CN113050690B - Aircraft ground comprehensive control system and control method - Google Patents
Aircraft ground comprehensive control system and control method Download PDFInfo
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Abstract
An aircraft ground comprehensive control system and a control method. The aircraft ground comprehensive control system comprises an aircraft ground comprehensive controller, a display module, a warning module, a recording module, an electric drive actuator, a brake actuator, a stop actuator, a sensor, an obstacle detection and positioning system and an airport runway information module, and can realize comprehensive cooperative control of the aircraft on the ground, so that the integration level of the aircraft is improved, the comfort of passengers is improved, the intelligent control of the aircraft on the ground is realized, the intelligent level of the aircraft on the ground is further improved, the operating pressure and operating time of a pilot are reduced, the problem of poor cooperative performance of each system of the aircraft in the ground is solved, the intelligent level of the aircraft on the ground is greatly improved, a theoretical basis is established for the integration of a turning system, a brake system and an electric sliding system of the aircraft, the workload of the pilot is reduced, and the cost of the aircraft is reduced.
Description
Technical Field
The invention relates to the technical field of aircraft ground control, in particular to an aircraft ground comprehensive control method and system.
Background
At present, when an aircraft is on the ground, an parking brake is used from an air park, a tractor is used for pushing out, an engine is started to start sliding until the aircraft enters a runway to prepare for taking off, the aircraft is braked after landing, the aircraft speed is controlled by the engine to enable the aircraft to slide, and then the aircraft slides into the air park by the tractor, so that a pilot needs to use a plurality of different systems to conduct various operations when the whole aircraft is on the ground, and the burden is heavy.
The invention of publication number CN106228500a discloses an intelligent automatic braking method and system for an aircraft, which mentions that an automatic braking scheme of the aircraft is planned through shared runway data and automatic braking is implemented after the aircraft lands, but the invention does not consider the intelligent taxiing process of the aircraft during taxiways and is not integrated with an electric drive system of the aircraft.
The invention of publication No. US2005/0261814A1 discloses a runway-rushing-out prevention method and device, which calculates the key points of an aircraft landing runway through the runway length and the runway length required for landing, and calculates, displays and alarms the required runway distance in the real-time braking process of the aircraft, but the invention also considers the automatic braking according to the runway length, and does not consider the automatic sliding process and driving process when the runway is used.
In the prior art, a braking system, a turning system and an airplane sliding function of an airplane are independent systems respectively. The aircraft turning system changes the aerodynamic force on the control surface through the rudder and the aileron, and realizes the turning function of the aircraft. The aircraft taxiing phase uses engines to cause the aircraft to slip on the ground at low speeds. The systems have no information interaction and feedback, runway information of the aircraft is not loaded among the systems, and the automatic braking, accelerating and turning functions of the aircraft are not implemented according to the real-time runway information.
Disclosure of Invention
In order to overcome the defects that in the prior art, when an aircraft is controlled on the ground, a plurality of pilot control systems are adopted, information exchange does not exist among the control systems, and engine control is adopted in a sliding stage to influence the service life of an engine and cause pollution, the invention provides an aircraft ground comprehensive control system and a control method.
The aircraft ground integrated control system comprises an aircraft ground integrated controller, a display module, a warning module, a recording module, an electric driving actuator, a braking actuator, a stopping actuator, a sensor, an obstacle detection and positioning system and an airport runway information module.
The output end of the airport runway information module is communicated with a first input port of the aircraft ground integrated controller, and the aircraft ground integrated controller receives runway information sent by the airport runway information module; the runway information includes: runway length, runway layout, corridor bridge apron location, runway adhesion coefficient. The first port of the aircraft ground integrated controller receives information and processes the information through the AD module. The obstacle detection and positioning system is communicated with a second input port of the aircraft ground integrated controller; the obstacle detection and positioning system sends the detected real-time position information of the airplane and the position and speed information of the obstacle in the runway range to the airplane ground integrated controller, and the second input port of the airplane ground integrated controller receives the information and processes the information through the AD module. The output end of the sensor is communicated with a third input port of the aircraft ground integrated controller, and provides a wheel speed signal and a brake pressure signal.
The input end of the display module is communicated with a first output port of the aircraft ground integrated controller; the display module receives the position information of the aircraft in a driving mode, a braking mode, a stopping mode or a turning mode and relative to the runway, which is output by the aircraft ground integrated controller, and is used for displaying the ground information of the aircraft.
The input end of the warning module is communicated with a second output port of the aircraft ground integrated controller; the warning module receives the audible warning information output by the ground comprehensive control, including an alarm and a voice alarm.
The input end of the recording module is communicated with a third output port of the aircraft ground integrated controller, and the system information sent by the aircraft ground integrated controller is received and recorded through the recording module; the system information includes braking instructions, driving instructions, wheel speeds, aircraft information, obstacle information, outage information, runway information, and fault information.
The fourth output port of the aircraft ground integrated controller is communicated with the fourth input port of the electrically driven actuator. The aircraft ground integrated controller controls the driving motor through driving current to drive the aircraft wheels of the aircraft to accelerate to rotate.
The fifth output port of the aircraft ground integrated controller is communicated with the input end of the brake actuator, and the aircraft ground integrated controller controls the brake actuator through brake current to realize wheel braking.
The sixth output port of the aircraft ground integrated controller is communicated with the input end of the shutdown actuator, and the aircraft ground integrated controller controls the shutdown actuator through the switching value signal, so that the aircraft realizes the shutdown function.
The aircraft ground integrated controller comprises an FPGA, a DA module and an AD module, receives/transmits information through the FPGA, the DA module and the AD module, and processes acquired information through a CPU or a DSP.
The obstacle detection and positioning system comprises a position sensor and a speed sensor, and adopts a GPS system or a Beidou satellite system; the airport runway information module is used for storing runway information of an airport, carrying out data matching on the runway on which the aircraft lands, and sending the runway information on which the aircraft lands to the aircraft ground integrated controller.
The specific process for controlling by using the comprehensive control system is as follows:
step one, determining the stopping distance of an airplane:
when judging the stopping distance of the aircraft, acquiring the length, layout, corridor parking apron position, runway adhesion coefficient and set landing track of the runway through an airport runway information module, and calculating the stopping distance L required by stopping the aircraft according to the acquired runway adhesion coefficient mu and the landing speed V of the aircraft r 。
For the obtained stopping distance L r Runway length L m Comparing, if the required stopping distance of the aircraft is greater than the length of the runway, displaying the required stopping distance and warning the pilot; and if the stopping distance required by stopping is smaller than or equal to the length of the runway, displaying the distance required by stopping the plane.
Determining a stopping distance L required for stopping the aircraft through formulas (1) and (2) r ：
a m ＝n*μ*G/m (1)
L r ＝V 2 /2a m (2)
Wherein n is the number of landing gears, G is the weight born by each landing gear, m is the aircraft mass, a m Maximum rate of deceleration implemented for the aircraft provided for the runway.
Step two, implementing constant deceleration movement of the airplane:
calculating the required deceleration rate a of the airplane according to the obtained runway length t According to the deceleration rate a t And controlling the aircraft to implement constant deceleration motion.
Calculating the required deceleration rate a of the aircraft through a formula (3) t
a t ＝2*L m /V 2 (3)
The aircraft ground integrated controller receives the real-time deceleration rate a of the aircraft sent by the attitude and heading reference system r And calculates the required deceleration rate a of the aircraft t Real-time deceleration rate a with aircraft r PID control is carried out to obtain real-time braking instruction. And outputting the real-time braking instruction to a control braking executor. Controlling the aircraft to follow the deceleration rate a by the brake actuator t The deceleration is carried out until the aircraft enters a taxiing state.
Step three, activating an electric driver:
the aircraft ground integrated controller controls the state of an electric drive actuator of the aircraft by comprehensively comparing the speeds of all the wheels according to the speeds of all the wheels detected by the sensor.
The comprehensive comparison is to select 50% or 75% of the number of the wheels according to different machine types, and the safety evaluation is carried out according to the speed of the selected wheels.
In the safety evaluation, if 50% or 75% of the speeds of the aircraft are greater than the speed threshold V of the aircraft e The off state of the electrically driven actuator is maintained. If 50% or 75% of the speeds of the aircraft are less than or equal to the speed threshold V of the aircraft e And activating an electric drive actuator, and realizing an acceleration function when the electric drive actuator receives a drive instruction.
The speed threshold V of the aircraft e 30km/h.
Fourth, control of the plane sliding stage:
when the aircraft enters the taxiway to slide, the aircraft is enabled to slide at a preset sliding speed V according to the acquired runway layout and the preset sliding route a And (5) running. When the airplane wheel speed sensor detects that the airplane speed is reduced to V a When the delta V is lower than the delta V, the aircraft ground integrated controller outputs a driving instruction to control the electric driving actuator until the aircraft speed reaches V a The aircraft ground integrated controller no longer outputs a drive command. Conversely, when the airplane wheel speed sensor detects that the airplane speed rises to V a When +DeltaV is above, the aircraft ground integrated controller outputs a braking instruction to control a braking actuator to enable the aircraft to decelerate to V a The controller no longer outputs a braking command.
Wherein V is a For the taxi speed, Δv is the taxi speed deviation value.
The sliding speed V a Setting the speed to be 20-30 km/h according to different models. The sliding speed deviation value delta V is 3-5 km/h.
Fifth, controlling turning during sliding:
and acquiring predetermined track turning information of the aircraft, wherein the predetermined track turning information comprises a turning angle alpha, turning starting position coordinates and ending position coordinates.
When the aircraft turns while taxiing, the turning is performed by controlling the speed of each host wheel of the aircraft when the aircraft reaches the turning start position. When the aircraft turns while taxiing, the turning is performed by controlling the speed of each host wheel of the aircraft when the aircraft reaches the turning start position. When the speed of the machine wheel is reduced or accelerated, the speed of the machine wheel meets the determined speed V of the speed reducer wheel b Speed V of accelerating wheel d 。
Determining the speed V of the speed reducer wheel according to the formula (4) and the formula (5) respectively b Speed V of accelerating wheel d ：
Wherein L is n The longitudinal distance from the front wheel to the main wheel of the airplane; l (L) m The transverse distance from the front wheel to the main wheel of the aircraft; v (V) a Is the turning speed of the aircraft, and alpha is the deflection angle.
When the aircraft reaches the turning end position, the aircraft ground integrated controller controls the speeds of the left wheel and the right wheel to be V a So that the aircraft continues to run at a constant speed.
Step six, obstacle detection:
and obtaining obstacle information in the plane sliding path and current position information of the plane according to the obstacle detection and positioning system in the plane ground integrated control system. The obstacle information comprises the position, speed and direction of the obstacle.
And determining whether the aircraft passes the obstacle safety distance according to the current speed according to the acquired obstacle information. If yes, the aircraft is controlled to continue to run at a constant speed according to a preset track; if not, the aircraft ground integrated controller outputs a braking instruction to enable the aircraft to stop according to the fixed deceleration rate. Obstacle information is displayed and warned.
Seventh, parking the airplane in the airplane position:
and stopping the aircraft according to the stop information of the preset track and the acquired information of the bridge parking apron.
According to the stop position information of the preset track, the aircraft is stopped at the preset stop position by controlling the brake system, and the wheel is locked by the stop actuator.
If the aircraft does not completely reach the stop position, the aircraft ground integrated controller releases the brake and drives the aircraft to advance, so that the aircraft is driven to enter the stop position; if the aircraft exceeds the stopping position, the aircraft ground integrated controller releases the brake and drives the aircraft to retreat, and drives the aircraft to a preset stopping position.
Thus, the whole process of the comprehensive control of the aircraft ground is completed.
The invention aims to provide an aircraft ground control method and system, which are used for improving the landing safety of an aircraft and the runway utilization rate, reducing the workload of pilots and reducing the cost of the aircraft.
Compared with the prior art, the invention has the following beneficial effects:
the invention can realize the comprehensive cooperative control of the functions of decelerating, accelerating, turning and stopping of the aircraft on the ground as shown in figure 3, thereby improving the integration level of the aircraft, improving the comfort of passengers, realizing the intelligent control of the aircraft on the ground and further improving the intelligent level of the movement of the aircraft on the ground; the system overcomes the defect that the existing aircraft moves on the ground and controls each system independently, reduces the pilot's operating pressure and operating time, eliminates the problem of poor cooperativity of each system when the aircraft moves on the ground, and greatly improves the intelligent level of the aircraft on the ground.
To verify the effect of the present invention, a simulation was performed on the control system of the present invention, and the aircraft was turned right during taxiing, and the simulation results are shown in fig. 3. The process from landing to stopping of the aircraft is sequentially divided into an aircraft constant deceleration stage 11, a right-side wheel deceleration stage and a left-side wheel constant speed stage, so that the aircraft turns rightwards at a turning stage 12, the aircraft finishes turning, the right-side wheel accelerates, the aircraft moves at a uniform speed stage 13, encounters an obstacle, an aircraft stopping stage 14, does not have an obstacle, an aircraft automatic acceleration stage 15, the aircraft moves at a uniform speed, and an aircraft sliding stage 16 and an aircraft stopping stage are realized. In this simulation, the right wheel speed curve 18 and the left wheel speed curve 19 show the difference in the movement speed between the stage of turning the aircraft right and the stage of uniform movement of the aircraft when the turning of the aircraft is completed.
The simulation shows that the invention loads runway information, performs fusion calculation on the runway information and the runway information, can automatically implement constant deceleration rate according to the length of the runway after the aircraft lands, can automatically implement turning functions according to the runway information, can stop according to the distance between the aircraft and the obstacle when encountering the obstacle, and can re-accelerate until the aircraft stops to a stop position, the invention comprehensively controls the control devices on the ground such as an aircraft braking system, a control system and the like on hardware, realizes light weight and integration, orderly fuses the airport, weather, an airframe and various external information on software, and builds an intelligent, informationized and efficient software system, thereby establishing a theoretical basis for the integration of the turning system, the braking system and the electric sliding system of the aircraft.
Drawings
FIG. 1 is a schematic diagram of a control system architecture;
FIG. 2 is a flow chart of a control method of the present invention;
FIG. 3 is a schematic diagram of simulation results of the control system of the present invention;
FIG. 4 is a flow chart of aircraft ground integrated control.
In the figure: 1. an aircraft ground integrated controller; 2. a display module; 3. a warning module; 4. a recording module; 5. an electrically driven actuator; 6. a brake actuator; 7. stopping the actuator; 8. a sensor; 9. an obstacle detection and positioning system; 10. an airport runway information module; 11. a constant deceleration stage of the aircraft; 12. the right side machine wheel decelerates, the left side machine wheel constant speed, and the rightward turning stage of the airplane is realized; 13. the airplane finishes turning, the right-side airplane wheel accelerates, and the airplane moves at a uniform speed; 14. an obstacle is encountered, and the aircraft stops; 15. no obstacle exists, and the aircraft is in an automatic acceleration stage; 16. the aircraft moves at a uniform speed, so that the aircraft sliding stage is realized; 17. an aircraft stopping phase; 18. a right wheel speed curve; 19. left wheel speed profile.
Detailed Description
Example 1
The aircraft ground integrated control system comprises an aircraft ground integrated controller 1, a display module 2, a warning module 3, a recording module 4, an electric driving actuator 5, a braking actuator 6, a stopping actuator 7, a sensor 8, an obstacle detection and positioning system 9 and an airport runway information module 10.
The output end of the airport runway information module is communicated with a first input port of the aircraft ground integrated controller, and the aircraft ground integrated controller receives runway information sent by the airport runway information module; the runway information includes: runway length, runway layout, corridor bridge apron position and runway adhesion coefficient, and the first port of the aircraft ground integrated controller receives information and processes the information through the AD module. The obstacle detection and positioning system is communicated with a second input port of the aircraft ground integrated controller; the obstacle detection and positioning system sends the detected real-time position information of the airplane and the position and speed information of the obstacle in the runway range to the airplane ground integrated controller, and the second input port of the airplane ground integrated controller receives the information and processes the information through the AD module. The output end of the sensor is communicated with a third input port of the aircraft ground integrated controller, and provides a wheel speed signal and a brake pressure signal.
The input end of the display module is communicated with a first output port of the aircraft ground integrated controller; the display module receives the position information of the aircraft in a driving mode, a braking mode, a stopping mode or a turning mode and relative to the runway, which is output by the aircraft ground integrated controller, and is used for displaying the ground information of the aircraft. The input end of the warning module is communicated with a second output port of the aircraft ground integrated controller; the warning module receives the audible warning information output by the ground comprehensive control, including an alarm and a voice alarm. The input end of the recording module is communicated with a third output port of the aircraft ground integrated controller, and the system information sent by the aircraft ground integrated controller is received and recorded through the recording module; the system information includes braking instructions, driving instructions, wheel speeds, aircraft information, obstacle information, outage information, runway information, and fault information.
The fourth output port of the aircraft ground integrated controller is communicated with the input end of the electric drive actuator. The aircraft ground integrated controller controls the driving motor through driving current to drive the aircraft wheels of the aircraft to accelerate to rotate.
The fifth output port of the aircraft ground integrated controller is communicated with the input end of the brake actuator, and the aircraft ground integrated controller controls the brake actuator through brake current to realize wheel braking.
The sixth output port of the aircraft ground integrated controller is communicated with the input end of the shutdown actuator, and the aircraft ground integrated controller controls the shutdown actuator through the switching value signal, so that the aircraft realizes the shutdown function.
The aircraft ground integrated controller is carried out by adopting the prior art and comprises an FPGA (field programmable gate array), a DA (digital-analog) module and an AD (analog-digital) module, receives/transmits information through the FPGA, the DA module and the AD module, and realizes the processing of acquired information through a CPU (central processing unit) or a DSP (digital signal processor).
The obstacle detection and positioning system comprises a position sensor and a speed sensor, and adopts a GPS system or a Beidou satellite system; the airport runway information module is used for storing runway information of an airport, carrying out data matching on a runway on which an airplane lands, and sending the runway information on which the airplane lands to the airplane ground integrated controller;
the brake actuator is in the prior art and comprises a cut-off valve, a servo valve and a wheel brake device. The electric drive actuator is in the prior art and comprises a motor, a clutch and a speed reducer. The stop actuator can be combined with equipment and hydraulic pipelines in the brake actuator for use.
Example two
The embodiment provides a method for comprehensively controlling the ground of an aircraft, which comprises the following specific processes:
step one, determining the stopping distance of an airplane:
when judging the stopping distance of the aircraft, acquiring the length, layout, corridor parking apron position, runway adhesion coefficient and set landing track of the runway through an airport runway information module, and calculating the stopping distance L required by stopping the aircraft according to the acquired runway adhesion coefficient mu and the landing speed V of the aircraft r 。
For the obtained stopping distance L r Runway length L m Comparing, if the required stopping distance of the aircraft is greater than the length of the runway, displaying the required stopping distance and warning the pilot; and if the stopping distance required by stopping is smaller than or equal to the length of the runway, displaying the distance required by stopping the plane.
Determining a stopping distance L required for stopping the aircraft through formulas (1) and (2) r ：
a m ＝n*μ*G/m (1)
L r ＝V 2 /2a m (2)
Wherein n is the number of landing gears, G is the weight born by each landing gear, m is the aircraft mass, a m Maximum rate of deceleration implemented for the aircraft provided for the runway.
Step two, implementing constant deceleration movement of the airplane:
calculating the required deceleration rate a of the airplane according to the obtained runway length t According to the deceleration rate a t And controlling the aircraft to implement constant deceleration motion.
Calculating the required deceleration rate a of the aircraft through a formula (3) t
a t ＝2*L m /V 2 (3)
By the aircraft ground integrated controller, according to the acquired runway length L m Calculating the required deceleration rate a of the aircraft t 。
The aircraft ground integrated controller receives the real-time deceleration rate a of the aircraft sent by the attitude and heading reference system r And calculates the required deceleration rate a of the aircraft t Real-time deceleration rate a with aircraft r PID control is carried out to obtain real-time braking instruction. And outputting the real-time braking instruction to a control braking executor. Controlling the aircraft to follow the deceleration rate a by the brake actuator t The deceleration is carried out until the aircraft enters a taxiing state.
Step three, activating an electric driver:
the aircraft ground integrated controller controls the state of an electric drive actuator of the aircraft by comprehensively comparing the speeds of all the wheels according to the speeds of all the wheels detected by the sensor.
The comprehensive comparison is to select 50% or 75% of the number of the wheels according to different machine types, and the safety evaluation is carried out according to the speed of the selected wheels.
In the safety evaluation, if 50% or 75% of the speeds of the aircraft are greater than the speed threshold V of the aircraft e The off state of the electrically driven actuator is maintained. If 50% or 75% of the speeds of the aircraft are less than or equal to the speed threshold V of the aircraft e Activating an electric drive actuator, which receives the driveAnd when the instruction is moved, the acceleration function is realized.
The speed threshold V of the aircraft e As proposed by the design of the aircraft. In this embodiment, the speed threshold V of the aircraft e 30km/h.
Fourth, control of the plane sliding stage:
when the aircraft enters the taxiway to slide, the aircraft is enabled to slide at a preset sliding speed V according to the acquired runway layout and the preset sliding route a And (5) running. When the airplane wheel speed sensor detects that the airplane speed is reduced to V a When the delta V is lower than the delta V, the aircraft ground integrated controller outputs a driving instruction to control the electric driving actuator until the aircraft speed reaches V a The aircraft ground integrated controller no longer outputs a drive command. Conversely, when the airplane wheel speed sensor detects that the airplane speed rises to V a When +DeltaV is above, the aircraft ground integrated controller outputs a braking instruction to control a braking actuator to enable the aircraft to decelerate to V a The controller no longer outputs a braking command.
Wherein V is a For the taxi speed, Δv is the taxi speed deviation value.
The sliding speed V a Setting the speed to be 20-30 km/h according to different models. The sliding speed deviation value delta V is 3-5 km/h.
Fifth, controlling turning during sliding:
and acquiring predetermined track turning information of the aircraft, wherein the predetermined track turning information comprises a turning angle alpha, turning starting position coordinates and ending position coordinates.
When the aircraft turns while taxiing, the turning is performed by controlling the speed of each host wheel of the aircraft when the aircraft reaches the turning start position. If the aircraft turns leftwards, the left side wheel of the aircraft decelerates and the right side wheel accelerates; if the aircraft turns right, the right side wheel of the aircraft decelerates and the left side wheel accelerates.
The decelerating wheels are called speed reducer wheels, and the accelerating wheels are called accelerating wheels.
When the speed of the machine wheel is reduced or accelerated, the speed of the machine wheel meets the determined speed V of the speed reducer wheel b Speed V of accelerating wheel d 。
Determining the speed V of the speed reducer wheel according to the formula (4) and the formula (5) respectively b Speed V of accelerating wheel d ：
Wherein L is n The longitudinal distance from the front wheel to the main wheel of the airplane; l (L) m The transverse distance from the front wheel to the main wheel of the aircraft; v (V) a Is the turning speed of the aircraft, and alpha is the deflection angle.
When the aircraft reaches the turning end position, the aircraft ground integrated controller controls the speeds of the left wheel and the right wheel to be V a So that the aircraft continues to run at a constant speed.
Step six, obstacle detection:
and obtaining obstacle information in the plane sliding path and current position information of the plane according to the obstacle detection and positioning system in the plane ground integrated control system. The obstacle information comprises the position, speed and direction of the obstacle.
And determining whether the aircraft passes the obstacle safety distance according to the current speed according to the acquired obstacle information. If yes, the aircraft is controlled to continue to run at a constant speed according to a preset track; if not, the aircraft ground integrated controller outputs a braking instruction to enable the aircraft to stop according to the fixed deceleration rate. Obstacle information is displayed and warned.
Seventh, parking the airplane in the airplane position:
and stopping the aircraft according to the stop information of the preset track and the acquired information of the bridge parking apron.
According to the stop position information of the preset track, the aircraft is stopped at the preset stop position by controlling the brake system, and the wheel is locked by the stop actuator.
If the aircraft does not completely reach the stop position, the aircraft ground integrated controller releases the brake and drives the aircraft to advance, so that the aircraft is driven to enter the stop position; if the aircraft exceeds the stopping position, the aircraft ground integrated controller releases the brake and drives the aircraft to retreat, and drives the aircraft to a preset stopping position.
When the aircraft is braked and driven, the control of all the wheels is independent, and the wheels on each landing gear can only be controlled or driven at one moment, and cannot be braked and driven at the same time, so that the damage to the motor is avoided.
Claims (7)
1. The aircraft ground integrated control system is characterized by comprising an aircraft ground integrated controller, a display module, a warning module, a recording module, an electric driving actuator, a braking actuator, a stopping actuator, a sensor, an obstacle detection and positioning system and an airport runway information module;
the output end of the airport runway information module is communicated with a first input port of the aircraft ground integrated controller, and the aircraft ground integrated controller receives runway information sent by the airport runway information module; the first input port of the aircraft ground integrated controller receives information and then processes the information through the AD module; the obstacle detection and positioning system is communicated with a second input port of the aircraft ground integrated controller; the obstacle detection and positioning system sends the detected real-time position information of the airplane and the position and speed information of the obstacle in the runway range to the airplane ground integrated controller, and a second input port of the airplane ground integrated controller receives the information and processes the information through the AD module; the output end of the sensor is communicated with a third input port of the aircraft ground integrated controller to provide a wheel speed signal and a brake pressure signal;
the input end of the display module is communicated with a first output port of the aircraft ground integrated controller; the display module receives the position information of the aircraft in a driving mode, a braking mode, a stopping mode or a turning mode and the aircraft relative to a runway, which are output by the aircraft ground integrated controller, and is used for displaying the ground information of the aircraft; the input end of the warning module is communicated with a second output port of the aircraft ground integrated controller; the warning module receives audible warning information output by ground comprehensive control, including an alarm and a voice alarm; the input end of the recording module is communicated with a third output port of the aircraft ground integrated controller, and the system information sent by the aircraft ground integrated controller is received and recorded through the recording module; the system information comprises a braking instruction, a driving instruction, a wheel speed, aircraft information, obstacle information, stopping information, runway information and fault information;
the fourth output port of the aircraft ground integrated controller is communicated with the input end of the electric drive actuator; the aircraft ground integrated controller controls the driving motor through driving current to drive the aircraft wheels of the aircraft to accelerate to rotate;
the fifth output port of the aircraft ground integrated controller is communicated with the input end of the brake actuator, and the aircraft ground integrated controller controls the brake actuator through brake current to realize wheel braking;
the sixth output port of the aircraft ground integrated controller is communicated with the input end of the shutdown actuator, and the aircraft ground integrated controller controls the shutdown actuator through a switching value signal so as to realize the shutdown function of the aircraft;
the control method of the aircraft ground comprehensive control system comprises the following specific processes:
step one, determining the stopping distance of an airplane:
when judging the stopping distance of the aircraft, acquiring the length, layout, corridor parking apron position, runway adhesion coefficient and set landing track of the runway through an airport runway information module, and calculating the stopping distance L required by stopping the aircraft according to the acquired runway adhesion coefficient mu and the landing speed V of the aircraft r ；
For the obtained stopping distance L r Runway length L m Comparing, if the required stopping distance of the aircraft is greater than the length of the runway, displaying the required stopping distance and warning the pilot; if the stopping distance required by stopping is smaller than or equal to the length of the runway, displaying the distance required by stopping the aircraft;
determining a stopping distance L required for stopping the aircraft through formulas (1) and (2) r ：
a m ＝n*μ*G/m (1)
L r ＝V 2 /2a m (2)
Wherein n is the number of landing gears, G is the weight born by each landing gear, m is the aircraft mass, a m Maximum rate of deceleration implemented for the aircraft provided for the runway;
step two, implementing constant deceleration movement of the airplane:
according to the obtained runway length L m Calculating the required deceleration rate a of the aircraft through a formula (3) t ；
Calculating the required deceleration rate a of the aircraft through a formula (3) t
a t ＝2*L m /V 2 (3)
According to the deceleration rate a t Controlling the aircraft to implement constant deceleration movement;
step three, activating an electric driver:
the aircraft ground comprehensive controller controls the state of an electric drive actuator of the aircraft by comprehensively comparing the speeds of all the wheels according to the speeds of all the wheels detected by the sensor;
the comprehensive comparison is to select 50% or 75% of the number of the wheels according to different machine types, and perform safety evaluation according to the speed of the selected wheels;
in the safety evaluation, if 50% or 75% of the speeds of the aircraft are greater than the speed threshold V of the aircraft e Maintaining the closed state of the electrically driven actuator; if 50% or 75% of the speeds of the aircraft are less than or equal to the speed threshold V of the aircraft e Activating an electric driving actuator, and realizing an acceleration function when the electric driving actuator receives a driving instruction;
fourth, control of the plane sliding stage:
when the aircraft enters the taxiway to slide, the aircraft is enabled to slide at a preset sliding speed V according to the acquired runway layout and the preset sliding route a Running; when the airplane wheel speed sensor detects that the airplane speed is reduced to V a below-DeltaV, aircraft groundThe comprehensive controller outputs a driving instruction to control the electric driving actuator until the aircraft speed reaches V a The aircraft ground integrated controller does not output a driving instruction any more; conversely, when the airplane wheel speed sensor detects that the airplane speed rises to V a When +DeltaV is above, the aircraft ground integrated controller outputs a braking instruction to control a braking actuator to enable the aircraft to decelerate to V a The controller does not output a braking instruction any more;
wherein V is a As the coasting speed, Δv is the coasting speed deviation value;
fifth, controlling turning during sliding:
acquiring preset track turning information of the aircraft, wherein the preset track turning information comprises a turning angle alpha, turning starting position coordinates and ending position coordinates;
when the aircraft turns in taxiing, and when the aircraft reaches a turning starting position, turning is implemented by controlling the speed of each host wheel of the aircraft; when the aircraft turns in taxiing, and when the aircraft reaches a turning starting position, turning is implemented by controlling the speed of each host wheel of the aircraft; when the speed of the machine wheel is reduced or accelerated, the speed of the machine wheel meets the determined speed V of the speed reducer wheel b Speed V of accelerating wheel d ；
Determining the speed V of the speed reducer wheel according to the formula (4) and the formula (5) respectively b Speed V of accelerating wheel d ：
Wherein L is n The longitudinal distance from the front wheel to the main wheel of the airplane; l (L) m The transverse distance from the front wheel to the main wheel of the aircraft; v (V) a Is the turning speed of the aircraft, and alpha is the deflection angle;
when the aircraft reaches the turning end position, the aircraft ground integrated controller controls the left wheel and the left wheelThe speeds of the right wheels are V a Enabling the aircraft to continue to run at a constant speed;
step six, obstacle detection:
obtaining obstacle information in an airplane sliding path and current position information of an airplane according to an obstacle detection and positioning system in the airplane ground integrated control system; the obstacle information comprises the position, speed and azimuth of the obstacle;
determining whether the aircraft passes through a safety distance with the obstacle according to the current speed according to the acquired obstacle information; if yes, the aircraft is controlled to continue to run at a constant speed according to a preset track; otherwise, the aircraft ground integrated controller outputs a braking instruction to enable the aircraft to be braked according to a fixed deceleration rate; displaying obstacle information and warning;
seventh, parking the airplane in the airplane position:
stopping the aircraft according to the stop information of the preset track and the acquired information of the bridge parking apron;
according to the stop position information of the preset track, stopping the aircraft at the preset stop position by controlling a brake system, and locking the wheel by a stop actuator;
if the aircraft does not completely reach the stop position, the aircraft ground integrated controller releases the brake and drives the aircraft to advance, so that the aircraft is driven to enter the stop position; if the aircraft exceeds the stopping position, the aircraft ground integrated controller releases the brake and drives the aircraft to retreat, and drives the aircraft to a preset stopping position;
thus, the whole process of the comprehensive control of the aircraft ground is completed.
2. The aircraft ground integrated control system of claim 1, wherein the runway information comprises: runway length, runway layout, corridor bridge apron location, runway adhesion coefficient.
3. The aircraft ground integrated control system according to claim 1, wherein the aircraft ground integrated controller comprises an FPGA, a DA module and an AD module, and the information is received/transmitted through the FPGA, the DA module and the AD module, and the acquired information is processed through a CPU or a DSP.
4. The aircraft ground integrated control system of claim 1, wherein the obstacle detection and positioning system comprises a position sensor, a speed sensor, and a GPS system or a beidou satellite system; the airport runway information module is used for storing runway information of an airport, carrying out data matching on the runway on which the aircraft lands, and sending the runway information on which the aircraft lands to the aircraft ground integrated controller.
5. The aircraft ground integrated control system of claim 1, wherein the aircraft speed threshold V e 30km/h.
6. An aircraft ground integrated control system according to claim 1, wherein said deceleration rate a is based on t When the aircraft is controlled to implement constant deceleration movement, the aircraft ground integrated controller receives the real-time deceleration rate a of the aircraft sent by the attitude and heading system r And calculates the required deceleration rate a of the aircraft t Real-time deceleration rate a with aircraft r PID control is carried out to obtain a real-time braking instruction; outputting the real-time braking instruction to a control braking executor; controlling the aircraft to follow the deceleration rate a by the brake actuator t The deceleration is carried out until the aircraft enters a taxiing state.
7. The aircraft ground integrated control system of claim 1, wherein the taxi speed V a Setting the speed to be 20-30 km/h according to different models; the sliding speed deviation value delta V is 3-5 km/h.
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| CN115959286B (en) * | 2023-03-17 | 2023-06-06 | 商飞软件有限公司 | Civil aircraft landing automatic brake control system and control method thereof |
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