibration needs to be performed again, so that the step of controlling the alignment of the scale line of the front landing gear rotating sleeve and the scale line of the front strut outer barrel by using the target angle instruction needs to be performed again, and in order to prevent the ground comprehensive maintenance equipment from performing the aircraft front wheel electrical zero calibration all the time, stopping the jump when the number of re-jump times is greater than the third preset threshold.
The application has the beneficial effects that the application is applied to ground comprehensive maintenance equipment and comprises the steps of utilizing a target angle instruction to control the alignment of the scale mark of the rotating sleeve of the nose landing gear and the scale mark of the outer cylinder of the front support, sending a front wheel swing reducing instruction to a front wheel control box of an airplane so that the front wheel control box can control the front wheel to keep stable, determining the angle information of a current front wheel angle sensor as current electrical zero reference information, utilizing a front wheel rotating instruction to control the rotation of the front wheel and the rotating sleeve, and judging that the electrical zero calibration of the front wheel of the airplane is finished if the deflection angle of the scale mark of the rotating sleeve is matched with the front wheel rotating instruction. Therefore, the application is applied to ground comprehensive maintenance equipment, and sends various instructions for electrical zero calibration to the front wheel control box so as to control the calibration lines of the rotating sleeve of the front landing gear to be aligned with the calibration lines of the outer cylinder of the front support, thus ensuring that the mechanical zero position of the front wheel is consistent with the electrical zero position, then determining the angle information of the current front wheel angle sensor as the current electrical zero position reference information, and verifying the zero adjustment result, namely judging that the electrical zero position calibration of the front wheel of the aircraft is completed if the deflection angle of the calibration lines of the rotating sleeve is matched with the front wheel rotating instruction.
The application is correspondingly described below with a specific aircraft front wheel null calibration flow schematic diagram shown in fig. 2. When the electrical zero calibration of the front wheel of the aircraft is required, the following steps are carried out:
And 1, taking down the quick plug pin, disconnecting the upper torque arm and the lower torque arm, so that the upper torque arm and the lower torque arm in the front landing gear of the aircraft are in a disconnected state, and the ground comprehensive maintenance equipment is communicated with the aircraft management computer, namely the aircraft currently meets the preset calibration starting condition, and then powering on the whole aircraft.
And 2, the ground comprehensive maintenance equipment sends a target angle instruction to a front wheel control box, and the front wheel control box controls the front wheel control actuator to rotate by an angle corresponding to the target angle in the target angle instruction so as to drive the rotating sleeve to rotate, so that the scale marks of the rotating sleeve are aligned with the scale marks of the front pillar outer cylinder.
And 3, the ground comprehensive maintenance equipment sends a front wheel swing reducing instruction to a front wheel control box of the aircraft so that the front wheel control box can control the front wheels to keep stable.
And 4, after the ground comprehensive maintenance equipment sends a zeroing instruction to the front wheel operation control box, the front wheel operation control box sends a zero information updating success signal to the ground comprehensive maintenance equipment, namely, when the ground comprehensive maintenance equipment receives the zero information updating success signal returned by the front wheel operation control box, the ground comprehensive maintenance equipment indicates that the electrical zero information is updated.
And 5, the ground comprehensive maintenance equipment sends a front wheel rotation instruction to a front wheel control box, the front wheel control box controls the front wheel and the rotating sleeve to rotate, and if the deflection angle of the scale mark of the rotating sleeve is matched with the front wheel rotation instruction, the front wheel electric zero calibration of the aircraft is judged to be completed. For example, a target rotation angle in the front wheel rotation instruction represents that the front wheel rotates left by 10 degrees, after the front wheel and the rotating sleeve rotate, the deflection angle of the scale mark of the rotating sleeve is 9.7 degrees, the error angle between the target rotation angle and the deflection angle is 0.3 degrees, and the error angle is not more than a second preset threshold value of 0.5 degrees, which indicates that the deflection angle of the scale mark of the rotating sleeve is matched with the front wheel rotation instruction.
And 6, after the calibration of the electric zero position of the front wheel is finished, powering down the whole aircraft, and disconnecting the aircraft from the ground comprehensive maintenance equipment.
When the ground comprehensive maintenance equipment and the front wheel control box perform instruction interaction and information interaction, the aircraft management computer is used as a transfer station to transfer all instructions sent by the ground comprehensive maintenance equipment to the front wheel control box, and transfer zero information updating success signals fed back by the front wheel control box to the ground comprehensive maintenance equipment.
Therefore, the mechanical zero position scale marks are manufactured on the rotary sleeve and the front support outer cylinder, a mechanical zero position finding method in cam return is replaced, mechanical zero position precision is improved, mechanical zero position finding workload is reduced, zero setting is carried out by sending a zero setting instruction form through ground comprehensive maintenance equipment, a mechanical zero setting button form of a traditional front wheel control box is replaced, front wheel zero position calibration work accessibility is improved, and calibration workload is reduced.
Referring to fig. 3, the embodiment of the application discloses an aircraft front wheel electrical zero calibration device, which is applied to ground comprehensive maintenance equipment and comprises:
the scale mark alignment module 11 is used for controlling the scale mark of the rotating sleeve of the nose landing gear to be aligned with the scale mark of the front pillar outer cylinder by utilizing a target angle instruction;
A front wheel stability control module 12 for sending a front wheel shimmy damping instruction to a front wheel steering control box of the aircraft so that the front wheel steering control box controls the front wheels to remain stable;
a reference information determining module 13, configured to determine angle information of a current front wheel angle sensor as current electrical zero reference information;
The zero calibration completion module 14 is configured to control the front wheel and the rotating sleeve to rotate by using a front wheel rotation instruction, and determine that the electrical zero calibration of the front wheel of the aircraft is completed if the deflection angle of the scale mark of the rotating sleeve is matched with the front wheel rotation instruction.
The application has the beneficial effects that the application is applied to ground comprehensive maintenance equipment and comprises the steps of utilizing a target angle instruction to control the alignment of the scale mark of the rotating sleeve of the nose landing gear and the scale mark of the outer cylinder of the front support, sending a front wheel swing reducing instruction to a front wheel control box of an airplane so that the front wheel control box can control the front wheel to keep stable, determining the angle information of a current front wheel angle sensor as current electrical zero reference information, utilizing a front wheel rotating instruction to control the rotation of the front wheel and the rotating sleeve, and judging that the electrical zero calibration of the front wheel of the airplane is finished if the deflection angle of the scale mark of the rotating sleeve is matched with the front wheel rotating instruction. Therefore, the application is applied to ground comprehensive maintenance equipment, and sends various instructions for electrical zero calibration to the front wheel control box so as to control the calibration lines of the rotating sleeve of the front landing gear to be aligned with the calibration lines of the outer cylinder of the front support, thus ensuring that the mechanical zero position of the front wheel is consistent with the electrical zero position, then determining the angle information of the current front wheel angle sensor as the current electrical zero position reference information, and verifying the zero adjustment result, namely judging that the electrical zero position calibration of the front wheel of the aircraft is completed if the deflection angle of the calibration lines of the rotating sleeve is matched with the front wheel rotating instruction.
Further, the embodiment of the application also provides electronic equipment. Fig. 4 is a block diagram of an electronic device 20, according to an exemplary embodiment, and the contents of the diagram should not be construed as limiting the scope of use of the present application in any way.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Specifically, the system comprises at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input/output interface 25 and a communication bus 26. The memory 22 is configured to store a computer program that is loaded and executed by the processor 21 to implement relevant steps in the aircraft nose wheel electrical zero calibration method performed by the electronic device disclosed in any of the foregoing embodiments.
In this embodiment, the power supply 23 is configured to provide working voltages for each hardware device on the electronic device, the communication interface 24 is configured to create a data transmission channel with an external device for the electronic device, and the communication protocol to be followed is any communication protocol applicable to the technical solution of the present application, which is not specifically limited herein, and the input/output interface 25 is configured to obtain external input data or output data to the outside, where the specific interface type may be selected according to the needs of the specific application, which is not specifically limited herein.
Processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 may be implemented in at least one hardware form of DSP (DIGITAL SIGNAL Processing), FPGA (Field-Programmable gate array), PLA (Programmable Logic Array ). The processor 21 may also include a main processor, which is a processor for processing data in a wake-up state, also called a CPU (Central Processing Unit ), and a coprocessor, which is a low-power processor for processing data in a standby state. In some embodiments, the processor 21 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 21 may also include an AI (ARTIFICIAL INTELLIGENCE ) processor for processing computing operations related to machine learning.
The memory 22 may be a carrier for storing resources, such as a read-only memory, a random access memory, a magnetic disk, or an optical disk, and the resources stored thereon include an operating system 221, a computer program 222, and data 223, and the storage may be temporary storage or permanent storage.
The operating system 221 is used for managing and controlling various hardware devices on the electronic device and the computer program 222, so as to implement the operation and processing of the processor 21 on the mass data 223 in the memory 22, which may be Windows, unix, linux. The computer program 222 may further comprise a computer program capable of performing other specific tasks in addition to the computer program capable of performing the aircraft nose wheel electrical zero calibration method performed by the electronic device as disclosed in any of the preceding embodiments. The data 223 may include, in addition to data received by the electronic device and transmitted by the external device, data collected by the input/output interface 25 itself, and so on.
Furthermore, the application also discloses a computer readable storage medium for storing a computer program, wherein the computer program is executed by a processor to realize the method for calibrating the electric zero position of the front wheel of the airplane. For specific steps of the method, reference may be made to the corresponding contents disclosed in the foregoing embodiments, and no further description is given here.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, so that the same or similar parts between the embodiments are referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application. The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in random access Memory (Random Access Memory, i.e., RAM), memory, read-Only Memory (ROM), electrically programmable EPROM (Erasable Programmable Read Only Memory), electrically erasable programmable EEPROM (Electrically Erasable Programmable Read Only Memory), registers, hard disk, removable disk, CD-ROM (Compact Disc Read-Only Memory), or any other form of storage medium known in the art.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The method, the device, the equipment and the medium for calibrating the electrical zero position of the front wheel of the aircraft provided by the invention are described in detail, the principle and the implementation mode of the invention are described by applying specific examples, the description of the examples is only used for helping to understand the method and the core idea of the invention, and meanwhile, the content of the description is not to be construed as limiting the invention as long as the person skilled in the art can change the specific implementation mode and the application range according to the idea of the invention.
Claims (7)
1. The method is characterized by being applied to ground comprehensive maintenance equipment and comprising the following steps of:
the method comprises the steps of judging that an aircraft currently meets a preset calibration starting condition, and controlling a scale mark of a rotating sleeve of a nose landing gear to be aligned with a scale mark of a front support outer cylinder by utilizing a target angle instruction, wherein the preset calibration starting condition is that an upper torque arm and a lower torque arm of the nose landing gear of the aircraft are in a disconnected state, and the ground comprehensive maintenance equipment is communicated with an aircraft management computer;
Transmitting a front wheel swing reducing instruction to a front wheel control box of the aircraft so that the front wheel control box controls the front wheel to keep stable;
Transmitting a zeroing instruction to the front wheel control box so as to judge whether the duration time of the zeroing instruction is larger than a first preset threshold value through the front wheel control box, and if so, determining the angle information of a current front wheel angle sensor as current electrical zero reference information;
Controlling the front wheel and the rotating sleeve to rotate by utilizing a front wheel rotating instruction, and judging that the electrical zero calibration of the front wheel of the aircraft is finished if the deflection angle of the scale mark of the rotating sleeve is matched with the front wheel rotating instruction;
if the deflection angle of the scale mark of the rotating sleeve is matched with the front wheel rotating instruction, the front wheel electrical zero calibration of the aircraft is judged to be completed, and the method comprises the following steps:
The method comprises the steps of determining a target rotation angle in a front wheel rotation instruction and a deflection angle of a scale mark of a rotating sleeve, judging whether an error angle between the target rotation angle and the deflection angle is not larger than a second preset threshold value, judging that the deflection angle is matched with the front wheel rotation instruction if the error angle is not larger than the second preset threshold value, and judging that the calibration of the electrical zero position of the front wheel of the aircraft is completed.
2. The aircraft nose wheel electrical zero calibration method of claim 1, wherein prior to said controlling rotation of said nose wheel and said rotating sleeve with a nose wheel rotation command, further comprising:
and sending an arm rotation instruction to the front wheel manipulation control box so that the front wheel manipulation control box controls the upper torque arm to rotate based on the arm rotation instruction until the upper torque arm is aligned with the lower torque arm so as to communicate the upper torque arm with the lower torque arm.
3. The aircraft nose wheel electrical zero calibration method of claim 1, wherein controlling alignment of the graduation marks of the swivel sleeve with the graduation marks of the nose strut outer barrel using the target angle command comprises:
and sending a target angle instruction to a front wheel control box, so that the front wheel control box utilizes the target angle instruction to control a rotating sleeve in the nose landing gear to rotate until zero graduation marks of the rotating sleeve are aligned with zero graduation marks of the front strut outer barrel.
4. The method according to claim 1, wherein after determining whether the error angle between the target rotation angle and the yaw angle is not greater than a second preset threshold, further comprising:
And if the error angle is larger than the second preset threshold value, the step of controlling the alignment of the scale mark of the rotating sleeve of the nose landing gear and the scale mark of the front support outer cylinder by utilizing the target angle instruction is performed again until the number of times of re-jumping is larger than a third preset threshold value.
5. The utility model provides an aircraft front wheel electrical zero calibration device which characterized in that is applied to ground comprehensive maintenance equipment, includes:
The system comprises a calibration line alignment module, a ground comprehensive maintenance device and an aircraft management computer, wherein the calibration line alignment module is used for judging that the aircraft currently meets a preset calibration starting condition, and controlling the calibration line of a rotating sleeve of a nose landing gear to be aligned with the calibration line of a front strut outer cylinder by utilizing a target angle instruction, wherein the preset calibration starting condition is that an upper torque arm and a lower torque arm of the nose landing gear of the aircraft are in a disconnected state, and the ground comprehensive maintenance device is communicated with the aircraft management computer;
The front wheel stability control module is used for sending a front wheel swing reducing instruction to a front wheel control box of the aircraft so that the front wheel control box can control the front wheel to keep stable;
The reference information determining module is used for sending a zeroing instruction to the front wheel control box so as to judge whether the duration time of the zeroing instruction is larger than a first preset threshold value through the front wheel control box, and if so, determining the angle information of the current front wheel angle sensor as current electrical zero reference information;
the zero calibration completion module is used for controlling the front wheel and the rotating sleeve to rotate by utilizing a front wheel rotating instruction, and judging that the electrical zero calibration of the front wheel of the aircraft is completed if the deflection angle of the scale mark of the rotating sleeve is matched with the front wheel rotating instruction;
The zero calibration completion module is specifically configured to:
The method comprises the steps of determining a target rotation angle in a front wheel rotation instruction and a deflection angle of a scale mark of a rotating sleeve, judging whether an error angle between the target rotation angle and the deflection angle is not larger than a second preset threshold value, judging that the deflection angle is matched with the front wheel rotation instruction if the error angle is not larger than the second preset threshold value, and judging that the calibration of the electrical zero position of the front wheel of the aircraft is completed.
6. An electronic device, comprising:
A memory for storing a computer program;
Processor for executing said computer program to carry out the steps of the aircraft nose wheel electrical zero calibration method according to any one of claims 1 to 4.
7. A computer-readable storage medium, for storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the aircraft nose wheel electrical zero calibration method as claimed in any one of claims 1 to 4.
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| EP3486177B1 (en) * | 2017-11-21 | 2022-08-24 | Safran Landing Systems UK Ltd | Aircraft landing gear assembly actuation system |
| CN110697031A (en) * | 2019-10-24 | 2020-01-17 | 中国航空工业集团公司沈阳飞机设计研究所 | Aircraft front wheel deflection angle control system |
| CN111026151B (en) * | 2019-11-25 | 2023-10-20 | 航天时代飞鸿技术有限公司 | Self-adaptive control surface calibration method for micro unmanned aerial vehicle with large dead zone characteristic |
| GB2616077A (en) * | 2022-02-28 | 2023-08-30 | Airbus Operations Ltd | Aircraft steering angle determination |
| CN218317397U (en) * | 2022-10-11 | 2023-01-17 | 中国航空工业集团公司西安飞机设计研究所 | A mechanical zero position calibration device for the front wheel of an aircraft |
| US20240385627A1 (en) * | 2022-12-29 | 2024-11-21 | United States Of America As Represented By The Administrator Of Nasa | Method and system for wind-optimal airspeed target and airspeed predictions at waypoints for use in flight management system (fms) |
| CN117048841A (en) * | 2023-09-12 | 2023-11-14 | 中国商用飞机有限责任公司 | Automatic trimming system and method for airplane turning system |
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| CN101685039A (en) * | 2008-09-23 | 2010-03-31 | 中国农业机械化科学研究院 | Method for testing field ground load calibration of airplane wing and calibration device thereof |
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