CN110207858B - Variable gain brake instruction sensor and method for determining design parameters - Google Patents
Variable gain brake instruction sensor and method for determining design parameters Download PDFInfo
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- CN110207858B CN110207858B CN201910551564.7A CN201910551564A CN110207858B CN 110207858 B CN110207858 B CN 110207858B CN 201910551564 A CN201910551564 A CN 201910551564A CN 110207858 B CN110207858 B CN 110207858B
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/04—Measuring force or stress, in general by measuring elastic deformation of gauges, e.g. of springs
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Abstract
A variable gain brake instruction sensor and a method for determining design parameters are provided, wherein a first force sensing spring and a second force sensing spring with different lengths are arranged in the brake instruction sensor, so that the variable gain brake instruction sensor has different operating forces and stroke gains so as to meet the requirements of an airplane on different landing states. When the aircraft is in abnormal landing, outputting the maximum operating force, and commanding the stroke of the sensor to be maximum, wherein the first force sensing spring and the second force sensing spring work simultaneously, so that the aircraft is ensured to be braked safely; when the aircraft is in normal landing braking, the output operating force is not greater than the median operating force, only the first force sensing spring works, and the aircraft is guaranteed not to slip in the braking process, so that the requirements of various landing states of the aircraft on a braking system are met, the adaptability of the braking system to various take-off and landing states of the aircraft is improved, the anti-slip times of the aircraft wheel are reduced, even the anti-slip phenomenon is avoided in the landing braking process of the aircraft, the uniform abrasion of tires is guaranteed, the service life of the braking aircraft wheel is prolonged, and the braking efficiency is improved.
Description
Technical Field
The invention relates to the field of aircraft braking systems, in particular to a variable gain braking instruction sensor and a method for determining design parameters.
Background
The existing aircraft landing weight is larger and larger, the braking speed is higher and higher, the aircraft anti-skid braking system simultaneously meets the requirements of normal landing braking, maximum landing braking, normal landing non-parachute landing braking, maximum landing non-parachute landing braking and take-off stopping braking, the braking pressure change range meeting the braking requirements is large, and the rated braking pressure of the digital electric anti-skid braking system in the prior art must meet the braking requirement of the most severe condition of the aircraft, so the rated braking pressure set by the digital electric anti-skid braking system is larger.
Digital electric anti-skid brake system for airplane in prior artThe system generally adopts foot braking and foot differential motion, the output braking pressure is in direct proportion to the braking footrest force, the greater the footrest force is, the higher the output braking pressure is, and the structure diagram of the prior art is specifically shown in fig. 1; the prior art steering force versus stroke gain curve 19 is shown in detail in fig. 3. The steering force and travel gain of the brake command sensor are 9.4N/mm, and the steering force for the pilot is minimumThe pedal idle stroke is +.>The pilot uses a maximum of steering force +.>The pedal stroke is +.>The method comprises the steps of carrying out a first treatment on the surface of the The steering force is proportional to the footrest stroke.
Through searching, the invention patent with the application number of 201710086646.X provides a command sensor and a method for determining design parameters of the command sensor, in order to ensure that a pilot treads on a brake command sensor to feel powerful, a force sensing spring is designed in the invention, and the invention performs parameter design calculation on the spring used by the spring. However, the invention does not refer to the variable gain requirement, and can not meet various use conditions of the aircraft, and the braking process is required to select the magnitude of the stepping force and the braking force distance by the personal experience of a pilot, so that the human factors are higher in the braking process, and the braking efficiency is low.
Disclosure of Invention
In order to overcome the defects of high artificial factors and low braking efficiency in the braking process in the prior art, the invention provides a variable gain braking instruction sensor and a method for determining design parameters.
The invention relates to a variable gain brake instruction sensor which comprises a shell, a positioning sleeve, a return spring, a return piston, a force sensing piston, a stop sleeve, a fixed bracket assembly and a force sensing spring. Wherein: one end of the shell is used for accommodating an electrical element, which is called an electronic cavity; the other end of the housing is used to mount a mechanical assembly, referred to as a mechanical cavity. The connecting end of the fixed support component is fixedly arranged in the inner hole of the shell electronic cavity. The fixed support component is fixed on one end face of the electronic cavity of the shell. And a stop sleeve is arranged at the outer end port of the mechanical cavity. The force sensing piston is positioned in the mechanical cavity, and a dowel bar of the force sensing piston passes through a central hole of the stop sleeve and is positioned outside the end surface of the stop sleeve; the piston end of the force sensing piston is sleeved on the outer circumferential surface of the reset piston. The reset piston is positioned in the mechanical cavity and is close to one end of the electronic cavity. Two linear displacement sensors are positioned in the shell, one end of each linear displacement sensor is positioned in the central hole of the locating sleeve, and the other end of each linear displacement sensor is arranged in the through hole of the end face of the reset piston and is fixed through the reset piston fixing nut. The end face of the pressure applying rod positioned in the piston end of the force sensing piston is matched with the pressure applying rod groove in the center of the outer end face of the reset piston. And the two linear displacement sensors are respectively sleeved with a reset spring. The force sensing spring is positioned in the mechanical cavity.
The force sensing spring comprises a first force sensing spring and a second force sensing spring, wherein the second force sensing spring is sleeved on the outer circumference of a dowel bar of the force sensing piston, and L is arranged between the outer end surface of the second force sensing spring and the inner end surface of a gap adjusting gasket positioned at the inner end surface of the stop sleeve 0 Is provided with L between the inner end face of the second force sensing spring and the end face of the force sensing piston 2 Is a pitch of (c). The first force-sensing spring is sleeved on the outer circumference of the second force-sensing spring, and the distance between the outer end surface of the first force-sensing spring and the inner end surface of the gap-adjusting gasket at the inner end surface of the stop sleeve is L 0 And the inner end surface of the first force sensing spring is attached to the end surface of the force sensing piston.
During operation, the distance L between the outer end surface of the second force sensing spring and the inner end surface of the gap adjusting gasket 0 And the distance between the outer end face of the first force sensing spring and the inner end face of the gap adjusting gasket is L 0 All are idle strokes L of brake instruction sensors s0 。
The working circle number n=8.5, the steel wire diameter d=3 mm, the outer diameter dw=30 mm, the inner diameter dn=24 mm and the height H of the first force-sensitive spring 0 =94 mm, pitch t=10.4, single turn deformation f=6.57, number of turns n=8.
The outer diameter Dw of the second force sensing spring 1 =20mm, inner diameter Dn of spring 1 Wire diameter d =15 mm 1 =2.5 mm, height H 01 Work turns n=48 mm 1 Spring pitch t=3.8 1 =11.6, single-turn deformation f 1 ＝2.83。
The specific process for determining the spring parameters of the variable gain brake command sensor provided by the invention is as follows:
step 1, determining the median operating force and the rated operating force of a variable gain brake command sensor:
brake command sensor travel L s The relationship with the brake command sensor operating force is determined by equation (1):
wherein: f operating force, F 0 Minimum steering force, F M Median steering force, steering force/travel gain K 1 Steering force/travel gain K 2 、L M Median travel, L of braking command sensor smax Maximum travel of brake command sensor, L s -braking command sensor working stroke, L s0 -brake command sensor idle stroke.
Step 2, determining parameters of a first force sensing spring of the variable gain brake command sensor:
parameters of the first force-sensitive spring include its height, outer diameter, inner diameter, amount of deformation, pitch, number of turns and diameter of the first force-sensitive spring wire. The specific process is as follows:
i, determining the operating force and the stroke gain k of the first force-sensitive spring through a formula (2) 1 ；
k 1 ＝(F M -F 0 )÷(L M -L s0 ) (2)
Ii) determining the maximum actuating force F of the first force-sensing spring by the formula (3) max1 ：
F max1 ＝F 0 +k 1 ×(L smax －L s0 ) (3)
Iii determining the free height H of the first force-sensitive spring by equation (4) 0 ：
H 0 ＝△S 1 +L 1 ＝21.7+72＝93.7mm (4)
Iv, determining the outer diameter Dw of the first force-sensitive spring by the shell structure;
v determining the diameter d of the first force-sensitive spring wire 1 And an inner diameter Dn of the first force sensing spring
Based on the determined maximum operating force F of the first force-sensing spring max1 And designed command sensor maximum travel L smax Determining the outer diameter of the first force-sensitive spring steel wire as d 1 The first force sensing spring has an inner diameter Dn.
Vi, determining the deformation of the first force-sensitive spring:
the deformation of the first force-sensing spring comprises the single-circle deformation f of the first force-sensing spring and the total deformation deltaS of the second force-sensing spring.
The maximum allowable load P of the first force-sensitive spring is determined by manual.
When a median operating force is input to the command sensor, the deformation Δs of the first force-sensitive spring is determined by equation (5) 1 ：
△S 1 ＝(F M -F 0 )÷k 1 (5)
Determining the total deformation Δs of the first force-sensitive spring by the formula (6):
△S＝P÷k 1 (6)
in the formula (6), P is the maximum allowable load of the first force-sensitive spring;
vii, determining the single-turn deformation f of the first force-sensitive spring through the formula (7):
in the formula (7), D is the middle diameter of the first force-sensitive spring; g is the shear modulus of elasticity of the first force sensing spring; d is the diameter of the first force sensing spring wire.
Viii determining the pitch t of the first force-sensitive spring 1
The first force-sensitive spring pitch t is determined by equation (8):
H 0 ＝t×n+2d (8)
and (c) determining the working cycle number n of the first force-sensing spring through a formula (9):
n＝△S÷f (9)
to this end, a parameter of the first force sensing spring is determined.
Step 3, determining parameters of a second force sensing spring of the variable gain brake command sensor:
the second force sensing spring parameters comprise the height, the outer diameter, the inner diameter, the deformation, the pitch, the work turns and the diameter of the second force sensing spring steel wire of the second force sensing spring. The specific process is as follows:
when determining each parameter of the second force sensing spring, firstly determining the operating force and the stroke gain k of the second force sensing spring 4 And maximum steering force F max2 。
Determining the second force sensing spring operating force and the stroke gain k through formula (10) 4 ：
k 4 ＝(F max -F max1 )÷(L smax -L M ) (10)
Determining the maximum actuating force F of the second force-sensing spring by the formula (11) max2 ：
F max2 ＝F max -F max1 (11)
Ii) determining the spring height H of the second force-sensing spring 01 。
Determining the spring height H of the second force-sensing spring by equation (12) 01 ：
H 01 ＝L 1 －L M (12)
Iii, throughEquation (12) determines the outer diameter of the second force sensing spring as D w1 The method comprises the steps of carrying out a first treatment on the surface of the Setting the fit clearance delta of 2mm between the fit surfaces of the first force sensing spring and the second force sensing spring, so that the outer diameter of the second force sensing spring is D w1 ＝Dn-δ2。
Iv determining the diameter d of the second force-sensing spring wire 1 And an inner diameter Dn of the second force sensing spring 1 ：
Based on the determined maximum operating force F of the second force-sensing spring max2 And a designed working stroke, determining the outer diameter of the second force sensing spring as d 1 An inner diameter Dn 1 。
V, determining the deformation of the second force sensing spring:
the deformation of the second force sensing spring comprises the single-coil deformation f of the second force sensing spring 1 And the total deformation F of the second force sensing spring 1 。
Determination of maximum allowable load P of the second force-sensing spring by manual x 。
Determining the single-turn deformation f of the second force-sensing spring through a formula (13) 1 ：
In formula (13), D 1 The middle diameter of the second force sensing spring; g 1 Is the shear elastic modulus of the second force sensing spring.
Determining the total deformation F of the second force-sensing spring through a formula (14) 1 ：
F 1 ＝P x ÷k 4 (14)
Vi, determining the pitch t of the second force sensing spring 1
Determining the second force sensing spring pitch t by equation (15) 1 ：
H 01 ＝t 1 ×n 1 +2d 1 (15)
In the formula (15), n 1 For the number of working turns of the second force sensing spring,
n 1 ＝F 1 ÷f 1 (16)
to this end, the parameters of the second force sensing spring are determined.
Step 4, determining the travel gain K of the brake command sensor 2 ：
First force-sensing spring travel gain K 1 With second force sensing spring travel gain k 4 The sum is used for determining the stroke gain K of the brake command sensor 2 The method comprises the following steps:
K 2 ＝K 1 +k 4 (17)
step 5, determining the travel L of the brake command sensor s Corresponding brake command voltage V s ：
Determining a brake command sensor travel L by equation (18) s With brake command voltage V s The relation is as follows:
wherein: l (L) s Is the working stroke of the brake command sensor; l (L) s0 Is the idle stroke of the brake command sensor; l (L) smax Is the total stroke of the brake command sensor; k (K) 3 Brake command voltage and travel gain; v (V) s0 Is the voltage when the brake command is idle.
When the variable gain brake command sensor is in the range ofWhen the brake command voltage is output as +.>
When the variable gain brake command sensor is in the process of runningWhen the brake command voltage is output as +.>Brake command voltageAnd the stroke gain K 3 = 0.1267V/mm. The power supply voltage of the variable gain braking instruction sensor is 15V.DC;
when the working stroke of the variable gain brake command sensor isWhen the brake command voltage is +.>
Thus, the determination of the design parameters in the variable gain brake command sensor is completed.
The invention provides a variable gain brake instruction sensor by adding a spring in the brake instruction sensor on the basis of not changing the interface of the existing brake system, namely by using two springs with different lengths, different operating forces and stroke gains, and setting a median operating force and a rated operating force in the brake instruction sensor.
The invention sets two force sensing springs in the brake instruction sensor, namely a first force sensing spring and a second force sensing spring; the command sensor has two different operating forces and stroke gains, the force sensing piston is connected with one end of the first force sensing spring, the other end of the first force sensing spring is communicated with the stop sleeve, the second force sensing spring is arranged in the first force sensing spring, one end of the second force sensing spring is communicated with the stop sleeve, the other end of the second force sensing spring is suspended, when the movable support assembly moves under the action of force, the reset spring and the reset piston are pushed to move, and the first force sensing spring moves along with the reset piston.
When the pilot's operating force is not greater than the median operating force, the pilot pedal stroke is large, the operating force is small, a first force-sensing spring in a variable gain brake command sensor is pressed, and the pilot pedal operating force is in direct proportion to the brake command voltage output by the variable gain brake command sensor; when the pilot pedal operating force is larger than the median operating force and not larger than the maximum operating force, the first force sensing spring and the second force sensing spring 7 are compressed at the same time, the pilot operating force is increased, and the travel of the brake command sensor is maximized. The brake command sensor outputs a brake command voltage corresponding to a stroke of the brake command sensor.
The variable gain brake command sensor of the present invention has two different steering forces and travel gains, and the steering force and travel gain curve 20 of the present invention is shown in FIG. 4; two different operating forces and travel gains are set in a variable gain brake command sensor by the second force sensing spring and the first force sensing spring:
when the pilot uses the steering force of maximumDuring pedal idle stroke L 0 Is->
When the pilot's steering force is at mostPedal stroke L 2 Is->When the pilot's steering force is from +>To->In a linear increase, the pedal stroke is from +.>To->The space increases linearly; steering force and travel gain K of brake command sensor 1 4.516N/mm.
When the pilot uses the steering force of maximumMaximum pedal travel L 1 Is->When the pilot's steering force is from +>To->In a linear increase, the pedal stroke is from +.>To->The space increases linearly; steering force and travel gain K of brake command sensor 2 22.169N/mm.
The commanded sensor travel versus brake voltage curve 21 of the present invention is shown in detail in FIG. 5. The working stroke of the variable gain brake instruction sensor is as followsThe stroke of the variable gain brake command sensor is +.>Output brake command voltage is +.>The stroke of the variable gain brake command sensor is +.>When the brake command voltage is output as +.> Brake command voltage and travel gain K 3 0.1267V/mm. The length of the commanded sensor stroke is proportional to the commanded sensor output voltage.
According to the variable gain brake instruction sensor, two springs with different lengths, namely the first force sensing spring and the second force sensing spring, are arranged in the instruction sensor, so that two different operating forces and stroke gains are arranged in the variable gain brake instruction sensor, and the requirements of an airplane on different landing states can be met; when the aircraft lands under severe braking conditions such as maximum landing braking, normal landing non-parachute landing braking, maximum landing non-parachute landing braking, take-off stopping and the like, the pilot outputs the maximum required operating force, the stroke of the command sensor reaches the maximum, and the first force sensing spring and the second force sensing spring work simultaneously, so that the aircraft is ensured to be braked safely; when the aircraft is in normal landing braking and braking in a small-load state, the pilot outputs an operating force which is not greater than the median operating force, and only the first force sensing spring works, so that the aircraft is ensured not to slip in the braking process. Therefore, the requirements of various landing states of the aircraft on the braking system are met, the adaptability of the braking system to various take-off and landing states of the aircraft is improved, the skid resistance times of the wheels are reduced or even no skid resistance occurs in the landing braking process of the aircraft, the uniform abrasion of the tires is ensured, the service life of the braking wheels is prolonged, and the braking efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of a prior art brake command sensor;
FIG. 2 is a schematic diagram of a brake command sensor according to the present invention;
FIG. 3 prior art steering force versus stroke gain curve;
FIG. 4 is a plot of steering force versus stroke gain for the present technique;
fig. 5 is a plot of travel versus brake voltage for the present invention.
In the figure:
1. a housing; 2. a positioning sleeve; 3. a return spring; 4. resetting the piston; 5. a force sensing piston; 6. a first force sensing spring; 7. a second force sensing spring; 8. a stop sleeve; 9. a movable bracket assembly; 10. a lock nut; 11. a gasket; 12. a seal ring; 13. a stop sleeve nut; 14. resetting the piston fixing nut; 15. a top cover; 16. a gasket; a 17 nut; 18. and fixing the bracket assembly. 19. A prior art steering force versus stroke gain curve; 20. the invention relates to a technical manipulation force and stroke gain curve; 21. the invention instructs the sensor travel and brake current curve.
Detailed Description
The embodiment is a variable gain brake command sensor, which comprises a shell 1, a positioning sleeve 2, a return spring 3, a return piston 4, a force sensing piston 5, a first force sensing spring 6, a second force sensing spring 7, a stop sleeve 8, a movable bracket assembly 9, a lock nut 10, a gasket 11, a sealing ring 12, a stop sleeve nut 13, a return piston fixing nut 14, a top sleeve 15, a gasket 16, a nut 17 and a fixing bracket assembly 18. Wherein:
the brake instruction sensor is obtained after improving the prior art. The brake command sensor comprises a movable support assembly 9, a lock nut 10, a top sleeve 15, a fixed support assembly 18, a shell 1, a positioning sleeve 2, a return spring 3, a return piston 4, a force sensing piston 5, a first force sensing spring 6, a second force sensing spring 7 and a stop sleeve 8. The present embodiment is an improvement over the prior art in that a second force sensing spring 7 is added to the brake command sensor. The parts of the brake instruction sensor are all in the prior art.
One end of the shell 1 is used for accommodating an electrical element, which is called an electronic cavity; the other end of the housing is used to mount a mechanical assembly, referred to as a mechanical cavity.
The connecting end of the fixed bracket assembly 18 is arranged in an inner hole of the electronic cavity of the shell 1 and is fixedly connected through threads. A gasket 16 is fitted over the outer circumferential surface of the connection end and has its inner end face fitted to the outer end face of the housing electronic cavity. A nut 17 is fitted over the outer circumferential surface of the connection end and has its inner end face fitted to the outer end face of the washer. The fixed bracket assembly 18 is fastened by a nut 17 and a washer 16. The top sleeve 15 is arranged in the shell through threads, the outer end surface of the top sleeve is attached to the end surface of the connecting end of the fixed bracket component,
the electronic cavity is divided into two chambers by a top sleeve 15, and the two chambers are communicated through a through hole positioned in the center of the top sleeve. The two ends of the inner side chamber of the two chambers are respectively provided with a positioning sleeve 2, and the outer circumferential surface of the positioning sleeve is attached to the inner surface of the inner side chamber.
A stop sleeve 8 is arranged at the outer end port of the mechanical cavity through a stop sleeve nut 13. The force sensing piston 5 is positioned in the mechanical cavity, and a dowel bar of the force sensing piston passes through a central hole of the stop sleeve and is positioned outside the end face of the stop sleeve; the piston end of the force sensing piston is sleeved on the outer circumferential surface of the reset piston 4. The reset piston is positioned in the mechanical cavity and is close to one end of the electronic cavity. Two linear displacement sensors 16 are positioned in the shell, one end of each linear displacement sensor is positioned in the central hole of the locating sleeve 2, and the other end of each linear displacement sensor is arranged in the through hole of the end face of the reset piston 4 and is fixed through the reset piston fixing nut 14. The end face of the pressing rod positioned in the piston end of the force sensing piston 5 is matched with the pressing rod groove in the center of the outer end face of the reset piston 4. And the two linear displacement sensors are respectively sleeved with a reset spring 3. A second force sensing spring 7 is sleeved on the outer circumference of the dowel bar of the force sensing piston, and L is arranged between the outer end surface of the second force sensing spring and the inner end surface of the gap adjusting gasket positioned at the inner end surface of the stop sleeve 8 0 Is provided with L between the inner end face of the second force sensing spring and the end face of the force sensing piston 5 2 Is a pitch of (c). A first force-sensing spring 6 is sleeved on the outer circumference of the second force-sensing spring 7, and the distance between the outer end surface of the first force-sensing spring 6 and the inner end surface of the gap-adjusting gasket at the inner end surface of the stop sleeve 8 is L 0 And the inner end face of the first force sensing spring is attached to the end face of the force sensing piston 5.
The distance between the outer end face of the second force sensing spring and the inner end face of the gap adjusting gasket and the distance between the outer end face of the first force sensing spring and the inner end face of the gap adjusting gasket are both L 0 When in operation, the interval is the empty space of the brake instruction sensorTravel L s0 。
The connecting end of the movable bracket assembly 9 is positioned in a central hole at the outer end of a dowel bar of the force sensing piston and is fastened by a lock nut 10 and a gasket 11; and a universal ball bearing is arranged in a bearing hole at the bearing mounting end of the movable bracket assembly.
Two force sensing springs, namely a first force sensing spring 6 and a second force sensing spring 7, are arranged in the brake command sensor; the command sensor is provided with two different steering forces and stroke gains.
According to the invention, the middle operating force and the rated operating force are arranged in the variable gain brake instruction sensor through two springs with different lengths, namely a first force sensing spring and a second force sensing spring; the maximum steering force for pilotDuring pedal idle stroke L 0 Is->Neither the first force sensing spring nor the second force sensing spring is operational; when the pilot operating force is not greater than the median operating force, the operating force and stroke gain K of the brake command sensor 1 4.516N/mm, the pilot has a maximum operating forceThe pedal stroke is +.>The first force sensing spring works, and the second force sensing spring does not work; the first force-sensing spring 6 is compressed independently, and when the pedal operating force is not greater than the rated operating force, the first force-sensing spring 6 and the second force-sensing spring 7 are compressed simultaneously, and the operating force and the stroke gain K of the brake command sensor 2 22.169N/mm, the pilot has a maximum steering force of +.>The pedal stroke is +.>
The working stroke of the variable gain brake instruction sensor is as followsThe stroke of the variable gain brake command sensor is +.>Output brake command voltage is +.>The stroke of the variable gain brake command sensor is +.>When the brake command voltage is output as +.>Brake command voltage and travel gain K 3 0.1267V/mm. The length of the command sensor stroke is proportional to the output voltage.
The invention also provides a method for determining the spring parameters for the variable gain brake instruction sensor, which comprises the following specific processes:
step 1, determining the median operating force and the rated operating force of a variable gain brake command sensor:
the variable gain brake instruction sensor is hinged with the brake pedal, the pilot steps on the pedal to enable the variable gain brake instruction sensor to move, and when the brake instruction sensor runs idle, the stroke of the brake instruction sensor is in direct proportion to the force of the brake footstool. When the variable gain brake command sensor is in idle stroke, the stroke of the brake command sensor is changed, and the operating force is unchanged; the variable gain brake command sensor is in idle stroke to median stroke, the stroke of the brake command sensor is in direct proportion to the force of a brake footrest, the operating force/stroke gain is small, and the brake force sense is not obvious; when the stroke of the variable gain brake command sensor is from the middle stroke to the total stroke, the stroke of the brake command sensor is in direct proportion to the force of the brake footrest, and the force/stroke is controlledThe gain is large, and the brake force sense is obvious. Brake command sensor travel L s The relationship with the brake command sensor operating force is determined by equation (1):
wherein: f operating force, F 0 Minimum steering force, F M Median steering force, steering force/travel gain K 1 Steering force/travel gain K 2 、L M Median travel, L of braking command sensor smax Maximum travel of brake command sensor, L s -braking command sensor working stroke, L s0 -brake command sensor idle stroke.
In this embodiment, the working stroke of the variable gain brake command sensor isMedian travel L M Is thatMaximum travel L smax Is->The minimum operating force of the brake command sensor is +.>Median operating force F in brake command sensor M Is->The maximum operating force of the brake command sensor is +.>Steering force and stroke gain K 1 4.516N/mm, steering force and stroke gain K 2 22.169N/mm.
Brake operating force is atWhen the brake command sensor changes, the working stroke of the brake command sensor is +.>Brake operating force is +.>When the brake command sensor changes internally, the working stroke of the brake command sensor is +.>mm; brake operating force is +.>When the brake command sensor changes internally, the working stroke of the brake command sensor is +.>
Step 2, determining parameters of a first force sensing spring of the variable gain brake command sensor
Parameters to be determined include the height, outer diameter, inner diameter, deflection, pitch, number of turns, diameter of the first force spring wire.
According to design requirements, the first force-sensitive spring is required to meet the following requirements:
i brake command sensor minimum steering force F 0 ＝98N；
II first force-sensitive spring median operating force F M ＝196N；
Median stroke L in III command sensor M 23.7mm, maximum travel L smax 32mm, idle stroke L s0 Is 2mm;
IV the length and the outer diameter of the first force-sensitive spring are determined by the structure of the shell, the size of the installation space of the shell is phi 35mm, and the length L of the first force-sensitive spring after precompression 1 72mm. Thereby making it possible toThe spring design calculation is carried out, and the specific process is as follows:
i, determining the operating force and the stroke gain k of the first force-sensitive spring through a formula (2) 1 ；
k 1 ＝(F M -F 0 )÷(L M -L s0 )＝(196-98)÷(23.7-2)＝4.516N/mm (2)
Ii) determining the maximum actuating force F of the first force-sensing spring by the formula (3) max1 ：
F max1 ＝F 0 +k 1 ×(L smax －L s0 )＝98+4.516×(32-2)＝235.5N (3)
Iii determining the free height H of the first force-sensitive spring by equation (4) 0 ：
H 0 ＝△S 1 +L 1 ＝21.7+72＝93.7mm (4)
Iv, determining the outer diameter Dw of the first force-sensitive spring by the shell structure; in the embodiment, the size of the installation space of the shell is phi 35mm, and the outer diameter Dw of the first force-sensing spring in the embodiment is less than or equal to 32mm and is determined to be Dw=30mm through standard selection.
Based on the obtained maximum operating force F of the first force-sensitive spring max1 And the working stroke of the first force-sensitive spring is made of 65Si2MnWA steel wires according to HB3-53-2008 standard, and a standard spring at normal temperature is selected for design.
V determining the diameter d of the first force-sensitive spring wire 1 And an inner diameter Dn of the first force sensing spring
In this embodiment, the maximum operating force F of the first force-sensing spring max1 =235.5n, working stroke is 30mm. Determining the diameter d of the first force-sensitive spring wire according to a mechanical design manual 1 =3 mm, the inner diameter dn=24 mm of the first force-sensing spring.
Vi, determining the deformation of the first force-sensitive spring:
the deformation of the first force-sensing spring comprises the single-circle deformation f of the first force-sensing spring and the total deformation deltaS of the second force-sensing spring.
The maximum allowable load p=252N of the first force-sensitive spring is determined by manual.
When a median operating force is input to the command sensor, the deformation Δs of the first force-sensitive spring is determined by equation (5) 1 ：
△S 1 ＝(F M -F 0 )÷k 1 ＝(196-98)÷4.516＝21.7mm (5)
Determining the total deformation Δs of the first force-sensitive spring by the formula (6):
△S＝P÷k 1 ＝252÷4.516＝55.8mm (6)
in the formula (6), P is the maximum allowable load of the first force-sensitive spring;
vii, determining the single-turn deformation f of the first force-sensitive spring through the formula (7):
in the formula (7), D is the middle diameter of the first force-sensitive spring; g is the shear modulus of elasticity of the first force sensing spring; d is the diameter of the first force-sensitive spring wire, d 1 ＝3mm。
Viii determining the pitch t of the first force-sensitive spring 1
The first force-sensitive spring pitch t is determined by equation (8):
H 0 t×n+2d=t×8.5+2×3=94 mm, so t 1 ＝10.35。 (8)
And (c) determining the working cycle number n of the first force-sensing spring through a formula (9):
n＝△S÷f＝55.8÷6.57＝8.5 (9)
the parameters of the first force sensing spring are determined as follows: the number of working turns n=8.5, the diameter d=3 mm of the steel wire, the outer diameter dw=30 mm, the inner diameter dn=24 mm, the height H 0 =94 mm, pitch t=10.4, single-turn deflection f=6.57, number of turns n= 8,F max1 ＝235.5N。
Finally, the spring model is determined as follows: HB 3-53-3X 30X 94-I.
Step 3, determining parameters of a second force sensing spring of the variable gain brake command sensor:
the parameters to be determined include the height, the outer diameter, the inner diameter, the deformation, the pitch, the number of working turns and the diameter of the steel wire of the second force sensing spring.
According to the design requirement, the second force sensing spring is required to meet the following requirements:
median operating force F of I variable gain brake command sensor M ＝196N；
II, working stroke S=32-23.7=8.3 mm of the second force sensing spring;
when determining each parameter of the second force sensing spring, firstly determining the operating force and the stroke gain k of the second force sensing spring 4 And maximum steering force F max2 。
Determining the second force sensing spring operating force and the stroke gain k through formula (10) 4 ：
k 4 ＝(F max -F max1 )÷(L smax -L M )＝(380-233.5)÷(32-23.7)＝17.65N/mm (10)
Determining the maximum actuating force F of the second force-sensing spring by the formula (11) max2 ：
F max2 ＝F max -F max1 ＝380-235.5＝146.5N (11)
Ii) determining the spring height H of the second force-sensing spring 01 。
Determining the spring height H of the second force-sensing spring by equation (12) 01 ：
H 01 ＝L 1 －L M ＝72-23.7＝48.3mm (12)
Iii determining the outer diameter of the second force sensing spring as D by the formula (12) w1 The method comprises the steps of carrying out a first treatment on the surface of the Setting the fit clearance delta of 2mm between the fit surfaces of the first force sensing spring and the second force sensing spring, so that the outer diameter of the second force sensing spring is D w1 =dn- δ2, in this embodiment, D w1 ＝24mm-2mm×2＝20mm。
Based on the obtained maximum operating force F of the second force-sensing spring max2 And the working stroke of the second force sensing spring is designed by selecting a material 65Si2MnWA and selecting a spring under 180 degrees according to HB3-53-2008 standard.
Iv determining the diameter d of the second force-sensing spring wire 1 And an inner diameter Dn of the second force sensing spring 1
In the present embodiment, the maximum operating force F of the second force sensing spring max2 =146.5n, working stroke 8.3mm. Determining the diameter d of the second force-sensing spring wire according to a mechanical design manual 1 ＝2.5mm，Dn 1 ＝15mm.
V, determining the deformation of the second force sensing spring:
the deformation of the second force sensing spring comprises the single-coil deformation f of the second force sensing spring 1 And the total deformation F of the second force sensing spring 1 。
Determination of maximum allowable load P of the second force-sensing spring by manual x ＝184N。
Determining the single-turn deformation f of the second force-sensing spring through a formula (13) 1 ：
In formula (13), D 1 The middle diameter of the second force sensing spring; g 1 Is the shear elastic modulus of the second force sensing spring.
Determining the total deformation F of the second force-sensing spring through a formula (14) 1 ：
F 1 ＝P x ÷k 4 ＝184÷17.65＝10.42mm. (14)
Vi, determining the pitch t of the second force sensing spring 1
Determining the second force sensing spring pitch t by equation (15) 1 ：
H 01 ＝t 1 ×n 1 +2d 1 (15)
H 01 ＝t 1 ×n 1 +2d 1 ＝t 1 X 3.68+2×2.5=48 mm, so t 1 ＝11.6。
In the formula (15), n 1 For the number of turns of the second force-sensing spring
n 1 ＝F 1 ÷f 1 ＝10.42÷2.83＝3.68. (16)
The final determined parameters of the second force sensing spring are respectively as follows: the working circle number n of the second force sensing spring 1 Wire diameter d =3.8 1 =2.5 mm, outer diameter Dw of spring 1 =20mm, inner diameter Dn of spring 1 Height H of second force sensing spring =15 mm 01 Second force-sensing spring pitch t=48 mm 1 =11.6, single-turn deformation f 1 =2.83, number of turns n 1 ＝3.68，P x ＝184N。
Step 4, determining the travel gain K of the brake command sensor 2 ：
First force-sensing spring travel gain K 1 4.516N/mm, second force sense spring operating force/travel gain k 4 The first force-sensing spring and the second force-sensing spring are compression springs, and the overlapped working strokes are consistent, so that the stroke gain K of the first force-sensing spring is equal to 17.65N/mm 1 With second force sensing spring travel gain k 4 The sum is used for determining the stroke gain K of the brake command sensor 2 The method comprises the following steps:
K 2 ＝K 1 +k 4 ＝4.516+17.65＝22.166N/mm (17)
in this embodiment, the variable gain brake command sensor stroke gain K is specified 2 22.166N/mm.
Step 5, determining a brake command voltage corresponding to the stroke of the brake command sensor:
the variable gain brake command sensor is hinged with the brake pedal, and the pilot steps on the pedal to enable the brake command voltage output by the variable gain brake command sensor to be in direct proportion to the stroke of the brake command sensor, and the larger the stroke of the brake command sensor is, the higher the brake command voltage is. Brake command sensor travel L s With brake command voltage V s The relationship between them is determined by equation (18):
wherein: l (L) s Is the working stroke of the brake command sensor; l (L) s0 Is a brake instruction sensorIdle travel; l (L) smax Is the total stroke of the brake command sensor; k (K) 3 Brake command voltage and travel gain, K 3 ＝0.1267V/mm；V s0 Is the voltage of the brake command in idle stroke, V s0 ＝1.8±0.1V。
In this embodiment:
when the variable gain brake command sensor is in the range ofWhen the brake command voltage is output as +.>
When the variable gain brake command sensor is in the process of runningWhen the brake command voltage is output as +.>Brake command voltage and travel gain K 3 = 0.1267V/mm. The power supply voltage of the variable gain braking instruction sensor is 15V.DC;
when the working stroke of the variable gain brake command sensor isWhen the brake command voltage is +.>
Thus, the determination of the design parameters in the variable gain brake command sensor is completed.
Claims (6)
1. A variable gain brake instruction sensor comprises a shell, a positioning sleeve, a return spring, a return piston, a force sensing piston, a stop sleeve, a fixed bracket component and a force sensing spring; wherein: one end of the shell is used for accommodating an electrical element, which is called an electronic cavity; the other end of the housing is used for mounting a mechanical component, called a mechanical cavity; the connecting end of the fixed bracket component is fixedly arranged in an inner hole of the shell electronic cavity; the fixed bracket component is fixed on one end face of the electronic cavity of the shell; a stop sleeve is arranged at the outer end port of the mechanical cavity; the force sensing piston is positioned in the mechanical cavity, and a dowel bar of the force sensing piston passes through a central hole of the stop sleeve and is positioned outside the end surface of the stop sleeve; the piston end of the force sensing piston is sleeved on the outer circumferential surface of the reset piston; the reset piston is positioned in the mechanical cavity and is close to one end of the electronic cavity; two linear displacement sensors are positioned in the shell, one end of each linear displacement sensor is positioned in a central hole of the positioning sleeve, and the other end of each linear displacement sensor is arranged in a through hole on the end face of the reset piston and is fixed through a reset piston fixing nut; the end face of the pressure applying rod positioned in the piston end of the force sensing piston is matched with the pressure applying rod groove in the center of the outer end face of the reset piston;
the two linear displacement sensors are respectively sleeved with a reset spring; the force sensing spring is positioned in the mechanical cavity;
the method is characterized in that:
the force sensing spring comprises a first force sensing spring and a second force sensing spring, the second force sensing spring is sleeved on the outer circumference of the dowel bar of the force sensing piston, and L is arranged between the outer end surface of the second force sensing spring and the inner end surface of the gap adjusting gasket at the inner end surface of the stop sleeve 0 Is provided with L between the inner end face of the second force sensing spring and the end face of the force sensing piston 2 Is a pitch of (2); the first force-sensing spring is sleeved on the outer circumference of the second force-sensing spring, and the distance between the outer end surface of the first force-sensing spring and the inner end surface of the gap-adjusting gasket at the inner end surface of the stop sleeve is L 0 And the inner end surface of the first force sensing spring is attached to the end surface of the force sensing piston.
2. The variable gain brake command sensor of claim 1 wherein, in operation, a spacing L between an outer end surface of the second force sensing spring and an inner end surface of the gap adjustment shim 0 And the distance between the outer end face of the first force sensing spring and the inner end face of the gap adjusting gasket is L 0 All are idle strokes L of brake instruction sensors s0 。
3. The variable gain brake command sensor of claim 1, wherein the first force spring has a number of turns n = 8.5, a wire diameter d = 3mm, an outer diameter Dw = 30mm, an inner diameter Dn = 24mm, and a height H 0 =94 mm, pitch t=10.4, single turn deformation f=6.57, number of turns n=8.
4. The variable gain brake command sensor according to claim 1, wherein a spring outer diameter Dw of the second force sensing spring 1 =20mm, inner diameter Dn of spring 1 Wire diameter d =15 mm 1 =2.5 mm, height H 01 Work turns n=48 mm 1 Spring pitch t=3.8 1 =11.6, single-turn deformation f 1 ＝2.83。
5. A method for determining the spring parameter of a variable gain brake command sensor according to claim 1, comprising the steps of:
step 1, determining the median operating force and the rated operating force of a variable gain brake command sensor: brake command sensor travel L s The relationship with the brake command sensor operating force is determined by equation (1):
wherein: f operating force, F 0 Minimum steering force, F M Median steering force, steering force/travel gain K 1 Steering force/travel gain K 2 、L M Median travel, L of braking command sensor smax Maximum travel of brake command sensor, L s -braking command sensor working stroke, L s0 -brake command sensor idle stroke;
step 2, determining parameters of a first force sensing spring of the variable gain brake command sensor:
parameters of the first force-sensitive spring comprise the height, the outer diameter, the inner diameter, the deformation, the pitch, the work turns and the diameter of the first force-sensitive spring steel wire; the specific process is as follows:
i, determining the operating force and the stroke gain k of the first force-sensitive spring through a formula (2) 1 ；
k 1 ＝(F M -F 0 )÷(L M -L s0 ) (2)
Ii) determining the maximum actuating force F of the first force-sensing spring by the formula (3) max1 ：
F max1 ＝F 0 +k 1 ×(L smax －L s0 ) (3)
Iii determining the free height H of the first force-sensitive spring by equation (4) 0 ：
H 0 ＝△S 1 +L 1 (4)
Wherein L is 1 A length of the first force sensing spring after precompression;
iv, determining the outer diameter Dw of the first force-sensitive spring by the shell structure;
v, determining the diameter d of the steel wire of the first force-sensitive spring and the inner diameter Dn of the first force-sensitive spring:
based on the determined maximum operating force F of the first force-sensing spring max1 And designed command sensor maximum travel L smax Determining the diameter of a steel wire of the first force-sensitive spring as d, and determining the inner diameter of the first force-sensitive spring as Dn;
vi, determining the deformation of the first force-sensitive spring:
the deformation of the first force-sensing spring comprises the single-circle deformation f of the first force-sensing spring and the total deformation delta S of the second force-sensing spring;
determining the maximum allowable load P of the first force sensing spring through a manual;
when a median operating force is input to the command sensor, the deformation Δs of the first force-sensitive spring is determined by equation (5) 1 ：
△S 1 ＝(F M -F 0 )÷k 1 (5)
Determining the total deformation Δs of the first force-sensitive spring by the formula (6):
△S＝P÷k 1 (6)
in the formula (6), P is the maximum allowable load of the first force-sensitive spring;
vii, determining the single-turn deformation f of the first force-sensitive spring through the formula (7):
in the formula (7), D is the middle diameter of the first force-sensitive spring; g is the shear modulus of elasticity of the first force sensing spring; d is the diameter of the first force-sensing spring wire;
viii determining the pitch t of the first force-sensitive spring 1 ：
The first force-sensitive spring pitch t is determined by equation (8),
H 0 ＝t×n+2d (8)
and (c) determining the working cycle number n of the first force-sensing spring through a formula (9):
n＝△S÷f (9)
to this end, a parameter of the first force sensing spring is determined;
step 3, determining parameters of a second force sensing spring of the variable gain brake command sensor:
the second force sensing spring parameters comprise the height, the outer diameter, the inner diameter, the deformation, the pitch, the work turns and the diameter of a second force sensing spring steel wire of the second force sensing spring; the specific process is as follows:
when determining each parameter of the second force sensing spring, firstly determining the operating force and the stroke gain k of the second force sensing spring 4 And maximum steering force F max2 ；
Determining the second force sensing spring operating force and the stroke gain k through formula (10) 4 ：
k 4 ＝(F max -F max1 )÷(L smax -L M ) (10)
Determining the second by equation (11)Maximum operating force F of force-sensing spring max2 ：
F max2 ＝F max -F max1 (11)
Ii) determining the spring height H of the second force-sensing spring 01 ；
Determining the spring height H of the second force-sensing spring by equation (12) 01 ：
H 01 ＝L 1 －L M (12)
Wherein L is 1 A length of the first force sensing spring after precompression;
iii determining the outer diameter of the second force sensing spring as D by the formula (12) w1 The method comprises the steps of carrying out a first treatment on the surface of the Setting the fit clearance delta of 2mm between the fit surfaces of the first force sensing spring and the second force sensing spring, so that the outer diameter of the second force sensing spring is D w1 ＝Dn-2δ；
Iv determining the diameter d of the second force-sensing spring wire 1 And an inner diameter Dn of the second force sensing spring 1 ：
Based on the determined maximum operating force F of the second force-sensing spring max2 And a designed working stroke, determining the diameter of the second force sensing spring as d 1 An inner diameter Dn 1 ；
V, determining the deformation of the second force sensing spring:
the deformation of the second force sensing spring comprises the single-coil deformation f of the second force sensing spring 1 And the total deformation F of the second force sensing spring 1 ；
Determination of maximum allowable load P of the second force-sensing spring by manual x ；
Determining the single-turn deformation f of the second force-sensing spring through a formula (13) 1 ：
In formula (13), D 1 The middle diameter of the second force sensing spring; g 1 Is the shear elastic modulus of the second force sensing spring; determining the total deformation F of the second force-sensing spring through a formula (14) 1 ：
F 1 ＝P x ÷k 4 (14)
Vi, determining the pitch t of the second force sensing spring 1 ：
Determining the second force sensing spring pitch t by equation (15) 1 ：
H 01 ＝t 1 ×n 1 +2d 1 (15)
In the formula (15), n 1 For the number of working turns of the second force sensing spring,
n 1 ＝F 1 ÷f 1 (16)
so far, the parameters of the second force sensing spring are determined;
step 4, determining the travel gain K of the brake command sensor 2 ：
First force-sensing spring travel gain K 1 With second force sensing spring travel gain k 4 The sum is used for determining the stroke gain K of the brake command sensor 2 The method comprises the following steps:
K 2 ＝K 1 +k 4 (17)
step 5, determining the travel L of the brake command sensor s Corresponding brake command voltage V s ：
Determining a brake command sensor travel L by equation (18) s With brake command voltage V s The relation is as follows:
wherein: l (L) s Is the working stroke of the brake command sensor; l (L) s0 Is the idle stroke of the brake command sensor; l (L) smax Is the total stroke of the brake command sensor; k (K) 3 Brake command voltage and travel gain; v (V) s0 Is the voltage when the brake command is idle;
thus, the determination of the design parameters in the variable gain brake command sensor is completed.
6. Determining a variable gain brake command transmission as defined in claim 5Method for determining a sensor spring parameter, characterized in that in step 5 a brake command sensor stroke L is determined s With brake command voltage V s The relation is that when the variable gain brake command sensor is in the stroke ofWhen the brake command voltage is output as +.>
When the variable gain brake command sensor is in the process of runningWhen the brake command voltage is output as +.>Brake command voltage and travel gain K 3 = 0.1267V/mm; the power supply voltage of the variable gain braking instruction sensor is 15V.DC; when the working stroke of the variable gain brake command sensor is +.>When the brake command voltage is +.>
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