CN205652337U - Aircraft initiative side lever - Google Patents
Aircraft initiative side lever Download PDFInfo
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- CN205652337U CN205652337U CN201620144109.7U CN201620144109U CN205652337U CN 205652337 U CN205652337 U CN 205652337U CN 201620144109 U CN201620144109 U CN 201620144109U CN 205652337 U CN205652337 U CN 205652337U
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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
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Abstract
The utility model discloses an aircraft initiative side lever of two degrees of freedom controls the luffing and the lift -over campaign of aircraft respectively. To mechanical structure and hardware constitution, it mainly comprises two parts, promptly monitoring module and side lever module. Adopt the mode of torque motors loading power to and planetary gear reducer's kind of drive, can guarantee the great torque of motor output, mechanical structure through frame in adopting guaranteed the initiative side lever when the luffing of control aircraft and lift -over campaign, initiatively the motion of side lever the coupling can not take place, through optimizing mechanical structure, lightened the initiatively weight of side lever system greatly, also lightened the volume of initiative side lever system simultaneously greatly. Adopt STM32 microcontroller, hall closed loop current sensor, resistance strain gauge formula pole force transducer, accurate rotary potentiometer and incremental encoder, not only make the system constitute by less hardware, improved the stability of system, also greatly reduced the cost of initiative side lever system.
Description
Technical field
This utility model relates to aircraft control system, particularly relates to a kind of aircraft actively side lever.
Background technology
The artificial feel system of aircraft can make pilot have control power sense when operating aircraft, can affect the maneuvering performance of aircraft, is the highly important ingredient of flight control system.At present, most of aircrafts all have employed fly-by-wire flight control system, and wherein, spring-loaded passive control stick system constitutes the artificial feel system of these aircrafts.Such control stick has foolproof structure, installs very convenient, operates the most stable, but the shortcoming of maximum is to be changeless proportional relationship between control force and bar displacement, it is impossible to the state of flight of reflection aircraft；Owing to pilot is not felt by the state of flight of aircraft, the flight quality of aircraft and handling quality can decline.In order to avoid this shortcoming, actively control stick system is arisen at the historic moment.This control stick system and flight control system constitute closed loop so that flight control computer can be with control stick intercommunication in real time.After adopting in this way, pilot can judge the state of flight of aircraft exactly by the power on control stick grip, therefore can improve handling characteristic and the flight quality of aircraft.
The stick force load mode of active side lever of the prior art mainly has three kinds: spring loading, electro-hydraulic loading and electric loading system.Due to spring-loaded mode, power displacement curve is fixed, and it can not can be regarded as actively side lever；Electro-hydraulic load mode volume weight is big and noise is big；The external load mode using brushless D. C. torque motor compares the brushed DC permanent magnet torque motor of this programme, controls more to load, and the volume weight of motor body is bigger.Frame for movement about active side lever, there are universal joint, four-bar linkage, gear drive at present, the possibility of stuck phenomenon can be there is in first two in frame for movement, and the third, the straight spur gear that general employing is common, although this structure does not exist stuck phenomenon, but volume weight is very big, and the precision processed and assemble is the most poor.This utility model use in the frame for movement of housing, use accurate planetary reducer and accurate right angle steering gear simultaneously, so significantly reduce the weight saving volume of this system, more equip meaning.
Utility model content
Technical problem to be solved in the utility model is for defect involved in background technology, it is provided that a kind of aircraft actively side lever.
This utility model is for solving above-mentioned technical problem by the following technical solutions:
A kind of aircraft actively side lever, comprises control stick, the first micro-control unit and the second micro-control unit；
Described control stick comprises housing, handle, stick force sensor, the body of rod, the first axle, the second axle, pair of bearings and second pair of bearing；
Described first axle, the second axle use the form of interior housing, and the first axle is inner axis, and the second axle is housing axle, and the first axle can be at the slide of the second axle；
Described housing is the rectangle of upper and lower opening, and pair of bearings, the second countershaft holding are correspondingly arranged in its four wall in the heart；
Described first axle, the second axle are respectively by pair of bearings, second pair of loading ability of bearing, and described housing is all stretched out at two ends；
The lower end of the described body of rod is connected with the first axle, and upper end is connected with the bottom of stick force sensor, and the top of stick force sensor is connected with handle；
Described stick force sensor is for measuring the power that pilot is applied on control stick grip；
Described handle is provided with the switching switch of the mode of operation for switching side lever, and described mode of operation comprises aggressive mode, follower model, trim pattern and Passive Mode；
Described first micro-control unit comprises the first rotating potentiometer, the first gear reduction unit, the first torque motor, the first encoder, the first microcontroller, a PWM motor drive module, the first solid-state relay, first handle power modulating signal circuit, the first angular displacement signal modulation circuit and the first current sensor；
The input of described first rotating potentiometer and one end of the first axle connect, and outfan and the first angular displacement signal modulation circuit input are connected；
Described first gear reduction unit is fixing on the housing by ring flange, and the other end of delivery outlet and the first axle connects, and one end of input hole and the first torque motor output shaft connects；
The code-disc of described first encoder and the other end of the first torque motor output shaft connect, and for measuring the rotating speed of the first torque motor output shaft, and pass it to described first microcontroller；
The input of described first handle power modulating signal circuit is electrically connected with stick force sensor circuit；
A described PWM motor drive module outfan is electrically connected with described first torque motor by the first solid-state relay；
Described first current sensor is for the armature supply of sensing the first torque motor, and passes it to described first microcontroller；
Described first microcontroller respectively with the outfan of first handle power modulating signal circuit, the input of the oneth PWM motor drive module, the control end of the first solid-state relay, the outfan of the first angular displacement signal modulation circuit, the outfan of the first encoder, first current sensor, stick force sensor, and monitoring module is electrically connected, for according to the stick force sensor stick force output signal on the first axle obtained, the armature current signal of the first torque motor, the angular signal of the first angular displacement signal modulation circuit and the tach signal output PWM ripple of the first torque motor are to a PWM motor drive module, control the operation of the first torque motor, serial port function and monitoring module by self being carried carry out serial communication simultaneously, the status information of side lever device is transmitted to monitoring module；
Described second micro-control unit comprises the second rotating potentiometer, the second gear reduction unit, the second torque motor, the second encoder, the second microcontroller, the 2nd PWM motor drive module, the second solid-state relay, the second angular displacement signal modulation circuit, second handle power modulating signal circuit, gear reduction box, quadrant and the second current sensor；
The input of described second rotating potentiometer and one end of the second axle connect, and outfan and the second angular displacement signal modulation circuit input are connected；
The described other end of the second axle is connected with the input gear of gear reduction box, and the output gear of gear reduction box is connected with the output shaft of quadrant；
Described quadrant is fixing on the housing by ring flange, and the delivery outlet of input and the second gear reduction unit connects；
Described second gear reduction unit is fixing on the housing by ring flange, and one end of input hole and the second torque motor output shaft connects；
The code-disc of described second encoder and the other end of the second torque motor output shaft connect, and for measuring the rotating speed of the second torque motor output shaft, and pass it to described second microcontroller；
The input of described second handle power modulating signal circuit is electrically connected with stick force sensor circuit；
Described 2nd PWM motor drive module outfan is electrically connected with described second torque motor by the second solid-state relay；
Described second current sensor is for the armature supply of sensing the second torque motor, and passes it to described second microcontroller；
Described second microcontroller respectively with the outfan of second handle power modulating signal circuit, the input of the 2nd PWM motor drive module, the control end of the second solid-state relay, the outfan of the second angular displacement signal modulation circuit, the outfan of the second encoder, second current sensor, stick force sensor, and monitoring module is electrically connected, for according to the stick force sensor stick force output signal on the second axle obtained, the armature current signal of the second torque motor, the angular signal of the second angular displacement signal modulation circuit and the tach signal output PWM ripple of the second torque motor are to the 2nd PWM motor drive module, control the operation of the second torque motor, serial port function and monitoring module by self being carried carry out serial communication simultaneously, the status information of side lever device is transmitted to monitoring module.
As this utility model one aircraft actively further prioritization scheme of side lever, described stick force sensor uses 2 dimension resistance-strain chip stick force sensors, the respectively power on corresponding first axle and the power on the second axle.
As this utility model one aircraft actively further prioritization scheme of side lever, described first, second gear reduction unit uses accurate planetary reducer.
As this utility model one aircraft actively further prioritization scheme of side lever, the rareearth permanent-magnet DC that described first, second torque motor uses voltage at peak torque to be 27V has brushing force torque motor.
As this utility model one aircraft actively further prioritization scheme of side lever, described quadrant uses elaborate servo bevel gear quadrant.
As this utility model one aircraft actively further prioritization scheme of side lever, described first, second microcontroller uses STM32 chip.
As this utility model one aircraft actively further prioritization scheme of side lever, the precision rotation Middle Eocene device that described first, second rotating potentiometer uses electric angle to be 90 degree.
As this utility model one aircraft actively further prioritization scheme of side lever, described first, second encoder uses the incremental encoder of high line number.
As this utility model one aircraft actively further prioritization scheme of side lever, described first, second current sensor uses Hall closed-loop current sensors.
This utility model uses above technical scheme compared with prior art, has following technical effect that
1. can reduce the volume and weight of aircraft actively control stick system, more have actual equipment meaning；
2. control stick can be made to have response speed faster by design control law；
3. the neutral position of control stick system, can be according to the custom of pilot, convenient regulation, and control stick returns middle process rapidly, and in returning, position is accurate；
4. the stick force information of degree of precision can be provided；
5. being switched by solid-state relay so that hardware configuration is simple, control simple, actively side lever is more stable, it is possible to work at worse airborne circumstance.
6. the stick force opened loop control of this system has had degree of precision, and when stick force feedback transducer lost efficacy, this system timely automated can be controlled to be switched to open loop stick force by closed loop stick force and control so that the aggressive mode of this system is more stable.
7. can solve because of the control stick mistake input problem caused by aircraft vehicle vibrations or aspect inclination；
8., when control stick system is switched to Passive Mode by aggressive mode, control stick can be solved and rotate non-continuous event.
Accompanying drawing explanation
Fig. 1 is the structural representation of aircraft actively measuring staff system；
Fig. 2 is the structural representation of aircraft master end lever system monitoring module；
Fig. 3 is the form schematic diagram of aircraft master end lever system serial port communication data bag；
Fig. 4 is the side lever frame for movement schematic diagram of aircraft master end lever system；
Fig. 5 is the overall control software flow pattern of the side lever apparatus module of aircraft master end lever system；
Fig. 6 is that the side lever follower model of aircraft master end lever system controls schematic diagram；
Fig. 7 is that the side lever aggressive mode of aircraft master end lever system controls schematic diagram；
Fig. 8 is the stick force control method schematic diagram of the side lever aggressive mode of aircraft master end lever system；
Fig. 9 is that the side lever of the side lever aggressive mode of aircraft master end lever system returns middle control flow chart.
In figure, 1-handle, 2-stick force sensor, the 3-body of rod, 4-the first axle, 5-the second axle, 6-pair of bearings, 7-second is to bearing, 8-housing.
Detailed description of the invention
Below in conjunction with the accompanying drawings the technical solution of the utility model is described in further detail:
This system is as it is shown in figure 1, native system is mainly by two big module compositions: monitoring module and side lever module.
Monitoring module runs in an experiment on PC, during actual equipment, runs, and communicate by the way of serial communication with side lever module on flight control computer.Monitoring module can obtain real-time status and the data of control stick, it is possible to sets the mode of operation of side lever module.The composition of monitoring module is as shown in Figure 2, this module comprises communication unit, control unit, stick force curve arrange unit, mode instruction input block, display unit and storage element, and described control unit arranges unit respectively with communication unit, stick force curve, mode instruction input block, display unit, storage element are electrically connected.
Described communication unit and side lever module carry out serial communication.Form and the length of packet are fixed, and first the concrete form of each bag data as it is shown on figure 3, be data head, and data head comprises two sections, is 0XAA and 0X55 respectively, if correct, continue to resolve, otherwise wait for next bag data；Followed by one bit address code, it is to communicate with pitch channel or roll channel by its judgement, it is followed by a bit function code, the type of the communication information is determined by this function code, comprising and set the mode of operation of side lever module, the parameter set under a certain mode of operation of side lever module and receive the movement state information that side lever module transfer comes, last data bit is then the particular content of information.The data bit often wrapped is by completing a subcommand transmission or the required at most digit order numbers of information transmission are the figure place of numeric data code in the lever system of described aircraft master end, the most often bag data may determine that length.
Described stick force curve arranges unit for input lever force curve parameter, and passes it to described control unit.
Described mode instruction input block is for arranging the mode of operation of side lever module, and passes it to described control unit, and described mode of operation comprises aggressive mode, follower model, trim pattern and Passive Mode.
Described display unit for showing the real time status information of side lever module with output box, virtual meter panel and curve chart.
Described storage element is for storing the real time status information of side lever module.
Described control unit is used for sending instructions to described side lever module, and controls storage and the real time status information of display side lever module.
Described side lever module comprises control stick, the first micro-control unit and the second micro-control unit.
Control stick has two degree of freedom, is respectively used to control elevating movement and the rolling movement of aircraft, and the first micro-control unit, the second micro-control unit are then respectively used to be adjusted the two degree of freedom.
Control stick comprises housing, handle, stick force sensor, the body of rod, the first axle, the second axle, pair of bearings and second pair of bearing, its frame for movement is with reference to Twin-shaft machinery rotor gyro, as shown in Figure 4, the form of housing in using, first axle is inner axis, second axle is housing axle, and the first axle can be at the slide of the second axle.
Described housing is the rectangle of upper and lower opening, and pair of bearings, the second countershaft holding are correspondingly arranged in its four wall in the heart；
Described first axle, the second axle are respectively by pair of bearings, second pair of loading ability of bearing, and described housing is all stretched out at two ends；
The lower end of the described body of rod is connected with the first axle, and upper end is connected with the bottom of stick force sensor, and the top of stick force sensor is connected with handle；
Described stick force sensor is for measuring the power that pilot is applied on control stick grip；
Described handle is provided with the aggressive mode switching switch with Passive Mode and the switching switch of trim pattern and aggressive mode.
Described first micro-control unit comprises the first rotating potentiometer, the first gear reduction unit, the first torque motor, the first encoder, the first microcontroller, a PWM motor drive module, the first solid-state relay, first handle power modulating signal circuit, the first angular displacement signal modulation circuit and the first current sensor；
The input of described first rotating potentiometer and one end of the first axle connect, and outfan and the first angular displacement signal modulation circuit input are connected；
Described first gear reduction unit is fixing on the housing by ring flange, and the other end of delivery outlet and the first axle connects, and one end of input hole and the first torque motor output shaft connects；
The code-disc of described first encoder and the other end of the first torque motor output shaft connect, and for measuring the rotating speed of the first torque motor output shaft, and pass it to described first microcontroller；
The input of described first handle power modulating signal circuit is electrically connected with stick force sensor circuit；
A described PWM motor drive module outfan is electrically connected with described first torque motor by the first solid-state relay；
Described first current sensor is for the armature supply of sensing the first torque motor, and passes it to described first microcontroller；
Described first microcontroller respectively with the outfan of first handle power modulating signal circuit, the input of the oneth PWM motor drive module, the control end of the first solid-state relay, the outfan of the first angular displacement signal modulation circuit, the outfan of the first encoder, first current sensor, stick force sensor, and the communication unit in monitoring module is electrically connected, for according to the stick force sensor stick force output signal on the first axle obtained, the armature current signal of the first torque motor, the angular signal of the first angular displacement signal modulation circuit and the tach signal output PWM ripple of the first torque motor are to a PWM motor drive module, control the operation of the first torque motor, serial port function and monitoring module by self being carried carry out serial communication simultaneously, the status information of side lever device is transmitted to monitoring module.
When left and right moves control stick grip, control stick drives the first axle to rotate in clutch shaft bearing, and the first the tip of the axis slides in the chute of the second axle；Driving the first gear reduction unit and the first rotating potentiometer to rotate, the first gear reduction unit drives the first torque motor to rotate simultaneously, and the first torque motor drives the first encoder to rotate.When the first torque motor energising rotates, sequence of motion is with that process is described above is contrary.
Described second micro-control unit comprises the second rotating potentiometer, the second gear reduction unit, the second torque motor, the second encoder, the second microcontroller, the 2nd PWM motor drive module, the second solid-state relay, the second angular displacement signal modulation circuit, second handle power modulating signal circuit, gear reduction box, quadrant and the second current sensor；
The input of described second rotating potentiometer and one end of the second axle connect, and outfan and the second angular displacement signal modulation circuit input are connected；
The described other end of the second axle is connected with the input gear of gear reduction box, and the output gear of gear reduction box is connected with the output shaft of quadrant；
Described quadrant is fixing on the housing by ring flange, and the delivery outlet of input and the second gear reduction unit connects；
Described second gear reduction unit is fixing on the housing by ring flange, and one end of input hole and the second torque motor output shaft connects；
The code-disc of described second encoder and the other end of the second torque motor output shaft connect, and for measuring the rotating speed of the second torque motor output shaft, and pass it to described second microcontroller；
The input of described second handle power modulating signal circuit is electrically connected with stick force sensor circuit；
Described 2nd PWM motor drive module outfan is electrically connected with described second torque motor by the second solid-state relay；
Described second current sensor is for the armature supply of sensing the second torque motor, and passes it to described second microcontroller；
Described second microcontroller respectively with the outfan of second handle power modulating signal circuit, the input of the 2nd PWM motor drive module, the control end of the second solid-state relay, the outfan of the second angular displacement signal modulation circuit, the outfan of the second encoder, second current sensor, stick force sensor, and the communication unit in monitoring module is electrically connected, for according to the stick force sensor stick force output signal on the second axle obtained, the armature current signal of the second torque motor, the angular signal of the second angular displacement signal modulation circuit and the tach signal output PWM ripple of the second torque motor are to the 2nd PWM motor drive module, control the operation of the second torque motor, serial port function and monitoring module by self being carried carry out serial communication simultaneously, the status information of side lever device is transmitted to monitoring module.
When push-and-pull control stick grip, control stick drives the second axle to rotate in the second bearing；Driven gear reduction box and the second rotating potentiometer rotate simultaneously, gear reduction box drives quadrant to rotate, quadrant drives the second gear reduction unit to rotate, and the second gear reduction unit drives the second torque motor to rotate, and the second torque motor drives the second encoder to rotate.When the second torque motor energising rotates, sequence of motion is with that process is described above is contrary.
Described stick force sensor, uses 2 dimension resistance-strain chip stick force sensors, and 2 dimensions sensitive pilot respectively is applied on control stick grip the power of corresponding two degree of freedom, the power on the most corresponding first axle and the power on the second axle.
These two handle force signals have two purposes:
It is used for after first, second micro-control unit collection being sent to monitoring module by serial ports the most respectively；
2. as judge the hands of pilot with or without the condition being held on handle, this effect determines the Rule of judgment of action executing during control stick returns in aggressive mode automatically.
Described first, second gear reduction unit uses accurate planetary reducer.Planetary reduction gear is connected with torque motor, is used for slowing down and increasing torque.
The rareearth permanent-magnet DC that described first, second torque motor uses voltage at peak torque to be 27V has brushing force torque motor, and motor output shaft, through two grades of elaborate servo planetary reducers, exports bigger moment.Described stick force sensor uses 2 dimension resistance-strain chip stick force sensors, the power that the 2 the most sensitive pilots of dimension apply on two degree of freedom on control stick grip.
Described gear reduction box uses accurate one-level straight spur gear reduction box.
Described quadrant uses elaborate servo bevel gear quadrant.
Described first, second microcontroller uses STM32 chip.Microcontroller uses the chip of STM32F103 series, uses three passages of its a/d converter, gathers rotary potentiometer, control force sensor and the output signal of Hall current sensor simultaneously, carries out certain filtering algorithm process by the way of DMA interrupts；Gather and process handle force signal, the angular displacement signal of control stick grip, the angular velocity signal of control stick grip, the armature current signal of torque motor, obtaining controlling electric current, expectation corner and expectation moment by relevant control algolithm, then output PWM ripple goes to drive motor output expectation moment or expectation corner through motor drive module.Monitoring module microcontroller uses the USART module carried, and carries out the status information of serial communication real-time Transmission control stick in the way of serial communication with monitoring module.
Described first, second PWM motor drive module, is used for that motor control signal is amplified to can be with driving moment motor；This utility model uses pulsewidth modulation type of drive, motor drive module is barricaded as a complete H-bridge drive circuit by two panels BTN7971B, and the H bridge that principle is built to metal-oxide-semiconductor is similar, can drive big electric current, it is sufficient to drive 1 tunnel brushed DC torque motor, generates heat little.Use the mode of light-coupled isolation simultaneously, damage coupled module during the fault such as prevent that drive circuit from puncturing, thus can effectively protect the safety of STM32 chip and circuit module, prevent from being burned.
The PWM output of STM32 is realized by intervalometer, and major parameter has two: frequency and dutycycle, just can adjust the two parameter by specifically arranging two depositors of TIMX_ARR and TIMX_CCRX.In this utility model, it is contemplated that the real-time of aircraft actively control stick system and the disposal ability of STM32, frequency is adjusted to 10KHz, i.e. the cycle is 0.1ms.Dutycycle is accurate to after arithmetic point three, and adjusts in real time according to the control voltage required for motor.
The precision rotation Middle Eocene device that described first, second rotating potentiometer uses electric angle to be 90 degree.Its outfan is connected with the GPIO mouth of microcontroller by angular displacement signal modulation circuit, passage being acquired with the fixed cycle of the a/d converter that angular displacement signal is carried by this microcontroller.Rotating potentiometer is used for measuring the deflection angle of control stick grip.
Described first, second encoder uses the incremental encoder of high line number, and two output leads of each encoder are connected with the incremental encoder interface of respective microcontroller respectively, and angle rate signal is by this microcontroller being acquired with the fixed cycle.Incremental encoder is used for measuring corner and the angular velocity of machine shaft, indirectly obtains corner and the angular velocity of control stick grip.
Described first, second current sensor uses Hall closed-loop current sensors, a wherein lead-in wire of the torque motor of first, second is each passed through first, second current sensor, another passage being acquired with the fixed cycle of the a/d converter that the outfan of first, second current sensor carries with respective microcontroller respectively.Hall current sensor is used to measure the armature supply of torque motor.
Aircraft master end lever system mainly has four kinds of patterns: follower model, trim pattern, aggressive mode and Passive Mode.Trim pattern, aggressive mode and Passive Mode pattern can be switched over by monitoring module input instruction, can also switch by the button on side lever handle, trim switch switching trim pattern in side lever handle top and the switching of aggressive mode, Passive Mode and the aggressive mode switching on-off control by side lever handle side；Follower model is sent instruction by monitoring module, can switch under aggressive mode and trim pattern.The control flow chart of whole system is as shown in Figure 5.
After powering on, first initialize system；Then judging whether side lever apparatus module has data to input, if had, reading the data of monitoring module；If not having data to input, then read the key-press status on side lever handle.If control stick is in follower model, then control the position control of control stick grip, specially motor according to angle information.If control stick is in trim pattern, then microprocessor controls torque motor makes control stick grip be locked in this angle.The pattern if control stick has the initiative, then reading angular value, if angle value changes, then output voltage control torque motor rotates, output torque, makes control stick grip produce expected force.If control stick is in Passive Mode, motor does not works；Microcontroller in side lever apparatus module makes torque motor open circuit by controlling solid-state relay.
Follower model:
Described follower model refers to that control stick is controlled to run by monitoring module, and control block diagram is as shown in Figure 6.Monitoring module passes through Serial Port Transmission to the microcontroller of side lever apparatus module the expectation rotational angle theta of control stick grip, the microcontroller of side lever apparatus module exports the PWM ripple of corresponding dutycycle to driving module after resolved data, thus drives driven by motor side lever handle to forward expected angle to；The signal of microcontroller Real-time Collection angular displacement sensor simultaneously, and the actual rotational angle θ of side lever handle " is fed back to monitoring module.Therefore monitoring module can control the deflection of aircraft actively side lever handle in real time, it is possible to obtains the deflection angle of handle in real time.Monitoring module also can send flight envelope to the microcontroller of side lever apparatus module so that control stick grip runs according to the corresponding command.
When actively control stick system is in servo-actuated operational mode, handle force signal does not deals with, and motor is in normal rotation state.The method now using Control of Voltage motor speed.Due to active control stick system, to use permanent magnet D.C. torque motor, motor speed and voltage proportional, so needing to change service voltage when adjusting rotating speed.
In above formula, U is the terminal voltage of torque motor, CeIt is the back EMF constant of torque motor, CTBeing the torque constant of torque motor, R is armature resistance, and Φ is the magnetic flux of motor, and n is rotational speed of torque motor, and T is motor output torque.
Control stick system is under follower model, and the external force owing to being applied on control stick grip is zero, torque motor can be regarded as permanent torque output.
Trim pattern:
Described trim pattern refers to, control stick in such a mode, uses certain control algolithm, makes control stick be maintained at certain angle and maintains static.
Aggressive mode:
Described aggressive mode is as it is shown in fig. 7, refer to that microcontroller, according to the state of flight of aircraft and bar displacement information, controls motor and produces different torques, thus produce different feedback forces on handle.
Aggressive mode is divided into stick force to follow and automatically returns middle two parts.Under this pattern, when the power on control stick is more than the startup power set, motor is in stick force tracking mode.Now, the armature supply obtained by Hall element measurement constitutes the handle force observer of control stick, and by certain control algolithm, control motor terminal voltage indirectly controls current of electric and makes this system output degree of precision and more stable handle power.
When detecting that pilot looses one's grip, during control stick returns automatically.When the deflection angle of control stick with neutral position is more than a certain angle set, by the terminal voltage higher to motor offer, control motor is made to return to faster near control stick neutral position.
Aggressive mode should be system default duty, it is also possible to switches switch by the main Passive Mode in active side lever handle side face and is switched to aggressive mode.
Passive Mode:
When this system is switched to Passive Mode, microcontroller in side lever apparatus module makes torque motor open circuit by controlling a solid-state relay, torque motor does not works, the angular displacement of this system simply output control stick grip and angular velocity information, to ensure after motor failure, pilot can drive an airplane the basic function that safety is maked a return voyage.
The main input of the microcontroller of side lever apparatus module has from the expectation angle of pitch of control stick grip of monitoring module and roll angle and from the control stick grip power of control stick, control stick grip corner, the armature supply etc. of torque motor.The speed of driver's push-and-pull control stick is also the input of microcontroller, it is most important that handle force signal.The corresponding corresponding control stick grip power of the different deflection angles of control stick grip, and the corresponding different control voltage of different control stick grip power.Therefore the deflection angle of control stick grip is one to one with control voltage.This corresponding relation can be stored in microcontroller with the form of an analytic expression, and this analytic expression is multiple input single output, and the most multiple different parameters, as initial conditions, control voltage as output；When specifically controlling, by tabling look-up or analytic expression can be obtained by the expected force of control stick grip.
Aircraft master end lever system have the initiative pattern time handle power control block as shown in Figure 8, monitoring module is transferred to the microcontroller of side lever apparatus module the expectation corner of control stick grip, by being calculated expectation side lever handle power, desired control stick grip power controls voltage accordingly by what the control algolithm in microcontroller obtained torque motor, electric machine rotation output torque so that have certain power on control stick grip；Control stick grip force transducer records actual handle power with expectation handle force rate relatively, goes to drive motor to adjust torque, the most repeatedly, until side handle obtains expected force by control algolithm again for feedback by difference handle masterpiece.
In order to obtain more accurate control force, system needs stick force faster to control frequency.The motor of this system is a perceptual device, and when the input voltage of motor changes, armature supply can not change at once therewith, there is a transient process.Therefore when the control cycle of design system, it is necessary to consider this problem.
When motor is in locked rotor condition, the balance of voltage equation of the armature circuit of torque motor is as follows:
Wherein, U represents the terminal voltage of torque motor, and R represents armature resistance, and L represents the armature inductance of motor, and I represents the armature supply of torque motor, and t represents the time.
Both sides integration can obtain:
Wherein, I0Represent the armature supply of the torque motor in t=0 moment, during regulating, when electric current reaches the 98% of stationary value, it is believed that electric transient process terminates, now every time:
The parameter of electric machine according to torque motor selected by above several formulas and this system, it is known that, the control frequency maxima of motor.
Because the mechanical mechanism of this system exists friction torque, when therefore control stick in returning every time, position inaccuracy.Conventional control method so that because friction problem when control stick is in returning, become slow when moving near neutral position, and position inaccuracy.In control stick can the most accurately being returned herein by using speed Control and the cumulative strategy controlled.Concrete control flow is as shown in Figure 9.Wherein, k3＜ k4＜ k1＜ k2, k1、k2、k3、k4It is the dutycycle of the PWM ripple that microcontroller set in advance is exported.
Judge whether control stick is in back middle pattern by control force sensor, when the output valve at the first axle and the second axle of stick force sensor is respectively less than stick force threshold value set in advance, it is believed that control stick grip is in the state of loosing one's grip；Now, control stick enters pattern in automatically returning, by different deflection angle intervals are arranged different PWM ripple dutyfactor values, it is possible to achieve do not shake during control stick quickly returns；Meanwhile, by implementing cumulative control strategy near neutral position, it is possible to achieve during control stick accurately returns, overcome and return middle inaccuracy problem because of what frictional force caused.
For the first axle, during control stick realizes automatically returning in accordance with the following methods:
Step is A.1), the first microcontroller inquiry obtains the angular signal of the first angular displacement signal modulation circuit, and judges that whether this corner is more than or equal to 10 °；
Step is A.2), if this corner is more than or equal to 10 °, the first microcontroller output duty cycle is k2PWM ripple, and jump to step A.1)；
Step is A.3), if this corner is less than 10 °, then the first microcontroller output duty cycle is k1PWM ripple；
Step is A.4), the first microcontroller inquiry obtains the angular signal of the first angular displacement signal modulation circuit, and judges that whether this corner is more than or equal to 5 °；
Step is A.5), if this corner is more than or equal to 5 °, then the first microcontroller output duty cycle is k4PWM ripple, and jump to step A.4)；
Step is A.6), if this corner is less than 5 °, then the first microcontroller output duty cycle is k3PWM ripple；
Step is A.7), the first microcontroller inquiry obtains the angular signal of the first angular displacement signal modulation circuit, and judges whether this corner is more than the threshold of sensitivity of the first rotating potentiometer；
Step is A.8), if this corner strengthens the dutycycle of output PWM ripple according to default dutycycle step-length more than or equal to the threshold of sensitivity of the first rotating potentiometer, the first microcontroller, and jumps to step A.7)；
Step is A.9), if this corner is less than the threshold of sensitivity of angular displacement sensor, the first microcontroller output duty cycle is the PWM ripple of 0.
For the second axle, control stick realizes the method in automatically returning with the first axle as, the angular signal of second microcontroller inquiry acquisition the second angular displacement signal modulation circuit, and changes the dutycycle of PWM ripple according to the size of corner, specific as follows:
Step is B.1), the second microcontroller inquiry obtains the angular signal of the second angular displacement signal modulation circuit, and judges that whether this corner is more than or equal to 10 °；
Step is B.2), if this corner is more than or equal to 10 °, the second microcontroller output duty cycle is k2PWM ripple, repeat step B.1)；
Step is B.3), if this corner is less than 10 °, then the second microcontroller output duty cycle is k1PWM ripple；
Step is B.4), the second microcontroller inquiry obtains the angular signal of the second angular displacement signal modulation circuit, and judges that whether this corner is more than or equal to 5 °；
Step is B.5), if this corner is more than or equal to 5 °, then the second microcontroller output duty cycle is k4PWM ripple, repeat step B.4)；
Step is B.6), if this corner is less than 5 °, then the second microcontroller output duty cycle is k3PWM ripple；
Step is B.7), the second microcontroller inquiry obtains the angular signal of the second angular displacement signal modulation circuit, and judges whether this corner is more than the threshold of sensitivity of the second rotating potentiometer；
Step is B.8), if this corner is more than or equal to the threshold of sensitivity of the second rotating potentiometer, then the second microcontroller strengthens the dutycycle of output PWM ripple according to default dutycycle step-length, repeats step B.7)；
Step is B.9), if this corner is less than the threshold of sensitivity of angular displacement sensor, then the second microcontroller output duty cycle is the PWM ripple of 0.
The size of torque motor output torque is the most relevant with the armature supply of motor, unrelated with the rotating speed of load.When load increases, the armature supply of motor increases；Otherwise, the armature supply of motor reduces.The direction of the output torque of torque motor is by the positive and negative decision of the dutycycle of corresponding microcontroller output PWM ripple.
The calculation of the control stick grip power on the first axle is as follows:
Step is C.1), the first empty accounting of microprocessor controls output is equal to the PWM ripple of the minimum empty accounting threshold value preset；
Step is C.2), the armature current signal of the first torque motor is obtained by the first current sensor, obtain stick force sensor stick force size on the first axle simultaneously, and record the current first microprocessor controls output empty accounting of PWM ripple, the armature current signal of the first torque motor and stick force sensor stick force size on the first axle；
Step is C.3), the first microcontroller strengthens the dutycycle of output PWM ripple according to default dutycycle step-length；
Step is C.4), repeat step C.2) to step C.3), until the dutycycle of the PWM ripple of the first microcontroller output is more than or equal to the most high duty cycle threshold value preset；
Step is C.5), repeat step C.1) to step C.4) at least 50 times；
Step is C.6), armature current signal data and stick force sensor stick force signal data on the first axle to the first torque motor carry out first-order linear matching, and obtaining the functional relationship after matching is:
F1=s1·I1-s2
Wherein, F1Represent the control stick grip power on the first axle, s1And s2Represent F1With I1Between the parameter of analytic expression.
The calculation of the control stick grip power on the second axle is as the first axle, specific as follows:
Step is D.1), the second empty accounting of microprocessor controls output is equal to the PWM ripple of the minimum empty accounting threshold value preset；
Step is D.2), the armature current signal of the second torque motor is obtained by the second current sensor, obtain stick force sensor stick force size on the second axle simultaneously, and record the current second microprocessor controls output empty accounting of PWM ripple, the armature current signal of the second torque motor and stick force sensor stick force size on the second axle；
Step is D.3), the second microcontroller strengthens the dutycycle of output PWM ripple according to default dutycycle step-length；
Step is D.4), repeat step D.2) to step D.3), until the dutycycle of the PWM ripple of the second microcontroller output is more than or equal to the most high duty cycle threshold value preset；
Step is D.5), repeat step D.1) to step D.4) at least 50 times；
Step is D.6), armature current signal data and stick force sensor stick force signal data on the second axle to the second torque motor carry out first-order linear matching, and obtaining the functional relationship after matching is:
F2=s3·I2-s4
Wherein, F2Represent the control stick grip power on the second axle, s3And s4Represent F2With I2Between the parameter of analytic expression.
This system uses the control method of expert PID.Control on two degree of freedom all uses identical control method, controls simultaneously.The control concrete grammar of the first axle is as follows:
Step is E.1), gather the armature current signal of the first torque motor of current time；
Step is E.2), the control stick grip power being calculated on the first axle according to the armature current signal of the first torque motor；
Step is E.3), obtain the angular signal of the first angular displacement signal modulation circuit of current time；
Step is E.4), according to pre-set stick force curve and the angular signal of the first angular displacement signal modulation circuit of current time, obtain the theoretical preset value of control stick grip power on current time the first axle；
Step is E.5), by step E.2) E.4 calculated value deduct step) calculated value, obtain the stick force error amount of current time；Stick force error amount according to current time and pre-set stick force curve obtain the PWM wave error value of current time k, are designated as e (k)；Making e (k-1) and e (k-2) be respectively a upper moment k-1 and the PWM wave error value of upper two moment k-2, the initial value of e (k), e (k-1) and e (k-2) is all set to zero；| e (k) | represents the order of magnitude of current time PWM wave error value；PWM (k) represents the dutycycle of the PWM ripple of current time the first microcontroller output, and PWM (k-1) represents the dutycycle of the PWM ripple of upper moment the first microcontroller output；
Step is E.6), calculated the difference between PWM wave error value and the PWM wave error value in a upper moment of current time, it was designated as Δ e (k), the difference between PWM wave error value and the PWM wave error value in upper two moment in Δ e (k-1) representative upper moment:
Step is E.7), as | e (k) | >=M1Time, M1Threshold value is controlled on a large scale for set in advance, the absolute value of error is very big, not leading-in pole force feedback during control, now, control the first microcontroller PWM ripple so that the PWM ripple dutycycle that its sky accounting is corresponding equal to the angular signal of current angular displacement signal modulation circuit；
The most now PWM (k) is equal to the PWM ripple dutycycle corresponding with the angular signal of current angular displacement signal modulation circuit, namely the PWM ripple dutyfactor value in the case of stick force opened loop control；
Step is E.8) when e (k) Δ e (k) >=0, the absolute value of this time error is increasing, or keeps constant, with this understanding, if | e (k) | is >=M2, M2For presetting little scope control threshold value, it is believed that error is relatively big, by implementing stronger control action so that the absolute value of error reduces rapidly, now, the first microcontroller is according to following empty accounting output PWM ripple:
PWM (k)=PWM (k-1)+k5{kp[e(k)-e(k-1)]+kie(k)+kd[e(k)-2e(k-1)+e(k-2)]}
Wherein, k5Represent the intensity of feedback control effect, kpRepresent proportional control factor, kiRepresent integral control coefficient, kdRepresent derivative control coefficient；
Step is E.9), as | e (k) |≤M2, now although the absolute value of error is increasing, but the absolute value of error is little, it is possible to implement general control action, simply changes the variation tendency of error so that it is the absolute value of error reduces, and now, the first microcontroller is according to following empty accounting output PWM ripple:
PWM (k)=PWM (k-1)+kp[e(k)-e(k-1)]+kie(k)+kd[e(k)-2e(k-1)+e(k-2)]；
Step is E.10), as e (k) Δ e (k) ＜ 0 and Δ e (k) Δ e (k-1) ＞ 0, or during e (k)=0, the absolute value of this time error is towards the direction change reduced, or arrive expected value, now, the first microcontroller is according to following empty accounting output PWM ripple:
PWM (k)=PWM (k-1)；
Step is E.11), as e (k) Δ e (k) ＜ 0 and Δ e (k) Δ e (k-1) ＜ 0, specification error is in extreme value state, now, if | e (k) | is >=M2, the first microcontroller is according to following empty accounting output PWM ripple:
PWM (k)=PWM (k-1)+k5kpe(k)；
Step is E.12) if | e (k) | is ＜ M2, now:
PWM (k)=PWM (k-1)+k6kpe(k)；
Wherein, k6Represent the parameter being used for adjusting integral action when only having integral action；And k5>k6；
Step is E.13) as | e (k) | ＜ ε, the first microcontroller is according to following empty accounting output PWM ripple:
PWM (k)=PWM (k-1)+kie(k)；
Wherein, ε is the threshold limit value of the error amount size set previously according to stick force precision set.
Control concrete grammar and first axle of the second axle are completely the same, repeat no more.
Those skilled in the art of the present technique it is understood that unless otherwise defined, all terms used herein (including technical term and scientific terminology) have with the those of ordinary skill in this utility model art be commonly understood by identical meaning.Should also be understood that those terms defined in such as general dictionary should be understood that have the meaning consistent with the meaning in the context of prior art, and unless defined as here, will not explain by idealization or the most formal implication.
Above-described detailed description of the invention; the purpose of this utility model, technical scheme and beneficial effect are further described; it is it should be understood that; the foregoing is only detailed description of the invention of the present utility model; it is not limited to this utility model; all within spirit of the present utility model and principle, any modification, equivalent substitution and improvement etc. done, within should be included in protection domain of the present utility model.
Claims (9)
1. an aircraft actively side lever, it is characterised in that comprise control stick, the first micro-control unit and the second micro-control unit；
Described control stick comprises housing, handle, stick force sensor, the body of rod, the first axle, the second axle, pair of bearings and second pair of bearing；
Described first axle, the second axle use the form of interior housing, and the first axle is inner axis, and the second axle is housing axle, and the first axle can be at the slide of the second axle；
Described housing is the rectangle of upper and lower opening, and pair of bearings, the second countershaft holding are correspondingly arranged in its four wall in the heart；
Described first axle, the second axle are respectively by pair of bearings, second pair of loading ability of bearing, and described housing is all stretched out at two ends；
The lower end of the described body of rod is connected with the first axle, and upper end is connected with the bottom of stick force sensor, and the top of stick force sensor is connected with handle；
Described stick force sensor is for measuring the power that pilot is applied on control stick grip；
Described handle is provided with the switching switch of the mode of operation for switching side lever, and described mode of operation comprises aggressive mode, follower model, trim pattern and Passive Mode；
Described first micro-control unit comprises the first rotating potentiometer, the first gear reduction unit, the first torque motor, the first encoder, the first microcontroller, a PWM motor drive module, the first solid-state relay, first handle power modulating signal circuit, the first angular displacement signal modulation circuit and the first current sensor；
The input of described first rotating potentiometer and one end of the first axle connect, and outfan and the first angular displacement signal modulation circuit input are connected；
Described first gear reduction unit is fixing on the housing by ring flange, and the other end of delivery outlet and the first axle connects, and one end of input hole and the first torque motor output shaft connects；
The code-disc of described first encoder and the other end of the first torque motor output shaft connect, and for measuring the rotating speed of the first torque motor output shaft, and pass it to described first microcontroller；
The input of described first handle power modulating signal circuit is electrically connected with stick force sensor circuit；
A described PWM motor drive module outfan is electrically connected with described first torque motor by the first solid-state relay；
Described first current sensor is for the armature supply of sensing the first torque motor, and passes it to described first microcontroller；
Described first microcontroller respectively with the outfan of first handle power modulating signal circuit, the input of the oneth PWM motor drive module, the control end of the first solid-state relay, the outfan of the first angular displacement signal modulation circuit, the outfan of the first encoder, first current sensor, stick force sensor, and monitoring module is electrically connected, for according to the stick force sensor stick force output signal on the first axle obtained, the armature current signal of the first torque motor, the angular signal of the first angular displacement signal modulation circuit and the tach signal output PWM ripple of the first torque motor are to a PWM motor drive module, control the operation of the first torque motor, serial port function and monitoring module by self being carried carry out serial communication simultaneously, the status information of side lever device is transmitted to monitoring module；
Described second micro-control unit comprises the second rotating potentiometer, the second gear reduction unit, the second torque motor, the second encoder, the second microcontroller, the 2nd PWM motor drive module, the second solid-state relay, the second angular displacement signal modulation circuit, second handle power modulating signal circuit, gear reduction box, quadrant and the second current sensor；
The input of described second rotating potentiometer and one end of the second axle connect, and outfan and the second angular displacement signal modulation circuit input are connected；
The described other end of the second axle is connected with the input gear of gear reduction box, and the output gear of gear reduction box is connected with the output shaft of quadrant；
Described quadrant is fixing on the housing by ring flange, and the delivery outlet of input and the second gear reduction unit connects；
Described second gear reduction unit is fixing on the housing by ring flange, and one end of input hole and the second torque motor output shaft connects；
The code-disc of described second encoder and the other end of the second torque motor output shaft connect, and for measuring the rotating speed of the second torque motor output shaft, and pass it to described second microcontroller；
The input of described second handle power modulating signal circuit is electrically connected with stick force sensor circuit；
Described 2nd PWM motor drive module outfan is electrically connected with described second torque motor by the second solid-state relay；
Described second current sensor is for the armature supply of sensing the second torque motor, and passes it to described second microcontroller；
Described second microcontroller respectively with the outfan of second handle power modulating signal circuit, the input of the 2nd PWM motor drive module, the control end of the second solid-state relay, the outfan of the second angular displacement signal modulation circuit, the outfan of the second encoder, second current sensor, stick force sensor, and monitoring module is electrically connected, for according to the stick force sensor stick force output signal on the second axle obtained, the armature current signal of the second torque motor, the angular signal of the second angular displacement signal modulation circuit and the tach signal output PWM ripple of the second torque motor are to the 2nd PWM motor drive module, control the operation of the second torque motor, serial port function and monitoring module by self being carried carry out serial communication simultaneously, the status information of side lever device is transmitted to monitoring module.
Aircraft the most according to claim 1 actively side lever, it is characterised in that described stick force sensor uses 2 dimension resistance-strain chip stick force sensors, the respectively power on corresponding first axle and the power on the second axle.
Aircraft the most according to claim 1 actively side lever, it is characterised in that described first, second gear reduction unit uses accurate planetary reducer.
Aircraft the most according to claim 1 actively side lever, it is characterised in that the rareearth permanent-magnet DC that described first, second torque motor uses voltage at peak torque to be 27V has brushing force torque motor.
Aircraft the most according to claim 1 actively side lever, it is characterised in that described quadrant uses elaborate servo bevel gear quadrant.
Aircraft the most according to claim 1 actively side lever, it is characterised in that described first, second microcontroller uses STM32 chip.
Aircraft the most according to claim 1 actively side lever, it is characterised in that the precision rotation Middle Eocene device that described first, second rotating potentiometer uses electric angle to be 90 degree.
Aircraft the most according to claim 1 actively side lever, it is characterised in that described first, second encoder uses the incremental encoder of high line number.
Aircraft the most according to claim 1 actively side lever, it is characterised in that described first, second current sensor uses Hall closed-loop current sensors.
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| CN201620144109.7U CN205652337U (en) | 2016-02-25 | 2016-02-25 | Aircraft initiative side lever |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097934A (en) * | 2017-03-30 | 2017-08-29 | 南京航空航天大学 | A kind of switching method of the main Passive Mode of aircraft side lever system |
| CN110356544A (en) * | 2019-05-10 | 2019-10-22 | 中电科芜湖钻石飞机制造有限公司 | Aircraft side lever operation device and aircraft with it |
| CN114295272A (en) * | 2022-01-11 | 2022-04-08 | 中国人民解放军空军工程大学航空机务士官学校 | Steering column force rod displacement tester |
-
2016
- 2016-02-25 CN CN201620144109.7U patent/CN205652337U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097934A (en) * | 2017-03-30 | 2017-08-29 | 南京航空航天大学 | A kind of switching method of the main Passive Mode of aircraft side lever system |
| CN110356544A (en) * | 2019-05-10 | 2019-10-22 | 中电科芜湖钻石飞机制造有限公司 | Aircraft side lever operation device and aircraft with it |
| CN110356544B (en) * | 2019-05-10 | 2020-12-08 | 中电科芜湖钻石飞机制造有限公司 | Airplane side rod control device and airplane with same |
| CN114295272A (en) * | 2022-01-11 | 2022-04-08 | 中国人民解放军空军工程大学航空机务士官学校 | Steering column force rod displacement tester |
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