CN102991491B - A kind of unmanned plane Electromechanical brake system - Google Patents
A kind of unmanned plane Electromechanical brake system Download PDFInfo
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- CN102991491B CN102991491B CN201210470486.6A CN201210470486A CN102991491B CN 102991491 B CN102991491 B CN 102991491B CN 201210470486 A CN201210470486 A CN 201210470486A CN 102991491 B CN102991491 B CN 102991491B
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Abstract
The invention provides a kind of unmanned plane Electromechanical brake system, antiskid braking control box receives the brake instruction of flight-control computer, calculate brake amount, receive the frequency signal of wheel spin-up transducer simultaneously, calculate anti-skidding amount, brake amount and anti-skidding amount comprehensively export brake signal afterwards and control box to driving, force transducer gathers the power output of motor, feedback signal input is driven and controls box, drive control box to export 6 road pwm signals and be supplied to the drive circuit driving control box, drive circuit drives the three-phase full-bridge inverting circuit controlling 6 MOSFET compositions, the brake weight that drive motor output requires.The present invention improves aircraft testability, maintainability and safety, alleviates aircraft weight.
Description
Technical field
The present invention relates to a kind of brake system, especially a kind of all-electric braking system.
Background technology
Unmanned aerial vehicle brake system is a subsystem of function opposite independent on aircraft, its function is the communication instruction according to flight-control computer, brake pressure is provided to actuator brake machine wheel, it is made to produce braking moment, so that the aircraft moved on the ground handle it and keep correct line of travel or turning.In aircraft process, brake system also has anti-sliding control function, brake pressure can be automatically regulated according to runway surface state at that time, STRUCTURAL CONTROL OF BRAKING MOMENT is made to adapt with runway surface state at that time, ensure that aircraft is at multiple runway, particularly pollute the safety of runway brake, reliability, raising braking efficiency at hydrops, accumulated snow, greasy dirt and rubber, shorten distance of landing run, it is prevented that wheel skids and stop quick-fried tire deeply.Modern medium-and-large-sized unmanned aerial vehicle many uses digital control, hydraulic actuation brake system, typical unmanned aerial vehicle brake system is mainly made up of antiskid braking control box, Electric hydraulic pressure servo valve, electromagnetic switch valve, batcher, switching valve and wheel spin-up transducer etc..Basic brake non-skid work principle is: flight-control computer sends brake instruction to antiskid braking control box by communicating, and antiskid braking control box calculates corresponding brake electric current according to instruction.Antiskid braking control box accepts the wheel rate signal of wheel spin-up transducer output simultaneously, it is judged that the sliding mode of wheel, and according to the depth that wheel slides, calculates corresponding anti-skidding electric current.After comprehensive to brake electric current and anti-skidding electric current, antiskid braking control box output control signal turns on to connect Electric hydraulic pressure servo valve oil-feed path to electromagnetic switch valve, control electric current after output integrated is to Electric hydraulic pressure servo valve simultaneously, regulate the output brake pressure to brake machine wheel, produce suitable braking moment, it is achieved the brake of aircraft and anti-skidding.
In the prior art, brake system is mainly performed realization by digital control hydraulic unit mechanism, but hydraulic brake system existence composition product is many, quality re-mounts dismounting complexity and reduces payload and the maintainability of aircraft.And the fault of hydraulic unit is not easily monitored and be there is hydraulic fluid leak burning equivalent risk and makes it has impact on the safety of aircraft in brake system.
Summary of the invention
In order to overcome the deficiencies in the prior art, the present invention provides a kind of unmanned plane Electromechanical brake system, it is possible to increase the testability of unmanned aerial vehicle, maintainability and safety.
The technical solution adopted for the present invention to solve the technical problems is: include antiskid braking control box, drive and control box and wheel spin-up transducer, after antiskid braking control box receives the brake instruction of flight-control computer, calculate corresponding brake amount, antiskid braking control box receives the frequency signal of wheel spin-up transducer simultaneously, change calculations according to frequency signal goes out corresponding anti-skidding amount, brake amount and anti-skidding amount comprehensively export brake signal afterwards and control box to driving, simultaneously, force transducer gathers the power output of motor, feedback signal input is driven and controls box, control box is driven to include DSP and CPLD, brake signal and feedback signal are carried out comprehensive rear by classical PI control algolithm by DSP, output is used for controlling the pwm signal of brshless DC motor and motor steering signal to CPLD, CPLD is to the DSP pwm signal exported, motor rotor position signal, logic synthesis is carried out after motor positive and inverse signals collecting, export 6 road pwm signals and be supplied to the drive circuit driving control box, drive circuit drives the three-phase full-bridge inverting circuit controlling 6 MOSFET compositions, the brake weight that drive motor output requires.
The invention has the beneficial effects as follows: make original braking action mode by Hydraulic Elements realize, brake pressure without closed loop feedback mode of operation change into motor start brake modes, and define brake weight closed loop control, thus improve aircraft testability, maintainability and safety, alleviate aircraft weight.
Accompanying drawing explanation
Fig. 1 is certain type unmanned aerial vehicle Electromechanical brake system composition structure chart, wherein: 1. antiskid braking control box 2. drives and controls box 3. velocity sensor；
Fig. 2 is antiskid braking control box control block diagram；
Fig. 3 drives to control box control block diagram.
Detailed description of the invention
The present invention includes antiskid braking control box, drive and control box and wheel spin-up transducer, it is characterized in that changing braking action mode, after antiskid braking control box receives the brake instruction of the flight-control computer of unmanned aerial vehicle by internal single-chip microcomputer, calculate corresponding brake amount, antiskid braking control box receives the frequency signal of wheel spin-up transducer simultaneously, single-chip microcomputer is entered with velocity stage circuit through internal square wave level circuit, single-chip microcomputer goes out corresponding anti-skidding amount according to the change calculations of frequency signal, brake amount and anti-skidding amount comprehensively export brake signal afterwards and control box to driving, simultaneously drive the feedback signal controlling box reception sensor (gathering the power output of motor), both signals enter after driving the internal dsp controller of control box, both signals are carried out comprehensive rear by classical PI control algolithm by dsp controller, output controls the CPLD device within box for the pwm signal and motor steering signal controlling brshless DC motor to driving, CPLD device is to the DSP pwm signal exported, motor rotor position signal, logic synthesis is carried out after the signals collecting such as motor positive and inverse, export 6 road pwm signals and be supplied to the drive circuit driving control box, driving chip in drive circuit drives the three-phase full-bridge inverting circuit controlling 6 MOSFET compositions, the brake weight that drive motor output requires.
Below in conjunction with drawings and Examples, the present invention is further described.
The present embodiment type unmanned plane Electromechanical brake system.
The present embodiment includes antiskid braking control box 1, drives control box 2, wheel spin-up transducer 3.In enforcement:
Antiskid braking control box 1, by information such as the brake amount instruction of 422 communications reception UAV Flight Control computers, self-checking command and air speeds, calculates, according to brake amount instruction, the electric current that brakes accordingly.Meanwhile, the antiskid brake unit of the antiskid braking control box wheel rate signal according to the wheel spin-up transducer output gathered, it is judged that the sliding mode of wheel, and according to the depth that wheel slides, calculate corresponding anti-skidding electric current.After comprehensive to brake electric current and anti-skidding electric current, antiskid braking control box output control signal is given to drive and is controlled box, drive and control box according to instruction current signal, drive and control motor output brake weight on brake main wheel, according to force transducer fed-back current signals on main wheel motor, the brake weight of output is carried out closed loop control, to realize the brake of unmanned plane and anti-skidding simultaneously.Antiskid braking control box and drive and control box and be respectively provided with self-checking function in system, it is possible to braking circuit and anti-skidding circuit in detection velocity sensor, antiskid braking control box, communication failure, driving control in box the fault messages such as drive circuit fault, force transducer fault, the fault of motor own and Hall element in motor and communicate and be sent to the TTC & DT Systems of unmanned plane.
In the present embodiment, wheel spin-up transducer designs routinely.
Claims (1)
1. a unmanned plane Electromechanical brake system, including antiskid braking control box, drive and control box and wheel spin-up transducer, it is characterized in that: after antiskid braking control box receives the brake instruction of flight-control computer, calculate corresponding brake amount, antiskid braking control box receives the frequency signal of wheel spin-up transducer simultaneously, change calculations according to frequency signal goes out corresponding anti-skidding amount, brake amount and anti-skidding amount comprehensively export brake signal afterwards and control box to driving, simultaneously, force transducer gathers the power output of motor, feedback signal input is driven and controls box, control box is driven to include DSP and CPLD, brake signal and feedback signal are carried out comprehensive rear by classical PI control algolithm by DSP, output is used for controlling the pwm signal of brshless DC motor and motor steering signal to CPLD, CPLD is to the DSP pwm signal exported, motor rotor position signal, logic synthesis is carried out after motor positive and inverse signals collecting, export 6 road pwm signals and be supplied to the drive circuit driving control box, drive circuit drives the three-phase full-bridge inverting circuit controlling 6 MOSFET compositions, the brake weight that drive motor output requires.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210470486.6A CN102991491B (en) | 2012-11-19 | 2012-11-19 | A kind of unmanned plane Electromechanical brake system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210470486.6A CN102991491B (en) | 2012-11-19 | 2012-11-19 | A kind of unmanned plane Electromechanical brake system |
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| Publication Number | Publication Date |
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| CN102991491A CN102991491A (en) | 2013-03-27 |
| CN102991491B true CN102991491B (en) | 2016-06-29 |
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| CN201210470486.6A Active CN102991491B (en) | 2012-11-19 | 2012-11-19 | A kind of unmanned plane Electromechanical brake system |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103248290A (en) * | 2013-05-23 | 2013-08-14 | 西北工业大学 | Grey sliding mode control method for dual-redundancy brushless direct current motor of electric brake of airplane |
| CN104658402A (en) * | 2013-11-22 | 2015-05-27 | 中国航空工业集团公司西安飞机设计研究所 | Semi-physical real-time simulation system and method for airplane anti-skid brake |
| CN103786704B (en) * | 2014-01-26 | 2016-03-30 | 北京航空航天大学 | Aircraft dissimilar redundancy brake system and control method thereof |
| CN103786877B (en) | 2014-01-26 | 2016-01-13 | 北京航空航天大学 | Based on from many wheels airplane brake system of energy brake gear and control method thereof |
| CN105620455B (en) * | 2016-02-04 | 2018-08-31 | 西安航空制动科技有限公司 | A kind of control method of airplane brake system and its ground protection |
| CN106741877B (en) * | 2016-12-22 | 2019-03-29 | 北京航空航天大学 | A kind of electro-hydraulic ground taxi of multi-wheeled bogie push with from energy regenerative brake combined device |
| CN107499302B (en) * | 2017-09-15 | 2023-09-19 | 浙江车路科技有限公司 | Automobile safety brake with self-checking function and application method thereof |
| CN113619776B (en) * | 2021-08-10 | 2024-04-26 | 哈尔滨理工大学 | Aircraft braking electrohydraulic servo system with high response and high stability characteristics |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102602382A (en) * | 2011-04-14 | 2012-07-25 | 中南大学 | Anti-skid braking controller for airplane |
| CN102700534A (en) * | 2012-05-31 | 2012-10-03 | 西北工业大学 | Driving control method for electric brake of airplane |
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2012
- 2012-11-19 CN CN201210470486.6A patent/CN102991491B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102602382A (en) * | 2011-04-14 | 2012-07-25 | 中南大学 | Anti-skid braking controller for airplane |
| CN102700534A (en) * | 2012-05-31 | 2012-10-03 | 西北工业大学 | Driving control method for electric brake of airplane |
Non-Patent Citations (1)
| Title |
|---|
| 飞机全电刹车***控制器设计;文延;《中国优秀博硕士学位论文全文数据库（硕士）工程科技Ⅱ辑》;20040915;第6,11-12,32页 * |
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| CN102991491A (en) | 2013-03-27 |
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