CN113998096B - Comprehensive control method and system for airplane electric drive system - Google Patents

Comprehensive control method and system for airplane electric drive system Download PDF

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Publication number
CN113998096B
CN113998096B CN202111471539.1A CN202111471539A CN113998096B CN 113998096 B CN113998096 B CN 113998096B CN 202111471539 A CN202111471539 A CN 202111471539A CN 113998096 B CN113998096 B CN 113998096B
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airplane
wheel
electric drive
speed
motor
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CN113998096A (en
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陈国慧
张谦
赵珊
马晓军
陆峰
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Xian Aviation Brake Technology Co Ltd
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Xian Aviation Brake Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
    • B64C25/50—Steerable undercarriages; Shimmy-damping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/10—Air crafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/429—Current
    • 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
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

A comprehensive control method and a comprehensive control system for an electric drive system of an airplane are provided. The airplane wheel brake system is integrated, when the airplane is detected to have a brake instruction, the motor is controlled not to output torque, the phenomenon that the airplane is braked and driven at the same time is prevented, and the motor is prevented from being damaged. The invention provides display and alarm information for the pilot when the airplane is stopped and braked or emergently braked, and the pilot continues to implement braking or drive when confirming that the pilot implements braking, so that the phenomena of braking and driving are avoided, and particularly, the airplane is driven to move forward or backward when the airplane is stopped and not loosened. The invention is integrated with a front wheel turning system, and when a turning instruction is detected, the damping of the airplane during turning is reduced by controlling the speed of the left airplane wheel, the speed of the right airplane wheel and the turning angle of the front wheel, so that the time required by the turning of the airplane is shortened by 27 percent.

Description

Comprehensive control method and system for airplane electric drive system
Technical Field
The invention relates to the field of civil aircrafts, in particular to a comprehensive control method and a comprehensive control system for an aircraft electric drive system.
Background
With the development of 'multi-electric aircraft' and 'all-electric aircraft', the development of an aircraft electric drive system becomes an inevitable trend, green aviation can be realized, the functions of advancing, retreating and turning of the aircraft can be realized, the electric drive system can effectively reduce the fuel consumption, air pollution, noise pollution and the like of the aircraft, and the drive time of the aircraft is shortened.
The invention of the publication number CN107600395A discloses a power airplane wheel electric driving device of a civil airplane landing gear, which drives a motor output gear to transmit through a driving motor, and outputs the power to a sun wheel, a planetary gear, an outer gear ring, a planetary outer gear ring clutch and an airplane wheel hub through the motor output gear, so that the power of the airplane wheel hub is directly output, and the airplane can be pushed out automatically without using a main engine or a baby carrier. However, the invention does not describe a specific control method of the motor controller.
The invention of publication number CN105752322A discloses an electrically driven landing gear system and an aircraft including the same, in which a motor controller controls a driving motor to drive the aircraft to realize steering and sliding functions, but the invention does not describe a specific control method of the motor controller.
In the prior art, an electric drive system and a brake control system are both independently controlled, when the electric drive system works, an airplane possibly needs to be braked under the condition, but when the airplane is braked, the electric drive system still works to cause the damage of a motor, so that the power consumption is reduced; when the airplane turns, the resistance of the airplane is reduced by simultaneously controlling the front airplane wheel to turn and the speed difference between the left airplane wheel and the right airplane wheel, so that the airplane can quickly turn.
Disclosure of Invention
The invention provides a comprehensive control method and a comprehensive control system for an airplane electric driving system, aiming at overcoming the defects that the airplane wheel braking system and the electric driving system are not integrated, a motor is damaged during braking, and the front airplane wheel turning system and the electric driving system are not integrated, so that resistance is increased when a front airplane wheel turns, and the time required by airplane turning is long.
The invention provides a comprehensive control system of an electric drive system of an airplane, which comprises a control device, an electric drive controller, a front airplane wheel turning controller, a brake controller, a servo valve, a pressure sensor, a main airplane wheel, a speed sensor, a transmission device, a motor, an alarm module and a display module. Wherein: the output end of the operating device is electrically communicated with the first input end of the electric drive controller; the first output end of the electric drive controller is electrically communicated with the input end of the front airplane wheel turning controller; the output end of the front airplane wheel turning controller is electrically communicated with the front airplane wheel; the second input end of the electric drive controller is electrically communicated with the first output end of the brake controller through ARINC 429; the input end of the speed sensor is mechanically communicated with the output end of the main engine wheel; the output of the speed sensor is in electrical communication with a third input of the electrically driven controller;
the input end of the pressure sensor is communicated with a hydraulic pipeline between the servo valve and the main engine wheel, and the output end of the pressure sensor is electrically communicated with the fourth input end of the electric drive controller; the second output end of the electric drive controller is electrically communicated with the input end of the motor; the first output end of the motor is electrically communicated with the fifth input end of the electric drive controller; the second output end of the motor is mechanically communicated with the input end of the transmission device; the output end of the transmission device is mechanically communicated with the input end of the main engine wheel; the third output end of the electric drive controller is electrically communicated with the input end of the alarm module; the fourth output of the electrically driven controller is in electrical communication with the input of the display module.
The control device provides forward, backward or turning command signals for the electric drive controller. The electric drive controller provides a turning angle instruction for the front wheel turning controller, provides an alarm signal for the alarm module and provides a display signal for the display module. The front airplane wheel turning controller provides turning instructions for the front airplane wheels; the brake controller provides a brake pressure command signal and a judged airplane air/ground state signal for the electric drive controller; the speed sensor is an electric drive controller and provides a wheel speed signal for the electric drive controller; the pressure sensor provides an actual braking pressure signal for the electric drive controller; the motor controller provides a rotating speed control signal for the motor; the motor provides the temperature and the current of the motor for the electric drive controller and drives the transmission device to rotate clockwise or anticlockwise; the transmission device drives the airplane wheel to rotate clockwise or anticlockwise;
the specific process of implementing the control of the electric drive system of the airplane through the comprehensive control system comprises the following steps:
step 1, acquiring data of a wheel braking system:
the data of the wheel braking system comprise a braking pressure command signal output by the brake controller, an aircraft air/ground state signal judged by the brake controller, an actual braking pressure signal and a wheel speed signal.
When the data of the airplane wheel braking system are obtained, the electric drive controller obtains the braking pressure command signal and the airplane air/ground state signal from the braking controller through an ARINC429 bus. The actual brake pressure signal detected by the pressure sensor and the wheel speed signal detected by the speed sensor are obtained by the electrically driven controller.
Step 2, acquiring a position signal of the operating device:
the signal of the operating device is obtained by the electrically driven controller.
Step 3, calculating the forward speed, the backward speed or the turning angle of the airplane:
when the electrically driven controller receives the forward position signal of the steering device, the forward speed is calculated by equation (1),
V f ＝k f *x f (1)
when the electrically driven controller receives a reverse position signal of the operating device, the reverse speed is calculated by formula (2),
V b ＝k b *x b (2)
when the electric drive controller receives the leftward position signal of the steering device, the leftward turning angle α is calculated by the formula (3) L ；
α L ＝k L *x L (3)
When the electric drive controller receives the rightward position signal of the steering device, the right turning angle α is calculated by the formula (4) R ：
α R ＝k R *x R (4)
In the formula, V f To the forward speed, k f For forward speed gain, x f For operating device forward position signals, V b For the backward speed, k b For the back-off speed gain, x b For the operator's backward position signal, alpha L Is a left turn angle, k L Gain for left turn angle, x L For left-hand position signals of the operating device, alpha R Is a right turning angle, k R Is a right turn angle gain, x R Is the operator rightward position signal.
Step 4, calculating a left wheel speed instruction and a right wheel speed instruction according to the turning angle:
when calculating the left and right wheel speed commands based on the turning angle, the electrically driven controller receives the aircraft speed and calculates the left and right wheel speed commands based on the turning angle α L And alpha R A left wheel speed command and a right wheel speed command are calculated, respectively.
Respectively calculating different turning angles alpha of the airplane through formulas (5) to (8) L 、α R The speed of the left and right wheels of the airplane is commanded.
According to the left-hand turning angle alpha L Calculating a right wheel speed command by equation (5) and a left wheel speed command by equation (6):
Figure BDA0003392708430000031
Figure BDA0003392708430000032
according to the right turning angle alpha R And (3) calculating the speed command of the left wheel of the airplane through a formula (7), and calculating the speed command of the right wheel of the airplane through a formula (8).
Figure BDA0003392708430000033
Figure BDA0003392708430000034
In formulae (5) to (8), V a As aircraft speed, V L Is a left wheel speed command, V R Is the right wheel speed command, a is the center of gravity of the main wheelB is the lateral distance from the host wheel to the center of gravity.
Step 5, determining whether to implement driving;
whether to implement the actuation is determined by the electric actuation controller receiving the aircraft ground/air status signal received by the brake controller. And (5) when the airplane ground/air state signal is the ground, the electric drive controller continuously executes the step (6), and when the airplane ground/air state signal is the air, the electric drive controller controls the output torque of the motor to be 0.
Step 6, the electric drive controller implements the drive:
the actuation includes turning, forward and reverse of the aircraft.
When the airplane turns, the front airplane wheel turns, the airplane wheel turns left and the airplane wheel turns right respectively, and the specific process is as follows:
turning wheels before I: sending a left turn angle alpha to a turn controller through an electric drive controller L Or right turning angle alpha R . The turning controller obtains a left turning angle alpha according to the obtained angle L Or right turning angle alpha R Controlling the front airplane wheel to rotate by a left turning angle alpha L Or right turning angle alpha R To reduce the resistance during turning.
II, turning the airplane wheel left: when the airplane wheel turns left, the left airplane wheel and the right airplane wheel are respectively controlled to turn through the electric drive controller.
When the left airplane wheel is controlled to turn, the electrically-driven controller is used for controlling the left airplane wheel to rotate according to the target speed V of the left airplane wheel L And carrying out PID control on the real-time airplane wheel speed difference value detected by the speed sensor to obtain motor control current, so that speed closed-loop control is realized. And carrying out PID control on the obtained difference value between the motor control current and the actual current of the motor to realize the current closed-loop control of the motor.
The motor is controlled to rotate clockwise to drive the wheel to accelerate to V L 。
When the right wheel is controlled to turn, the electrically-driven controller is used for controlling the target speed V of the right wheel R And carrying out PID control on the real-time airplane wheel speed difference value detected by the speed sensor to obtain motor control current, so that speed closed-loop control is realized. Will obtain motor controlAnd carrying out PID control on the difference value of the current and the actual current of the motor to realize the current closed-loop control of the motor.
Controlling a motor to rotate clockwise to drive the airplane wheel to accelerate to V R 。
III, turning the wheel right: when the wheels turn right, the electric drive controller is used for respectively controlling the right wheels and the left wheels to turn.
When the right airplane wheel is controlled to turn, the electrically-driven controller is used for controlling the turning of the right airplane wheel according to the target speed V of the right airplane wheel R And carrying out PID control on the real-time airplane wheel speed difference value detected by the speed sensor to obtain motor control current, so that speed closed-loop control is realized. And performing PID control on the difference value of the obtained motor control current and the actual current of the motor to realize the current closed-loop control of the motor.
The motor is controlled to rotate clockwise to drive the wheel to accelerate to V R 。
When the left airplane wheel is controlled to turn, the electrically-driven controller is used for controlling the left airplane wheel to rotate according to the target speed V of the left airplane wheel L And carrying out PID control on the real-time airplane wheel speed difference value detected by the speed sensor to obtain motor control current, thereby realizing speed closed-loop control. And performing PID control on the difference value of the obtained motor control current and the actual current of the motor to realize the current closed-loop control of the motor.
Controlling a motor to rotate clockwise to drive the airplane wheel to accelerate to V L 。
When the airplane moves forwards, the electrically-driven controller is used for controlling the airplane to move according to the target speed V of the airplane wheel f And carrying out PID control on the real-time airplane wheel speed difference value detected by the speed sensor to obtain motor control current, so that speed closed-loop control is realized. And carrying out PID control on the obtained difference value between the motor control current and the actual current of the motor to realize the current closed-loop control of the motor. Controlling a motor to rotate clockwise to drive the airplane wheel to accelerate to V f 。
When the airplane retreats, the speed of the left airplane wheel and the speed of the right airplane wheel are both V b . The electric drive controller is used for controlling the electric drive controller according to the target speed V of the airplane wheel b And carrying out PID control on the real-time airplane wheel speed difference value detected by the speed sensor to obtain motor control current, thereby realizing speed closed-loop control. The difference value between the motor control current and the actual current of the motor is obtainedPID control is carried out, and current closed-loop control of the motor is realized. Controlling a motor to rotate anticlockwise to drive the wheel to accelerate to V b 。
Step 7, judging whether to inhibit driving;
the electric drive controller judges whether to inhibit driving according to the brake pressure command signal sent by the brake receiving controller. When the braking pressure instruction is not more than the wheel braking system return oil pressure, the electric drive controller continues to execute the step 8; when the braking pressure instruction is larger than the oil return pressure of the airplane wheel braking system, the electric drive controller controls the output torque of the motor to be 0.
Step 8, determining whether to continue to implement driving by the pilot;
the pilot determines whether to continue to implement the driving according to the actual brake pressure signal detected by the pressure sensor received by the electric drive controller:
if the actual braking pressure is less than or equal to the oil return pressure of the airplane wheel braking system, the electric drive controller continues to execute the step 9; if the actual braking pressure is larger than the oil return pressure of the airplane wheel braking system, the electric drive controller sends the braking state to the display module and lasts for a time t 1 Then, the electric drive controller judges whether a forward or backward or turning command still exists, if the electric drive controller still receives the forward or backward or turning command, the electric drive controller continues to execute the step 9; if the electric drive controller does not receive a forward or reverse or turn command, the electric drive controller controls the output torque of the motor to be 0.
And 9, judging whether to exit the electric drive system and providing a warning for the pilot:
the electric drive controller determines whether to exit the electric drive system and provide an alert to the pilot based on the received wheel speed signal:
when the airplane moves forwards, if the speed of the airplane wheel is larger than or equal to the forward speed threshold value, the electric drive controller quits the electric drive system and provides a forward speed upper limit alarm for the pilot; and if the speed of the airplane wheel is less than the forward speed threshold value, the electric drive controller returns to execute the step 5 to the step 8.
When the airplane moves backwards, if the speed of the airplane wheel is larger than or equal to a backward speed threshold value, the airplane exits from the electric drive system and provides a backward speed upper limit alarm for a pilot; and if the speed of the airplane wheel is less than the backward speed threshold value, the electric drive controller returns to execute the step 5 to the step 8.
And when the temperature in the temperature signal sent by the motor is more than or equal to the motor temperature threshold value, the electric drive system is quitted and the motor overheating alarm is provided for the pilot.
The airplane wheel brake control system is integrated with an airplane wheel brake system, and when a brake command is detected, the motor is controlled not to output torque, so that the phenomena of braking and driving of the airplane are prevented, and the motor is prevented from being damaged. The invention considers the shutdown brake or the emergency brake of the airplane, which may be a mechanical control system, can not detect the brake command of the airplane, but can detect the actual brake pressure, provide display and alarm information for the pilot, and continue to implement the brake or implement the drive after the pilot confirms that the brake is continuously implemented, thereby avoiding the phenomena of braking and driving, in particular to driving the airplane to move forward or backward when the airplane is stopped and is not released. The invention is integrated with a front wheel turning system, and when a turning instruction is detected, the damping of the airplane during turning is reduced by controlling the speed of the left airplane wheel, the speed of the right airplane wheel and the turning angle of the front wheel, so that the time required by the turning of the airplane is shortened by 27 percent.
Compared with the prior art, the invention has the advantages that:
1. the airplane wheel brake system is integrated, when a brake command of an airplane is detected, the motor is controlled not to output torque, the phenomenon that the airplane brakes and drives at the same time is prevented, and the motor is prevented from being damaged;
2. considering the shutdown brake or emergency brake of the airplane, which may be a mechanical control system, cannot detect the brake instruction of the airplane, but can detect the actual brake pressure, provide display and alarm information for a pilot, and avoid the phenomena of braking and driving when the pilot confirms to continue to implement the brake or implement the drive, particularly drive the airplane to move forward or backward when the airplane is not released during shutdown;
3. the airplane is prevented from being operated electrically by mistake in the air;
4. the damage to a motor caused by the implementation of electric drive when the airplane is at a high speed is prevented;
5. and the damping during the turning of the airplane is reduced by controlling the speed of the left airplane wheel, the speed of the right airplane wheel and the turning angle of the front wheel when a turning command is detected, so that the time required by the turning of the airplane is shortened by 27 percent.
Drawings
Fig. 1 is a schematic structural view of the present invention.
FIG. 2 is a schematic diagram of the technical solution of the present invention.
Fig. 3 is a flow chart of the present invention.
In fig. 1: 1. an operating device; 2. an electric drive controller; 3. a front airplane wheel; 4. a front airplane wheel turning controller; 5. a brake controller; 6. a servo valve; 7. a pressure sensor; 8. a main airplane wheel; 9. a speed sensor; 10. a transmission device; 11. a motor; 12. an alarm module; 13. and a display module.
Detailed Description
Example one
The embodiment is a comprehensive control system of an electric drive system of an airplane, and comprises a control device 1, an electric drive controller 2, a front wheel 3, a front wheel turning controller 4, a brake controller 5, a servo valve 6, a pressure sensor 7, a main wheel 8, a speed sensor 9, a transmission device 10, a motor 11, an alarm module 12 and a display module 13.
Wherein: the output of the control device 1 is in electrical communication with a first input of an electrically driven controller 2, through which the electrically driven controller is provided with aircraft forward, reverse or turn command signals. The first output end of the electric drive controller 2 is electrically communicated with the input end of the front airplane wheel turning controller 4, and the electric drive controller provides a turning angle instruction for the front airplane wheel turning controller; the output end of the front airplane wheel turning controller is electrically communicated with the front airplane wheel 3, and the front airplane wheel turning controller provides a turning instruction for the front airplane wheel; the second input end of the electric drive controller 2 is electrically communicated with the first output end of the brake controller 5 through ARINC429, and the brake controller provides a brake pressure command signal and a judged airplane air/ground state signal for the electric drive controller; the input end of the speed sensor 9 is mechanically communicated with the output end of the main airplane wheel 8 to detect the speed of the main airplane wheel; the output end of the speed sensor is electrically communicated with the third input end of the electrically driven controller 2 to provide a wheel speed signal for the electrically driven controller; the input end of the pressure sensor 7 is communicated with a hydraulic pipeline between the servo valve 6 and the main engine wheel 8 to detect the actual brake pressure; the output end of the pressure sensor is electrically communicated with the fourth input end of the electric drive controller 2, and an actual braking pressure signal is provided for the electric drive controller through the pressure sensor; the second output end of the electric drive controller 2 is electrically communicated with the input end of the motor 11, and the electric drive controller provides a rotating speed control signal for the motor; the first output end of the motor 11 is electrically communicated with the fifth input end of the electric drive controller 2 to provide the temperature and the current of the motor for the electric drive controller; the second output end of the motor is mechanically communicated with the input end of the transmission device 10, and the transmission device is driven to rotate clockwise or anticlockwise by the motor; the output end of the transmission device 10 is mechanically communicated with the input end of the main airplane wheel 8, and the airplane wheel is driven to rotate clockwise or anticlockwise through the transmission device; the third output terminal of the electric drive controller is electrically connected with the input terminal of the alarm module 12 to provide an alarm signal for the alarm module; the fourth output of the electrically driven controller is in electrical communication with the input of the display module 13 to provide a display signal for the display module.
Example two
The embodiment provides a method for controlling an aircraft electric drive system by using the comprehensive control system, which comprises the following specific processes:
step 1, acquiring data of a wheel braking system:
the data of the airplane wheel braking system comprise a braking pressure instruction signal output by the brake controller, an airplane air/ground state signal judged by the brake controller, an actual braking pressure signal and an airplane wheel speed signal.
The electric drive controller obtains the brake pressure command signal and the airplane air/ground state signal from the brake controller 5 through an ARINC429 bus.
The electrically driven controller obtains an actual brake pressure signal detected by the pressure sensor and a wheel speed signal detected by the speed sensor.
Step 2, acquiring a position signal of the operating device:
the signal of the operator is acquired by the electrically driven controller.
During control, the pilot controls the operator forward or backward, and left or right. When the pilot controls the operating device to move forward, the electrically-driven controller acquires a position signal for the operating device to move forward; when the pilot controls the operating device to move backwards, the electric drive controller acquires a position signal of the backward movement of the operating device; when the pilot controls the operating device to the left, the electrically-driven controller acquires a position signal of the operating device to the left; when the pilot controls the operator to the right, the electrically driven controller obtains a position signal of the operator to the right.
The operating device is a knob handle or a stop lever handle, and the stop lever handle is adopted in the embodiment.
Step 3, calculating the forward speed, the backward speed or the turning angle of the airplane:
when the electrically driven controller receives the forward position signal of the steering device, the forward speed is calculated by equation (1),
V f ＝k f *x f (1)
when the electrically driven controller receives a reverse position signal of the steering device, a reverse speed is calculated by the formula (2),
V b ＝k b *x b (2)
when the electric drive controller receives the leftward position signal of the manipulating device, the leftward turning angle α is calculated by the formula (3) L ；
α L ＝k L *x L (3)
When the electric drive controller receives the rightward position signal of the manipulating device, the right turning angle alpha is calculated by the formula (4) R ：
α R ＝k R *x R (3)
In the formula, V f To the forward speed, k f For increasing the forward speedYi, x f For operating device forward position signals, V b For the backward speed, k b For the back-off speed gain, x b For operating means back position signals, alpha L Is a left turn angle, k L For left turn angle gain, x L For left-hand position signals of the operating device, alpha R Is a right turning angle, k R Is a right turn angle gain, x R Is the operator rightward position signal.
In the present embodiment, the forward speed gain k f Is 0.3, the back-off speed gain k b Is 0.05, the turning angle gain k L And k R Are all 0.6.
Step 4, calculating a left wheel speed instruction and a right wheel speed instruction according to the turning angle:
when calculating the left wheel speed command and the right wheel speed command according to the turning angle, the electric drive controller receives the airplane speed and calculates the left wheel speed command and the right wheel speed command according to the turning angle alpha L And alpha R A left wheel speed command and a right wheel speed command are calculated, respectively.
Respectively calculating different turning angles alpha of the airplane through formulas (5) to (8) L 、α R The speed of the left and right wheels of the airplane is commanded.
According to the left turning angle alpha L Calculating a right wheel speed command by equation (5) and a left wheel speed command by equation (6):
Figure BDA0003392708430000091
Figure BDA0003392708430000092
according to the right turning angle alpha R And (3) calculating the speed command of the left wheel of the airplane through a formula (7), and calculating the speed command of the right wheel of the airplane through a formula (8).
Figure BDA0003392708430000093
Figure BDA0003392708430000094
In formulae (5) to (8), V a As aircraft speed, V L Is a left wheel speed command, V R And the speed command of the right wheel is a course distance from the main wheel to the gravity center, and b is a transverse distance from the main wheel to the gravity center.
In this embodiment, the course distance a from the main wheel to the center of gravity is 3.8 meters, and the lateral distance b from the main wheel to the center of gravity is 1.5 meters.
Step 5, determining whether to implement driving;
and when determining whether to implement driving, receiving the airplane ground/air state signal received by the brake controller through the electric drive controller, continuously executing the step 6 by the electric drive controller when the airplane ground/air state signal is the ground, and controlling the output torque of the motor to be 0 by the electric drive controller when the airplane ground/air state signal is the air.
Step 6, the electric drive controller implements the drive:
the actuation includes turning, forward and reverse of the aircraft.
When the aircraft was turned, wheel turn left and wheel turn right before controlling respectively specifically is:
turning a front wheel: sending a left turn angle alpha to a turn controller through an electric drive controller L Or right turning angle alpha R . The turning controller obtains a left turning angle alpha according to the obtained angle L Or right turning angle alpha R Controlling the front airplane wheel to rotate by a left turning angle alpha L Or right turning angle alpha R To reduce the resistance during cornering.
II, turning the airplane wheel left: when the airplane wheel turns left, the left airplane wheel and the right airplane wheel are respectively controlled to turn through the electric drive controller.
When the left airplane wheel is controlled to turn, the electrically-driven controller is used for controlling the turning of the left airplane wheel according to the target speed V of the left airplane wheel L And the real-time airplane wheel speed difference value detected by the speed sensor is carried outPID control is carried out to obtain motor control current and realize speed closed-loop control. And performing PID control on the difference value of the obtained motor control current and the actual current of the motor to realize the current closed-loop control of the motor.
The motor is controlled to rotate clockwise to drive the wheel to accelerate to V L 。
When the right airplane wheel is controlled to turn, the electrically-driven controller is used for controlling the turning of the right airplane wheel according to the target speed V of the right airplane wheel R And carrying out PID control on the real-time airplane wheel speed difference value detected by the speed sensor to obtain motor control current, so that speed closed-loop control is realized. And carrying out PID control on the obtained difference value between the motor control current and the actual current of the motor to realize the current closed-loop control of the motor.
Controlling a motor to rotate clockwise to drive the airplane wheel to accelerate to V R 。
III, turning the wheel right: when the wheels turn right, the electric drive controller is used for respectively controlling the right wheels and the left wheels to turn.
When the right wheel is controlled to turn, the electrically-driven controller is used for controlling the target speed V of the right wheel R And carrying out PID control on the real-time airplane wheel speed difference value detected by the speed sensor to obtain motor control current, so that speed closed-loop control is realized. And carrying out PID control on the obtained difference value between the motor control current and the actual current of the motor to realize the current closed-loop control of the motor.
Controlling a motor to rotate clockwise to drive the airplane wheel to accelerate to V R 。
When the left airplane wheel is controlled to turn, the electrically-driven controller is used for controlling the turning of the left airplane wheel according to the target speed V of the left airplane wheel L And carrying out PID control on the real-time airplane wheel speed difference value detected by the speed sensor to obtain motor control current, so that speed closed-loop control is realized. And performing PID control on the difference value of the obtained motor control current and the actual current of the motor to realize the current closed-loop control of the motor.
Controlling a motor to rotate clockwise to drive the airplane wheel to accelerate to V L 。
When the airplane moves forwards, the electrically-driven controller is used for controlling the airplane to move according to the target speed V of the airplane wheel f The real-time airplane wheel speed difference value detected by the speed sensor is subjected to PID control to obtain motor control current, so that the purpose of controlling the airplane wheel speed difference value by the motor is achievedAnd (4) carrying out closed-loop control on the speed. And carrying out PID control on the obtained difference value between the motor control current and the actual current of the motor to realize the current closed-loop control of the motor. Controlling a motor to rotate clockwise to drive the airplane wheel to accelerate to V f 。
When the airplane retreats, the speed of the left airplane wheel and the speed of the right airplane wheel are both V b . The electric drive controller is used for controlling the electric drive according to the target speed V of the airplane wheel b And carrying out PID control on the real-time airplane wheel speed difference value detected by the speed sensor to obtain motor control current, so that speed closed-loop control is realized. And carrying out PID control on the obtained difference value between the motor control current and the actual current of the motor to realize the current closed-loop control of the motor. Controlling a motor to rotate anticlockwise to drive the wheel to accelerate to V b 。
Step 7, judging whether to inhibit driving;
when judging whether restrain the drive, the electric drive controller receives the brake pressure command signal that the brake controller sent: when the braking pressure instruction is not more than the wheel braking system return oil pressure, the electric drive controller continues to execute the step 8; when the braking pressure instruction is larger than the oil return pressure of the airplane wheel braking system, the electric drive controller controls the output torque of the motor to be 0.
In this embodiment, the wheel braking system return pressure is 110psi.
Step 8, determining whether to continue to implement driving by the pilot;
the pilot determines whether to continue to implement the drive according to the actual brake pressure signal detected by the pressure sensor received by the electric drive controller:
if the actual braking pressure is less than or equal to the oil return pressure of the airplane wheel braking system, the electric drive controller continues to execute the step 9; if the actual braking pressure is larger than the oil return pressure of the airplane wheel braking system, the electric drive controller sends the information of being in the braking state to the display module and lasts for t 1 Then, the electric drive controller judges whether a forward or backward or turning command still exists, if the electric drive controller still receives the forward or backward or turning command, the electric drive controller continues to execute the step 9; if the electric drive controller does not receive a forward or reverse or turn command, the electric drive control motor outputs a torque of 0.
In the present embodiment, the duration t 1 It was 5 seconds.
And 9, judging whether to exit the electric drive system and providing a warning for the pilot:
the electric drive controller determines whether to exit the electric drive system and provide an alert to the pilot based on the received wheel speed signal.
When the airplane moves forward, if the speed of the airplane wheel is larger than or equal to a forward speed threshold value, the electric drive controller quits the electric drive system and provides a forward speed upper limit alarm for a pilot; and if the speed of the airplane wheel is less than the forward speed threshold value, the electric drive controller returns to execute the step 5 to the step 8.
When the airplane moves backwards, if the speed of the airplane wheel is larger than or equal to a backward speed threshold value, the airplane exits from the electric drive system and provides a backward speed upper limit alarm for a pilot; and if the speed of the airplane wheel is less than the backward speed threshold value, the electric drive controller returns to execute the step 5 to the step 8.
The electric drive controller receives a temperature signal sent by the motor, and when the temperature is larger than or equal to a motor temperature threshold value, the electric drive controller exits from the electric drive system and provides a motor overheating alarm for a pilot.
In the embodiment, the forward speed threshold value is 30km/h, the backward speed threshold value is 5km/h, and the motor temperature threshold value is 180 ℃.

Claims (8)

1. A comprehensive control method of an airplane electric drive system comprises the steps that the comprehensive control system of the airplane electric drive system comprises a control device (1), an electric drive controller (2), a front airplane wheel (3), a front airplane wheel turning controller (4), a brake controller (5), a servo valve (6), a pressure sensor (7), a main engine wheel (8), a speed sensor (9), a transmission device (10), a motor (11), an alarm module (12) and a display module (13); wherein: the output end of the operating device is electrically communicated with the first input end of the electrically driven controller; the first output end of the electric drive controller is electrically communicated with the input end of the front airplane wheel turning controller (4); the output end of the front airplane wheel turning controller is electrically communicated with the front airplane wheel; the second input end of the electric drive controller is electrically communicated with the first output end of the brake controller (5) through ARINC 429; the input end of the speed sensor (9) is mechanically communicated with the output end of the main engine wheel (8); the output end of the speed sensor is electrically communicated with the third input end of the electric drive controller (2); the input end of the pressure sensor 7 is communicated with a hydraulic pipeline between the servo valve (6) and the main engine wheel (8), and the output end of the pressure sensor is electrically communicated with the fourth input end of the electric drive controller; the second output end of the electric drive controller is electrically communicated with the input end of the motor (11); the first output end of the motor is electrically communicated with the fifth input end of the electric drive controller (2); the second output end of the motor is in mechanical communication with the input end of the transmission device (10); the output end of the transmission device is mechanically communicated with the input end of the main engine wheel; the third output end of the electric drive controller is electrically communicated with the input end of the alarm module (12); the fourth output of the electrically driven controller is in electrical communication with the input of the display module (13),
the control device (1) provides forward, backward or turning command signals for the electric drive controller; the electric drive controller (2) provides a turning angle instruction for the front airplane wheel turning controller, provides an alarm signal for the alarm module and provides a display signal for the display module; the front airplane wheel turning controller (4) provides a turning instruction for the front airplane wheel; the brake controller (5) provides a brake pressure command signal and a judged airplane air/ground state signal for the electric drive controller; the speed sensor (9) is an electric drive controller and provides a wheel speed signal for the electric drive controller; the pressure sensor (7) provides an actual braking pressure signal for the electric drive controller; the electric drive controller (2) provides a rotating speed control signal for the motor; the motor (11) provides the temperature and the current of the motor for the electric drive controller and drives the transmission device to rotate clockwise or anticlockwise; the transmission device (10) drives the wheel to rotate clockwise or anticlockwise,
the method is characterized by comprising the following specific processes:
step 1, acquiring data of a wheel braking system:
the airplane wheel braking system data comprises a braking pressure instruction signal output by a brake controller, an airplane air/ground state signal judged by the brake controller, an actual braking pressure signal and an airplane wheel speed signal;
step 2, acquiring a position signal of the operating device:
acquiring signals of an operating device through the electric drive controller;
step 3, calculating the forward speed, the backward speed or the turning angle of the airplane:
when the electrically driven controller receives the forward position signal of the steering device, the forward speed is calculated by equation (1),
V f ＝k f *x f (1)
when the electrically driven controller receives a reverse position signal of the steering device, a reverse speed is calculated by the formula (2),
V b ＝k b *x b (2)
when the electric drive controller receives the leftward position signal of the steering device, the leftward turning angle α is calculated by the formula (3) L ；
α L ＝k L *x L (3)
When the electric drive controller receives the rightward position signal of the manipulating device, the right turning angle alpha is calculated by the formula (4) R ：
α R ＝k R *x R (4)
In the formula, V f To the forward speed, k f To the forward speed gain, x f For operating device forward position signals, V b For the backward speed, k b For the back-off speed gain, x b For the operator's backward position signal, alpha L Is a left turn angle, k L For left turn angle gain, x L For left-hand position signals of the operating device, alpha R Is a right turning angle, k R Is a right turn angle gain, x R A right position signal for the operator;
step 4, calculating a left airplane wheel speed command and a right airplane wheel speed command according to the turning angle:
when the left wheel speed command and the right wheel speed command are calculated according to the turning angle, the electric drive control is carried outThe device receives the speed of the aircraft according to the turning angle alpha L And alpha R Respectively calculating a left airplane wheel speed instruction and a right airplane wheel speed instruction;
respectively calculating different turning angles alpha of the airplane through formulas (5) to (8) L 、α R In time, the speed commands of the left airplane wheel and the right airplane wheel of the airplane are given;
according to the left turning angle alpha L Calculating a right wheel speed command by equation (5) and a left wheel speed command by equation (6):
Figure FDA0003936737360000021
Figure FDA0003936737360000022
according to the right turning angle alpha R Calculating a speed command of a left wheel of the airplane through a formula (7), and calculating a speed command of a right wheel of the airplane through a formula (8);
Figure FDA0003936737360000031
Figure FDA0003936737360000032
in formulae (5) to (8), V a As aircraft speed, V L Is the left wheel speed command, V R The speed instruction of the right airplane wheel is shown as a, the course distance between the main airplane wheel and the gravity center is shown as a, and the transverse distance between the main airplane wheel and the gravity center is shown as b;
and 5, determining whether to implement driving:
determining whether to implement driving by the electric drive controller receiving the aircraft ground/air status signal received by the brake controller;
step 6, the electric drive controller implements the drive:
the driving comprises turning, advancing and retreating of the airplane; when the airplane turns, the front airplane wheel turns, the airplane wheel turns left and the airplane wheel turns right respectively;
step 7, judging whether to inhibit driving:
the electric drive controller judges whether to inhibit driving or not through a brake pressure command signal sent by the brake receiving controller;
and step 8, determining whether to continuously implement driving by the pilot:
the pilot determines whether to continue to implement driving according to the actual brake pressure signal detected by the pressure sensor received by the electric drive controller;
and 9, judging whether to exit the electric drive system and providing an alarm for a pilot:
the electric drive controller judges whether to exit the electric drive system or not according to the received airplane wheel speed signal and provides an alarm for the pilot;
at this point, control of the aircraft electric drive system is completed.
2. The integrated control method for the electric drive system of an aircraft as claimed in claim 1, wherein in step 1, when acquiring the data of the wheel brake system, the electric drive controller acquires the brake pressure command signal and the aircraft air/ground state signal from the brake controller via the ARINC429 bus; the actual brake pressure signal detected by the pressure sensor and the wheel speed signal detected by the speed sensor are obtained by the electrically driven controller.
3. The integrated control method of an electric drive system for an aircraft according to claim 1, wherein when determining whether to perform driving in step 5, the electric drive controller continues to perform step 6 when the ground/air status signal of the aircraft is ground, and when the ground/air status signal of the aircraft is air, the electric drive controller controls the output torque of the electric motor to be 0.
4. The method as claimed in claim 1, wherein the specific steps of the step 6 of turning the front wheel, turning the wheel left and turning the wheel right are:
turning a front wheel: sending a left turn angle alpha to a turn controller through an electric drive controller L Or right turning angle alpha R (ii) a The turning controller obtains a left turning angle alpha according to the obtained angle L Or right turning angle alpha R Controlling the front airplane wheel to rotate by a left turning angle alpha L Or right turning angle alpha R To reduce resistance during cornering;
II, turning the airplane wheel left: when the airplane wheel turns left, the left airplane wheel and the right airplane wheel are respectively controlled to turn by the electric drive controller;
when the left airplane wheel is controlled to turn, the electrically-driven controller is used for controlling the left airplane wheel to rotate according to the target speed V of the left airplane wheel L Carrying out PID control on the real-time airplane wheel speed difference value detected by the speed sensor to obtain motor control current and realize speed closed-loop control; carrying out PID control on the difference value between the obtained motor control current and the actual current of the motor to realize current closed-loop control of the motor; controlling a motor to rotate clockwise to drive the airplane wheel to accelerate to V L ；
When the right wheel is controlled to turn, the electrically-driven controller is used for controlling the target speed V of the right wheel R Carrying out PID control on the real-time airplane wheel speed difference value detected by the speed sensor to obtain motor control current so as to realize speed closed-loop control; carrying out PID control on the difference value between the obtained motor control current and the actual current of the motor to realize current closed-loop control of the motor; controlling a motor to rotate clockwise to drive the airplane wheel to accelerate to V R ；
III, turning the wheel right: when the airplane wheel turns right, the electric drive controller respectively controls the right airplane wheel and the left airplane wheel to turn;
when the right wheel is controlled to turn, the electrically-driven controller is used for controlling the target speed V of the right wheel R Carrying out PID control on the real-time airplane wheel speed difference value detected by the speed sensor to obtain motor control current and realize speed closed-loop control; carrying out PID control on the difference value between the obtained motor control current and the actual current of the motor to realize current closed-loop control of the motor; controlling a motor to rotate clockwise to drive the airplane wheel to accelerate to V R ；
In controlling the left wheel to turnIn time, the electric drive controller is used for driving the left airplane wheel to rotate according to the target speed V of the left airplane wheel L Carrying out PID control on the real-time airplane wheel speed difference value detected by the speed sensor to obtain motor control current and realize speed closed-loop control; carrying out PID control on the difference value of the obtained motor control current and the actual current of the motor to realize current closed-loop control of the motor; the motor is controlled to rotate clockwise to drive the wheel to accelerate to V L ；
When the airplane moves forwards, the electrically-driven controller is used for controlling the airplane to move according to the target speed V of the airplane wheel f Carrying out PID control on the real-time airplane wheel speed difference value detected by the speed sensor to obtain motor control current so as to realize speed closed-loop control; carrying out PID control on the difference value between the obtained motor control current and the actual current of the motor to realize current closed-loop control of the motor; the motor is controlled to rotate clockwise to drive the wheel to accelerate to V f ；
When the airplane retreats, the left airplane wheel speed and the right airplane wheel speed are both V b (ii) a The electric drive controller is used for controlling the electric drive controller according to the target speed V of the airplane wheel b Carrying out PID control on the real-time airplane wheel speed difference value detected by the speed sensor to obtain motor control current and realize speed closed-loop control; carrying out PID control on the difference value of the obtained motor control current and the actual current of the motor to realize current closed-loop control of the motor; the motor is controlled to rotate anticlockwise to drive the wheel to accelerate to V b 。
5. The integrated control method of an electric drive system for an aircraft according to claim 1, wherein step 7, when determining whether to inhibit driving based on the brake pressure command signal: when the braking pressure instruction is not more than the wheel braking system return oil pressure, the electric drive controller continues to execute the step 8; when the braking pressure instruction is larger than the return oil pressure of the airplane wheel braking system, the electric drive controller controls the output torque of the motor to be 0.
6. A method for integrated control of an electric drive system for an aircraft according to claim 3, wherein in step 8 said determination of whether to continue to apply actuation is based on the actual brake pressure signal sensed by the electric drive controller receiving the pressure sensor: if the actual braking pressure is less than or equal to the wheel brakeWhen the oil return pressure of the vehicle system is high, the electric drive controller continues to execute the step 9; if the actual braking pressure is larger than the oil return pressure of the airplane wheel braking system, the electric drive controller sends the information of being in the braking state to the display module and lasts for t 1 Then, the electric drive controller judges whether a forward or backward or turning command still exists, if the electric drive controller still receives the forward or backward or turning command, the electric drive controller continues to execute the step 9; if the electric drive controller does not receive a forward or reverse or turn command, the electric drive control motor outputs a torque of 0.
7. The integrated control method for an electric drive system of an aircraft as claimed in claim 1, wherein in step 9, said determining whether to exit the electric drive system based on the wheel speed signal comprises:
when the airplane moves forwards, if the speed of the airplane wheel is larger than or equal to the forward speed threshold value, the electric drive controller quits the electric drive system and provides a forward speed upper limit alarm for the pilot; if the speed of the airplane wheel is less than the forward speed threshold value, the electric drive controller returns to execute the step 5 to the step 8;
when the airplane moves backwards, if the speed of the airplane wheel is larger than or equal to a backward speed threshold value, the airplane exits from the electric drive system and provides a backward speed upper limit alarm for a pilot; and if the speed of the airplane wheel is less than the backward speed threshold value, the electric drive controller returns to execute the step 5 to the step 8.
8. An integrated control method for an electric drive system of an aircraft as defined in claim 1, wherein when the temperature of the temperature signal transmitted by the motor is greater than or equal to a motor temperature threshold, the electric drive system is exited and a motor overheating alarm is provided to the pilot.
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