CN113859529B - Retractable rudder control system and control method - Google Patents
Retractable rudder control system and control method Download PDFInfo
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- CN113859529B CN113859529B CN202111167762.7A CN202111167762A CN113859529B CN 113859529 B CN113859529 B CN 113859529B CN 202111167762 A CN202111167762 A CN 202111167762A CN 113859529 B CN113859529 B CN 113859529B
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- rudder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/005—Flying-boats; Seaplanes with propellers, rudders or brakes acting in the water
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- 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
- B64C13/042—Initiating means actuated personally operated by hand
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/008—Amphibious sea planes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention belongs to the flight control technology, and relates to a retractable rudder control system and a retractable rudder control method. The rudder control device comprises a pedal control assembly (1), a pedal control displacement sensor (2), a rudder control surface retraction handle (3), a rudder cabin door retraction switch (4), a rudder control computer (5), a rudder cabin door retraction actuator (6), a rudder control surface retraction actuator (7), a rudder control surface deflection actuator (8), a water pressure sensor (9) and a communication navigation system (10). The rudder control computer (5) acquires the state information of the airplane and the control instruction of a pilot and forms a reliable control instruction signal through calculation, so that the retracting function of the rudder surface of the rudder and the left-right deflection of the rudder surface of the rudder around the rotating shaft are realized. When the water rudder is not in the neutral position, the amphibious aircraft is dangerous to take off and land on the water surface, in order to prevent a pilot from operating the water rudder by mistake in the air and causing the water rudder not to be in the neutral position before the water rudder catches water, the control surface of the water rudder is received into the water rudder cabin before the aircraft is ready to take off, and the control surface of the water rudder is put down after the water rudder is safely caught water.
Description
Technical Field
The invention belongs to the technical field of flight control systems, and relates to a retractable rudder control system and a control method, which are used for realizing direction control of an amphibious aircraft during water surface and ground speed gliding.
Background
The water rudder is used for controlling the water surface direction of the amphibious aircraft when the amphibious aircraft slides on the water surface at ground speed.
When the left and right deflection control function of the water rudder fails, the water surface direction control of the airplane can be realized by using the rudder and the engine differential, but when the water rudder is not in a neutral position, the amphibious airplane is dangerous to take off and land on the water surface.
Therefore, in order to prevent the pilot from operating the water rudder by mistake in the air and causing the water rudder not to be in a neutral position before the water rudder is attached, the water rudder retraction control function needs to be added, so that the water rudder control surface is received in the water rudder cabin after the airplane leaves the water surface, and the water rudder control surface is put down after the airplane is safely attached with water.
Disclosure of Invention
The purpose of the invention is as follows: a retractable rudder control system is designed for solving the problems.
The technical scheme of the invention is as follows: a retractable rudder control system is composed of a pedal operating component 1, a pedal operating displacement sensor 2, a rudder control surface retracting handle 3, a rudder cabin door retracting switch 4, a rudder control computer 5, a rudder cabin door retracting actuator 6, a rudder control surface retracting actuator 7, a rudder control surface deflection actuator 8, a water pressure sensor 9 and a communication navigation system 10; the device comprises a pedal operation displacement sensor 2, a rudder control surface retraction handle 3, a rudder cabin door retraction switch 4, a rudder cabin door retraction actuator 6, a rudder control surface retraction actuator 7, a rudder control surface deflection actuator 8, a water pressure sensor 9 and a communication navigation system 10, wherein the rudder cabin door retraction switch is connected with a rudder control computer 5, and a pedal operation component 1 is connected with the pedal operation displacement sensor 2.
The pedal operating assembly 1 is a driver operating device and provides a man-machine interface for controlling the deflection of the rudder surface of the rudder.
The foot pedal operation displacement sensor 2 is used for collecting a displacement signal of the foot operation component.
The rudder surface retracting handle 3 is an operating device for controlling the rudder surface of the rudder to retract and release.
The rudder cabin door retraction switch 4 is a switch for controlling the opening and closing of the rudder cabin door by a driver.
The rudder control computer 5 is a core device of the retractable rudder control system, and is used for acquiring state information of the airplane and an operating instruction of a driver, and forming a reliable control instruction signal through calculation to control the safe and effective operation of the whole system.
The rudder cabin door folding and unfolding actuator 6 receives a rudder cabin door opening and closing control instruction generated by the rudder control computer 5, drives the opening and closing of the rudder cabin door, and can lock the cabin door at an in-place opening position.
The rudder control surface retraction actuator 7 receives a rudder control surface retraction control instruction generated by the rudder control computer 5, drives the rudder control surface to retract and put down, and can lock the rudder control surface in a 'put to position' position after the rudder control surface is put down in place.
The rudder control surface deflection actuator 8 is a driving device for the left and right deflection of the rudder control surface and is used for executing a rudder deflection control instruction generated by the rudder computer 5 and driving the control surface to deflect as required so as to realize the control of the water surface direction of the airplane.
The water pressure sensor 9 is used for providing an airplane water catching signal and used as a basis for the rudder control computer 5 to judge that the door of the rudder cabin can be opened.
The communication navigation system 10 provides effective ground speed signals to the rudder control computer 5 to limit the deflection range of the rudder surface of the rudder.
The pedal-operated displacement sensor 2 selects a 2-4 redundancy sensor.
And the rudder surface deflection actuator 8 selects the main actuator and the standby actuator switching mode according to the reliability index of the actuator.
The rudder cabin door folding and unfolding actuator 6 and the rudder control surface folding and unfolding actuator 7 have self-locking functions.
The rudder control computer 5 employs a 2 x 2 redundancy system.
A control system and control method of the retractable rudder, the rudder control computer 5 receives the switch order of the rudder cabin door retraction switch 4, and combine the signal of getting wet that the water pressure sensor 9 provides to produce the control order, drive the rudder cabin door retraction actuator 6 to control the retraction/release of the rudder cabin door and can lock the cabin door in "open in place" position; when the water rudder control computer 5 receives a water rudder control surface releasing signal and a water rudder cabin door 'opening to position' locking signal which are provided by the water rudder retracting and releasing handle 3 at the same time, the water rudder control surface retracting and releasing actuator 6 drives the water rudder control surface to put down and can lock the water rudder control surface in the 'putting to position' position after the water rudder control surface is put down in place; when the water rudder control computer 5 receives a ground speed signal and a water rudder control surface in-place signal provided by the communication navigation system 10, a driver can operate the pedal operation component 1, the pedal operation displacement sensor 2 provides a pedal displacement signal to the water rudder control computer 5, and the water rudder control computer 5 calculates to send a driving instruction to the water rudder control surface deflection actuator 8 so as to control the water rudder control surface to deflect left and right around the rotating shaft.
When the left and right deflection control function of the water rudder fails, the water surface direction control of the airplane can be realized by using the rudder and the engine in a differential mode.
When the rudder is not in the neutral position, the amphibious aircraft is dangerous to take off and land on the water surface, and in order to prevent the pilot from operating the rudder by mistake in the air and causing the rudder not to be in the neutral position before getting on water, the rudder control surface retraction actuator 7 is used for controlling the rudder surface retraction and extension of the rudder so that the rudder surface of the rudder is received in the rudder cabin before the aircraft takes off on water.
When the amphibious aircraft reaches the water surface takeoff and running position and is ready for water surface takeoff, a driver can retract the rudder into the rudder cabin through the rudder control surface retraction handle 3 and the rudder cabin door retraction switch 4.
The invention has the beneficial effects that: the invention provides a retractable rudder control system control scheme through design, so that the danger that the control surface is not at the neutral position possibly occurring in the water surface taking-off and landing stage of the rudder is avoided to the maximum extent, and the reliability of the rudder control system is greatly improved.
Drawings
Fig. 1 is a block diagram of a retractable rudder control system provided by the present invention.
Fig. 2 is a control flow chart of the retractable rudder control system provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings and the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Other embodiments, which can be derived by one of ordinary skill in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a block diagram illustrating a retractable rudder control system according to an embodiment of the present invention, and as shown in fig. 1, the system includes: the device comprises a pedal operation component 1, a pedal operation displacement sensor 2, a rudder control surface retraction handle 3, a rudder cabin door retraction switch 4, a rudder control computer 5, a rudder cabin door retraction actuator 6, a rudder control surface retraction actuator 7, a rudder control surface deflection actuator 8, a water pressure sensor 9 and a communication navigation system 10.
The pedal operating assembly 1 is a driver operating device and provides a man-machine interface for controlling the deflection of the rudder surface of the rudder.
The foot pedal operation displacement sensor 2 is used for collecting a displacement signal of the foot operation component. The rudder control computer 5 generates a control instruction of rudder control surface deflection according to the signal of the pedal operation displacement sensor 2.
The rudder control surface retracting handle 3 is an operating device for controlling the water rudder control surface to retract and release, and the water rudder control computer 5 generates a control instruction for retracting and releasing the water rudder control surface according to a gear signal of the rudder control surface retracting handle 3.
The rudder cabin door folding and unfolding switch 4 is a switch for controlling the opening and the closing of the rudder cabin door by a driver, and the rudder control computer 5 generates a control instruction of the rudder cabin door switch according to a gear signal of the rudder cabin door folding and unfolding switch 4.
The rudder control computer 5 is a core device of the retractable rudder control system, and is used for acquiring state information of the airplane and an operating instruction of a driver, and forming a reliable control instruction signal through calculation to control the safe and effective operation of the whole system.
The rudder cabin door folding and unfolding actuator 6 receives a rudder cabin door opening and closing control instruction generated by the rudder control computer 5, drives the opening and closing of the rudder cabin door, and can lock the cabin door at an in-place opening position.
The rudder control surface retraction actuator 7 receives a rudder control surface retraction control instruction generated by the rudder control computer 5, drives the rudder control surface to retract and put down, and can lock the rudder control surface in a 'put to position' position after the rudder control surface is put down in place.
The rudder control surface deflection actuator 8 is a driving device for the left and right deflection of the rudder control surface and is used for executing a rudder deflection control instruction generated by the rudder computer 5 and driving the control surface to deflect as required so as to realize the control of the water surface direction of the airplane.
The water pressure sensor 9 is used for providing an airplane water catching signal and used as a basis for the rudder control computer 5 to judge that the door of the rudder cabin can be opened.
Fig. 2 shows a flowchart of a retractable rudder control system according to an embodiment of the present invention for controlling a rudder surface of a rudder, which is implemented as follows.
When the amphibious aircraft is on the water surface and the flying speed is reduced to a certain speed threshold (the speed threshold is determined according to the specific conditions of various types of aircraft), the driver judges that the direction control of the aircraft on the water surface at the time of the ground speed sliding needs to be enhanced through the rudder control surface.
The driver shifts the rudder cabin door retraction switch 4 to an 'on' gear, and the rudder control computer 5 sends a control instruction for opening the rudder cabin door to the rudder cabin door retraction actuator 6 in combination with an airplane water signal provided by the water pressure sensor 9. The rudder cabin door folding and unfolding actuator 6 receives a rudder cabin door opening control instruction, drives the opening of the rudder cabin door, locks the cabin door at an in-place opening position after the opening action is finished, and provides a position feedback signal for the rudder control computer 5.
The driver shifts the rudder control surface retracting handle 3 to a 'lowering' gear, and the rudder control computer 5 sends a control instruction for lowering the rudder control surface to the rudder control surface retracting actuator 7 by combining a cabin door 'in-place' locking signal fed back by the rudder cabin door retracting actuator 6. The rudder control surface retracting and releasing actuator 7 receives a control instruction of releasing the rudder control surface, drives the rudder control surface to be put down, and after the releasing action is finished, the rudder control surface retracting and releasing actuator 7 locks the rudder control surface at the position of putting in place and provides a position feedback signal for the rudder control computer 5.
A driver can operate the pedal operation component 1, pedal displacement signals are provided for the rudder control computer 5 through the pedal operation displacement sensor 2, the rudder control computer 5 combines ground speed signals provided by the communication navigation system 10 and rudder control surface in-place locking signals, and a driving instruction is sent to the rudder control surface deflection actuator 8 through calculation to control the rudder control surface to deflect left and right around the rotating shaft and limit the deflection degree of the rudder surface at different ground speeds.
When the left and right deflection control function of the water rudder fails, the water surface direction control of the airplane can be realized by using the rudder and the engine in a differential mode.
When the water rudder is not in the neutral position, the amphibious aircraft is dangerous to take off and land on the water surface, and in order to prevent a pilot from operating the water rudder by mistake in the air and causing the water rudder to be not in the neutral position before the water rudder is in the water, the water rudder control surface folding and unfolding actuator 7 controls the water rudder control surface to fold and unfold, so that the aircraft can receive the water rudder control surface into the water rudder cabin before the aircraft takes off on the water.
When the amphibious aircraft reaches the water surface takeoff and running position and is ready for water surface takeoff, a driver can retract the rudder into the rudder cabin through the rudder control surface retraction handle 3 and the rudder cabin door retraction switch 4.
In the above embodiment, the reliability of the system can be increased by adding actuators according to the reliability index of the actuators, selecting the switching mode of the main actuator and the standby actuator and selecting the backup of the redundancy sensor of 2 to 4. The rudder cabin door folding and unfolding actuator 6 and the rudder control surface folding and unfolding actuator 7 have a self-locking function. The rudder control computer 5 employs a 2 x 2 redundancy system.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A retractable rudder control system is characterized by comprising a pedal manipulation component (1), a pedal manipulation displacement sensor (2), a rudder control surface retracting handle (3), a rudder cabin door retracting switch (4), a rudder control computer (5), a rudder cabin door retracting actuator (6), a rudder control surface retracting actuator (7), a rudder control surface deflection actuator (8), a water pressure sensor (9) and a communication navigation system (10); the device comprises a pedal manipulation displacement sensor (2), a rudder control surface retraction handle (3), a rudder cabin door retraction switch (4), a rudder cabin door retraction actuator (6), a rudder control surface retraction actuator (7), a rudder control surface deflection actuator (8), a water pressure sensor (9) and a communication navigation system (10), wherein the pedal manipulation displacement sensor (2) is connected with a pedal manipulation displacement assembly (1);
the pedal operation component (1) is a driver operation device and provides a man-machine interface for controlling the deflection of the rudder surface of the rudder;
the pedal operation displacement sensor (2) is used for acquiring displacement signals of the foot operation assembly;
the rudder surface retracting handle (3) is an operating device for controlling the rudder surface of the rudder to retract and release by a driver;
the rudder cabin door retraction switch (4) is a switch for controlling the opening and closing of the rudder cabin door by a driver;
the rudder control computer (5) is a core device of the retractable rudder control system and is used for acquiring state information of the airplane and an operating instruction of a driver, and forming a reliable control instruction signal through calculation to control the safe and effective operation of the whole system;
the rudder cabin door folding and unfolding actuator (6) receives a rudder cabin door opening and closing control instruction generated by the rudder control computer (5), drives the opening and closing of the rudder cabin door and can lock the cabin door at an 'open-in-place' position;
the water rudder control surface retraction actuator (7) receives a water rudder control surface retraction control instruction generated by the water rudder control computer (5), drives the water rudder control surface to retract and put down, and can lock the water rudder control surface in a 'put-in-place' position after the water rudder control surface is put down in place;
the rudder control surface deflection actuator (8) is a driving device for the left and right deflection of the rudder control surface of the rudder, and is used for executing a rudder deflection control instruction generated by the rudder control computer (5) and driving the control surface to deflect as required to realize the control of the water surface direction of the airplane;
the water pressure sensor (9) is used for providing an airplane water catching signal and used as a basis for the rudder control computer (5) to judge that the rudder cabin door can be opened;
the effective ground speed signal provided by the communication navigation system (10) to the rudder control computer (5) limits the deflection range of the rudder surface of the rudder.
2. A retractable rudder control system as claimed in claim 1, characterised in that the pedal operated displacement sensor (2) is selected from 2-4 redundant sensors.
3. A retractable rudder control system according to claim 1 characterised in that the rudder surface deflection actuator (8) selects the master and slave actuator switching mode according to actuator reliability criteria.
4. A retractable rudder control system according to claim 1 characterised in that the rudder port retraction actuator (6) and the rudder control surface retraction actuator (7) have a self-locking function.
5. A retractable rudder control system as claimed in claim 1 characterised in that the rudder control computer (5) employs a 2 x 2 redundancy system.
6. A retractable rudder control method for controlling the retractable rudder control system according to any one of claims 1 to 5, characterized in that a rudder control computer (5) receives a switch command of a retractable switch (4) of a rudder cabin door and generates a control command by combining a dampening signal provided by a water pressure sensor (9), drives a retractable actuator (6) of the rudder cabin door to control retraction/release of the rudder cabin door and can lock the cabin door at an 'open-position' position; when the water rudder control computer (5) receives a water rudder control surface releasing signal and a water rudder cabin door 'opening to position' locking signal which are provided by the water rudder retracting handle (3) at the same time, the water rudder control surface retracting actuator (7) drives the water rudder control surface to put down and can lock the water rudder control surface in the 'putting to position' position after the water rudder control surface is put down to position; when the water rudder control computer (5) receives a ground speed signal and a water rudder control surface in-place signal provided by the communication navigation system (10), a driver can operate the pedal operation component (1) through operating the pedal, the pedal operation displacement sensor (2) provides a pedal displacement signal to the water rudder control computer (5), and the water rudder control computer (5) calculates to send a driving instruction to the water rudder control surface deflection actuator (8) to control the water rudder control surface to deflect left and right around the rotating shaft.
7. A retractable rudder control method as claimed in claim 6 wherein when the rudder left and right deflection control function fails, the aircraft surface direction control is achieved by using the rudder and the engine differential.
8. A retractable rudder control method as claimed in claim 6 characterised in that when the rudder is not in the neutral position, the amphibious aircraft is dangerous to take off and land on the water surface, and in order to prevent the pilot from operating the rudder by mistake in the air and causing the rudder to be out of the neutral position before landing on the water, the rudder control surface retraction actuator (7) controls the retraction of the rudder control surface so that the rudder control surface is received into the rudder chamber before the aircraft takes off on the water.
9. A retractable rudder control method as claimed in claim 6 characterised in that when the amphibious aircraft reaches the water surface take-off run position, ready for water surface take-off, the driver can retract the rudder into the rudder cabin by means of the rudder control surface retraction handle (3) and the rudder cabin door retraction switch (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111167762.7A CN113859529B (en) | 2021-09-30 | 2021-09-30 | Retractable rudder control system and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111167762.7A CN113859529B (en) | 2021-09-30 | 2021-09-30 | Retractable rudder control system and control method |
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| Publication Number | Publication Date |
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| CN113859529A CN113859529A (en) | 2021-12-31 |
| CN113859529B true CN113859529B (en) | 2023-04-14 |
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060284010A1 (en) * | 2005-06-06 | 2006-12-21 | Meekins John A | Hydrofoil for an amphibious aircraft |
| JP5819780B2 (en) * | 2012-05-30 | 2015-11-24 | 住友精密工業株式会社 | Aircraft steering device control device |
| CN106155080B (en) * | 2015-07-28 | 2020-04-10 | 英华达（上海）科技有限公司 | Unmanned plane |
| CN106828883A (en) * | 2015-12-07 | 2017-06-13 | 中航通飞研究院有限公司 | The longitudinally controlled augmentation control rule of amphibious aircraft |
| CN109720568B (en) * | 2018-11-12 | 2022-12-16 | 中航通飞研究院有限公司 | Retractable rudder structure embedded in rudder |
| CN110576713A (en) * | 2019-09-19 | 2019-12-17 | 西北工业大学 | Air-water submersible triphibian unmanned aerial vehicle |
| CN112478156A (en) * | 2020-12-04 | 2021-03-12 | 中航通飞华南飞机工业有限公司 | Water rudder shaking processing method for seaplane |
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