CN113148115B - Rudder trimming system for aircraft and control method thereof - Google Patents
Rudder trimming system for aircraft and control method thereof Download PDFInfo
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- CN113148115B CN113148115B CN202110319790.XA CN202110319790A CN113148115B CN 113148115 B CN113148115 B CN 113148115B CN 202110319790 A CN202110319790 A CN 202110319790A CN 113148115 B CN113148115 B CN 113148115B
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000009966 trimming Methods 0.000 title claims description 33
- 230000004044 response Effects 0.000 claims abstract description 11
- 230000009471 action Effects 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims abstract description 4
- 230000008859 change Effects 0.000 claims description 3
- 230000002596 correlated effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 description 9
- 230000000875 corresponding effect Effects 0.000 description 8
- 230000001429 stepping effect Effects 0.000 description 7
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/04—Initiating means actuated personally
- B64C13/044—Initiating means actuated personally operated by feet, e.g. pedals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/38—Transmitting means with power amplification
- B64C13/50—Transmitting means with power amplification using electrical energy
- B64C13/507—Transmitting means with power amplification using electrical energy with artificial feel
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Control Devices (AREA)
Abstract
The invention discloses a rudder balancing system for an aircraft and a control method thereof, wherein the rudder balancing system comprises: comprises a pedal device, a force sensing balancing device and a control system. Wherein the foot rest apparatus is provided with a foot rest position sensor for detecting a foot rest position thereof, the foot rest position sensor being capable of providing a foot rest position signal. The force sensing balancing device is configured to provide a balancing force to the pedal device. The control system is respectively in communication connection with the pedal position sensor and the force sensing balancing device and comprises a control switch. Wherein the control switch is actuated when the pilot manipulates the foot pedal to a desired position, the control system is capable of generating a first command based on the foot pedal position signal obtained from the foot pedal position sensor, and the force sensing balancing device is capable of providing a balancing force matching the position of the foot pedal device in response to the first command such that the operator is capable of directly releasing the pedaling action.
Description
Technical Field
The invention relates to the technical field of flight control, in particular to a rudder balancing system for an aircraft and a control method thereof.
Background
The flight control system is a complex key system of modern civil aircraft and is important for aircraft safety. The invention provides a novel rudder manual balancing system.
In the aspect of international technical research, the modes of aerobus A320/A340/A380, boeing B777/B787 and the like all adopt rudder manual trimming functions, a manual trimming switch and trimming logic are similar, a trimming knob and a reset switch are configured, and a trimming motor is controlled by a flight control computer to move at a certain trimming speed (for example, 1 degree/second). Specifically, the pilot needs to manually rotate the knob switch continuously in the process of stepping on the pedals at the same time, so that the force sensing balancing device gradually adjusts the balancing force provided by the force sensing balancing device to aim at matching of the balancing force and the current position where the pedals are stepped on. When the trim position is adjusted to the desired position, i.e. the trim force matches the current position at which the foot pedal is depressed, the knob switch is terminated and the pilot does not pedal any more. During this adjustment, due to the hysteresis feedback of the trim system, it takes a longer time for the pilot to adjust the force sensing trim apparatus when stepping to a certain position, so that the current position where the trim force is stepping on the pedals is adapted. For example, the actual pedal position of the pilot at a certain moment may be a pedal angle of 10 °, but the trim effect is only 6 °, 7 °. The pilot then needs to continue to adjust the trim.
For the manual trimming system of the rudder, when larger angle trimming is needed, the pilot has larger operating burden, and does not have the trimming function of the trimming position, so that higher requirements are put forward on the operating precision of the pilot, and the operating duration of the pilot can be increased.
Disclosure of Invention
It is an object of the present invention to provide a rudder balancing system for an aircraft which effectively solves any one of the above-mentioned drawbacks.
The invention aims at realizing the following technical scheme: a rudder trim system for an aircraft includes a foot pedal device, a force sensing trim device, and a control system. Wherein the foot rest apparatus is provided with a foot rest position sensor for detecting a foot rest position thereof, the foot rest position sensor being capable of providing a foot rest position signal. The force sensing balancing device is configured to provide a balancing force to the pedal device. The control system is respectively in communication connection with the pedal position sensor and the force sensing balancing device and comprises a control switch.
Wherein the control system is capable of generating a first command based on a foot pedal position signal obtained from a foot pedal position sensor when the pilot manipulates the foot pedal to a desired position, the force sensing trim apparatus is capable of providing a trim force matching a position of the foot pedal apparatus in response to the first command such that an operator is capable of directly releasing the pedaling action.
In fact, after the pilot steps on the foot pedal and activates the switch, the system automatically records the corresponding foot pedal position after the pilot steps on the foot pedal. Based on the foot pedal position signal, the control system directly regulates the trim force of the force sensing trim apparatus without the need for manual adjustment. In the whole adjustment balancing process, a pilot can realize the balancing effect of the force sensing balancing device only by operating the control switch once, so that the rudder balancing system can realize the one-key balancing function.
According to a preferred embodiment, the control switch is a self-resetting switch which automatically returns to its original position when the control switch is deactivated.
According to a preferred embodiment, the control switch is configured to fine tune the trim position of the force sensing trim device in response to the actuation when the trim force and the foot pedal position match. The "actuation" here may be identical to the "actuation" performed on the control switch by the one-key trim process, or may be different, provided that the switch may be turned on.
According to a preferred embodiment, the trimming amplitude of the trimming force is positively correlated with the number of actuations performed.
In addition, the invention also relates to a control method of the rudder balancing system, wherein the control method comprises the following steps:
stepping on the foot such that the foot pedal device sensor provides an updated foot pedal position signal for the foot pedal device;
actuating a control switch of a control system when the foot peg is maneuvered to a desired position such that the control system generates a first command based on the updated foot peg position signal;
the force sensing balancing device generates a balancing force on the pedal device in response to the first instruction that matches the pedal force so that the operator can directly release the pedal action.
According to a preferred embodiment, the control switch is actuated to fine tune the trim position of the force sensing trim device when the trim force and the foot pedal position match.
According to a preferred embodiment, the angle of change of the trim position, which can be fine-tuned by performing the actuation once, is taken from any value in the range of 0.1 degrees to 1 degree when fine-tuning the trim position.
According to a preferred embodiment, the rotational speed of the force sensing trim means takes any value between 1 and 2 degrees/sec when trimming the trim position.
According to a preferred embodiment, the maximum adjustment amplitude of the force sensing balancing device in response to the actuation is any value in the range of 15 degrees to 25 degrees.
According to a preferred embodiment, the control method is provided with a trim position sensor for detecting a trim position, wherein the control method adjusts the trim force stepwise based on a real-time difference of the trim position signal provided by the trim position sensor and the foot pedal position signal.
Drawings
For a better understanding of the above and other objects, features, advantages and functions of the present invention, reference should be made to the preferred embodiments illustrated in the accompanying drawings. Like reference numerals refer to like parts throughout the drawings. It will be appreciated by persons skilled in the art that the drawings are intended to schematically illustrate preferred embodiments of the invention, and that the scope of the invention is not limited in any way by the drawings, and that the various components are not drawn to scale.
Fig. 1 is a block diagram of a rudder trim system of the present invention.
Detailed Description
The inventive concept of the present invention will be described in detail with reference to the accompanying drawings. What has been described herein is merely a preferred embodiment according to the present invention, and other ways of implementing the invention will occur to those skilled in the art on the basis of the preferred embodiment, and are intended to fall within the scope of the invention as well. In the following detailed description, expressions such as "first," "one," "where," and the like are not intended to indicate the respective corresponding steps, amounts of equipment, and are used merely as distinguishing between other types of content. The relative terms of number of steps or apparatus of the invention are for exemplary purposes and are not intended to be limiting unless explicitly indicated.
Referring to the rudder trim system shown in fig. 1, it includes a foot pedal device, a force sensing trim device, a rudder actuator, and a control system. The pedal device comprises a main driving pedal group arranged at a main driving position and a auxiliary driving pedal group arranged at a auxiliary driving position. Each group of pedals is provided with a redundant pedal position sensor for detecting the pedal position. The pedal position sensor monitors the pedal position in real time and provides a pedal position signal S1 so as to feed back the pedal force and pedal amplitude of the pilot to the pedal.
The force sensing balancing device is configured to provide a balancing force to the pedal device. The force sensing trim apparatus specifically includes a conventional trim motor, a trim position sensor, an associated linkage, and an optional foot pedal position sensor. The balancing motor is mechanically or dynamically connected with the pedals of each pedal assembly through a connecting rod and the like. The balancing motor rotates to drive the connecting rod to act and feed back to the pedals, so that the force sense balancing of the pedals is provided.
The trim position sensor detects a trim position of the force sensing trim device, specifically, an angle of a motor shaft of the trim motor or a member in power connection with the motor shaft. After detecting the corresponding trim position, the trim position sensor provides a trim position signal S3.
The rudder actuator is used for controlling the movement of the control surface, thereby changing the flight angle of the aircraft and the like. The rudder angle of the rudder is mainly determined by the pedaling force of the driver.
The control system, namely the flight control computer, is respectively connected with the pedal position sensor, the force sensing balancing device and the rudder actuator in a communication way so as to control the actions of all actuating devices. The control system has a control switch, which may be a screw-on switch, a push-down switch, a toggle switch, etc., and correspondingly, the pilot may trigger a corresponding control command by screwing, pressing, toggling, etc.
Preferably, the control switch of the present invention is set as a self-resetting switch. After the pilot actuates (corresponding to screwing, pressing, toggling, etc. as described above) the control switch, it automatically returns to its original position.
When the correction of a large angle is needed, such as crosswind, the pilot steps on the pedals to the balance position, and then the pedal sensor sends out an updated pedal position signal S1. The pilot then actuates (corresponding to screwing, pressing, toggling, etc. as described above) the control switch, and the control system will thus record the pedal position signal S1 transmitted by the pedal position sensor at the current moment and generate based thereon a first command S2 for controlling the force sensing balancing means to generate a balancing force. The force-sensing balancing means thus provides a balancing force matching the position of the pedal means in response to the first command S2, so that the operator can directly release the pedaling action. With this configuration, the rudder trim system is therefore provided with a "one-touch trim" function, which enables the aircraft to quickly perform a force-sensing offload, thereby reducing pilot burden.
In the course of adjusting the trim force, the force-sensing trim device begins to adjust the trim force in a progressive manner upon receiving the first command S2. The control system confirms in real time from the trim position signal S3 whether the force sensing trim device has rotated the trim motor to a position corresponding to the desired trim force. Thus, the control system may perform closed loop control based on the foot pedal position signal S1 and the trim position signal S3.
For ease of explanation, the trim force that matches the pedal position signal S1 will be referred to hereinafter as the "primary trim force" and the trim position of the force lever trim device that is capable of providing the primary trim force will be referred to as the "primary target position".
When the rudder balancing system shown in fig. 1 is used, the pilot can complete the rudder adjustment process only once without manually adjusting the balancing and only by manually adjusting the balancing when the pilot steps on the pedals to the positions corresponding to the required rudder angles.
It is difficult for a pilot without a great deal of experience to accurately confirm to which position the pedals are depressed to adjust the rudder to the desired position. For this reason, the rudder balancing system shown in fig. 1 is also configured specifically, thereby allowing the pilot to step on the pedals in a relatively low accuracy manner. In particular, after the force sensing trim apparatus has been adjusted to the primary target position, the rudder trim system of the present application allows the pilot to fine tune the trim force provided by the force sensing trim apparatus and thereby correspondingly fine tune the rudder in a manner that is not dependent on the perceived force.
In the present invention, the fine tuning may be performed by continuing to actuate the control switch. The number of times the control switch is actuated is set to be positively correlated, and more preferably directly proportional, to the trimming amplitude of the trim force. Here, the actuation action performed on the control switch for fine tuning the force sensing trim apparatus may be the same as or different from the actuation performed on the control switch during one-key trim. For example, for a rotary switch, during a "one-touch trim" operation, the pilot may adjust the force sensing trim apparatus to the primary target position by screwing the switch once after stepping on the foot pedal. In the process of fine tuning the trimming force, the pilot can be allowed to fine tune by pressing, pulling the control switch and the like in any manner, as long as the control switch is selected to be of a type that allows actuation by different means.
Preferably, the control switch may be set to allow a single type of manipulation to achieve "one-touch trim" as well as "fine tuning". For example, the control switch may be set as a rotary switch. The pilot can respectively realize the functions of one-key balancing and fine tuning by rotating the knob, so that the pilot can simplify the operation process.
For the one-key trimming process, the pilot can rotate the switch once to enable the force sensing trimming device to continuously adjust the trimming force to complete the trimming process, and the method can be particularly seen in the above. For the "fine tuning" procedure, to ensure that the pilot can complete the fine tuning procedure with the same rotational action, the control system is implemented based on a specific decision-making scheme, as described in detail below.
As described above, the triggering conditions of the force sensing trim apparatus (rudder trim unit) to perform the trim operation to achieve the "one-touch trim" include the stepping action of the pilot and the actuation action of the control switch. In the event that "one-touch trim" is complete, or in the event that the pilot is not stepping on the foot pedal (hereinafter both of which are collectively referred to as "primary trim"), the trim position signal S3 sent by the force sensing trim device to the control system will match the first command S2 sent by the control system to the force sensing trim device. Based on this, the rudder trim system of the present disclosure can set the condition that triggers fine adjustment to both the "system in primary trim condition" and the "outside-actuated switch" condition, so that the pilot can fine adjust the force sensing trim apparatus by the same actuation.
In fine tuning the trim position, the trim angle change value (i.e., the step angle) fine-tuned by rotating the control switch once is set to any value in the range of 0.1 degrees to 1 degree, for example, 0.2 degrees, 0.5 degrees, and so on.
Further, during fine trim position, the rotational speed of the force sensing trim apparatus may be set to any value between 1 degree/second and 2 degrees/second, for example, 1.2 degrees/second, 1.5 degrees/second, 1.8 degrees/second, etc.
The amplitude and speed of the single fine tuning can be set as above to ensure that the fine tuning process is performed in an accurate and gentle manner.
Further, the maximum adjustment amplitude of the force sensing balancing device in response to the rotation control switch is set at any value in the range of 15 degrees to 25 degrees, for example, 18 degrees, 20 degrees, or the like. By setting the fine adjustment interval of the force sensing balancing device within the above range, reasonable balancing authority can be brought to pilots, so that manual balancing errors are limited, and related safety problems are caused.
In this application, the rudder trim system is also configured with the trim switch panel shown in fig. 1 when the pilot needs to reset the trim position or cancel manual trim. The pilot can directly press the trimming reset switch and immediately release the trimming reset switch. At this time, the flight control computer should perform position closed-loop control according to the trimming position signal (S3) to realize the zeroing of the manual trimming position, that is, restore the trimming position of the force sensing trimming device to the position matched with the pedal position before the pilot steps on the pedal.
The control procedure of the rudder balancing system according to the invention is explained below.
In step 1, the pedal is stepped on by the pilot, and the pedal device sensor thus sends a new pedal position signal S1 to the control system, indicating that the pilot has stepped on the pedal;
in step 2, the pilot rotates the control switch so that the control system records the pedal position signal S1 and sends a first instruction S2 to the force sensing balancing device based on the conventional balancing control law, so that the force sensing balancing device continuously adjusts the balancing force in a subsequent period of time until the balancing force reaches the primary balancing force, and one-key balancing operation is completed. According to the present application, after rotating the control switch, the control switch automatically returns to the neutral position, and the pilot's foot can directly remove the foot rest.
After the one-touch trimming operation is completed, i.e., the trimming force matches the pedal position, the pilot may also rotate one or more control switches to fine tune the trimming position of the force sensing trim apparatus. The amplitude of the fine tuning can be adjusted according to the actual flight requirements.
Finally, it should be noted that: the foregoing description of the preferred embodiments of the present invention is not intended to be limiting, but rather, it will be apparent to those skilled in the art that the foregoing description of the preferred embodiments of the present invention can be modified or equivalents can be substituted for some of the features thereof, and any modification, equivalent substitution, improvement or the like that is within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (9)
1. A rudder trim system for an aircraft, the rudder trim system comprising:
a pedal device provided with a pedal position sensor for detecting a pedal position thereof, the pedal position sensor being capable of providing a pedal position signal;
a force sensing trim device configured to provide a trim force to the pedal device; and
the control system is respectively in communication connection with the pedal position sensor and the force sensing balancing device and comprises a control switch,
wherein the control system is capable of generating a first command based on a foot pedal position signal obtained from a foot pedal position sensor when the pilot manipulates the foot pedal to a desired position, the force sensing balancing device is capable of providing a balancing force matching a position of the foot pedal device in response to the first command such that an operator can directly release the pedaling action; and is also provided with
Wherein the control switch is configured to fine tune the trim position of the force sensing trim apparatus in response to actuation of the control switch when the trim force and the foot pedal position match.
2. The rudder trim system of claim 1, wherein the control switch is a self-resetting switch that automatically resets to a home position when the control switch is deactivated.
3. The rudder trim system of claim 2, wherein the trim force has a fine magnitude that is positively correlated with the number of actuations performed.
4. A control method for a rudder trim system according to any one of claims 1-3, characterized in that the control method comprises the steps of:
stepping on the foot such that the foot pedal device sensor provides an updated foot pedal position signal for the foot pedal device;
actuating a control switch of a control system when the foot peg is maneuvered to a desired position such that the control system generates a first command based on the updated foot peg position signal; and
the force sensing balancing device generates a balancing force on the pedal device in response to the first instruction that matches the pedal force so that the operator can directly release the pedal action.
5. The control method of claim 4, wherein the control switch is actuated to fine tune the trim position of the force sensing trim apparatus when the trim force and the foot pedal position match.
6. The control method according to claim 5, characterized in that the angle of change of the trim position at which the trimming is performed once is taken from any value in the range of 0.1 degrees to 1 degree when trimming the trim position.
7. The control method according to claim 5, characterized in that the rotational speed of the force sensing trim apparatus is taken from any value between 1 degree/sec and 2 degrees/sec when trimming the trim position.
8. A control method according to claim 6 or 7, wherein the maximum adjustment amplitude of the force sensing balancing device in response to the actuation is any value in the range of 15 degrees to 25 degrees.
9. Control method according to claim 4, characterized in that the control method is provided with a trim position sensor for detecting a trim position, wherein the control method adjusts the trim force stepwise based on a real-time difference of the trim position signal provided by the trim position sensor and the foot pedal position signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110319790.XA CN113148115B (en) | 2021-03-25 | 2021-03-25 | Rudder trimming system for aircraft and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110319790.XA CN113148115B (en) | 2021-03-25 | 2021-03-25 | Rudder trimming system for aircraft and control method thereof |
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| Publication Number | Publication Date |
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| CN113148115A CN113148115A (en) | 2021-07-23 |
| CN113148115B true CN113148115B (en) | 2024-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110319790.XA Active CN113148115B (en) | 2021-03-25 | 2021-03-25 | Rudder trimming system for aircraft and control method thereof |
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|---|---|---|---|---|
| WO2018156618A1 (en) * | 2017-02-21 | 2018-08-30 | Configurable Controls, Llc | Motion control system for foot-actuated flight controller |
| EP3650336A1 (en) * | 2018-11-12 | 2020-05-13 | Goodrich Actuation Systems SAS | Trim control system |
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2021
- 2021-03-25 CN CN202110319790.XA patent/CN113148115B/en active Active
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| CN113148115A (en) | 2021-07-23 |
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