Application of High-speed Solenoid Valve to the Semi-active Control of Landing Gear

To select or develop an appropriate actuator is one of the key and difficult issues in the study of semi-active controlled landing gear. Performance of the actuator may directly affect the effectiveness of semi-active control. In this article, parallel high-speed solenoid valves are chosen to be the actuators for the semi-active controlled landing gear and being studied. A nonlinear high-speed solenoid valve model is developed with the consideration of magnetic saturation characteristics and verified by test. According to the design rule of keeping the peak load as small as possible while absorbing the specified shock energy, a fuzzy PD control rule is designed. By the rule controller parameters can be self-regulated. The simulation results indicate that the semi-active control based on high-speed solenoid valve can effectively improve the control performance and reduce impact load during landing.

GA-Based Model Predictive Control of Semi-Active Landing Gear

Semi-active landing gear can provide good performance of both landing impact and taxi situation, and has the ability for adapting to various ground conditions and operational conditions. A kind of Nonlinear Model Predictive Control algorithm （NMPC） for semi-active landing gears is developed in this paper. The NMPC algorithm uses Genetic Algorithm （GA） as the optimization technique and chooses damping performance of landing gear at touch down to be the optimization object. The valve＇s rate and magnitude limitations are also considered in the controller＇s design. A simulation model is built for the semi-active landing gear＇s damping process at touchdown. Drop tests are carried out on an experimental passive landing gear systerm to validate the parameters of the simulation model. The result of numerical simulation shows that the isolation of impact load at touchdown can be significantly improved compared to other control algorithms. The strongly nonlinear dynamics of semi-active landing gear coupled with control valve＇s rate and magnitude limitations are handled well with the proposed controller.

TEST AND CONTROL SYSTEM DEVELOPMENT AND APPLICATION OF LANDING GEAR DROP TEST RIG

A control and test system of a landing gear drop test rig is developed considering the drop test specifica- tions for the ＂Seagull 300＂ multi-functional amphibious airplane. In order to realize the automation of drop test process, a servo system is proposed and programmable logic controller（PLC） technology is used. Several key technologies for measuring the horizontal load, the vertical load and the transient rotational speed are studied. According to the requirements of CCAR-23-R3, the drop test of landing gears of the ＂Seagull 300＂ airplane is accomplished. Test results show that the system has a high accuracy of data collection. The system is stable and reliable. The drop test satisfies the requirements of the drop test specifications and the results can be used as the certification of airworthiness for this kind of airplane.

Aircraft Landing Gear Control with Multi-Objective Optimization Using Generalized Cell Mapping

This paper presents a numerical algorithm tuning aircraft landing gear control system with three objectives,including reducing relative vibration, reducing hydraulic strut force and controlling energy consumption. Sliding mode control is applied to the vibration control of a simplified landing gear model with uncertainty. A two-stage generalized cell mapping algorithm is applied to search the Pareto set with gradient-free scheme. Drop test simulations over uneven runway show that the vibration and force interaction can be considerably reduced, and the Pareto optimum form a tight range in time domain.

Design and Dynamics Analysis of Anti-skid Braking System for Aircraft with Four-wheel Bogie Landing Gears

In asymmetric conditions,the movement and loads of left/right wheels or front/back wheels of the aircraft with multi-wheel or four-wheel bogie landing gears are inconsistent.There are few open literatures related to anti-skid braking system for multi-wheels due to technology blockade.In China,the research on multi-channel control and non-equilibrium regulation has just started,and the design of multi-channel control system for anti-skid braking,the simulation of asymmetry taxiing under braking are not studied.In this paper,a dynamics model of ground movement for aircraft with four-wheel bogie landing gears is established for braking simulation, considering the six-degree-of-freedom aircraft body and the movement of bogies and wheels.A multi-channel anti-skid braking system is designed for the wheels of the main landing gears with four-wheel bogies.The eight wheels on left and right landing gears are divided into four groups,and each group is controlled via one channel.The cross protection and self-locked protection modules are added between different channels.A multi-channel anti-skid braking system with slip-ratio control or with slip-velocity control is established separately.Based on the aircraft dynamics model,aircraft braking to stop with anti-skid control on dry runway and on wet runway are simulated.The simulation results demonstrate that in asymmetric conditions,added with cross protection and self-locked protection modules,the slip-ratio-controlled braking system can automatically regulate brake torque to avoid deep slipping and correct aircraft course.The proposed research has reference value for improving brake control effect on wet runway.

Control Research for a Small Fixed-Wing UAV DuringGround Taxiing

Ground taxiing is the key process of take-off and landing for a tricycle-undercarriage unmanned aerial vehicle( UAV). Nonlinear model of a sample UAV is established based on stiffness and damping model of landing gears and tires taken into account. Then lateral nonlinear model is linearized and state space equations are deduced by using nose wheel and ruder as inputs and lateral states as outputs. Adaptive internal model control( AIMC) is proposed and applied to lateral control based on decoupled and linearized dynamic model during ground taxiing process. Different control strategies are analyzed and compared by simulations,and then a combined control strategy of nose wheel steering with holding and rudder control is given. Hardware in loop simulations( HILS) proves the validity of the controller designed.

基于改进LSSVM算法的柔性飞机起落架智能半主动控制技术

提出了基于改进LSSVM算法的柔性飞机起落架智能半主动控制技术。充分考虑柔性飞机结构振动模态,构建飞机起落架智能半主动控制力学模型。根据半主动控制起落架结构,采用剪枝算法构造最小二乘支持向量机优化函数,使控制过程具有稀疏性。计算双气室缓冲器的气体弹力、油孔液压阻尼力和轮胎压力,分析飞机落下、滑跑在动力学模型中的非线性动力学特征。构造起落架二次型性能指标函数,用线性二次型调节器设计起落架最优控制结构,导出最优控制律。由实验结果可知:该技术在缓冲距离为0.25 m时功量达到最大为0.9×10^(5)N,与实际着陆功量控制效果一致;最大位移为0.47 m,仅与实际存在最大为0.01 m的误差,使飞机在平衡位置减少振动响应,保持飞机起落稳定。

宽体飞机地面主轮协同转弯控制律设计

主轮协同转弯技术能有效提高飞机的地面机动性,降低主起落架在转弯过程中受到的附加侧向扭矩,减小重载飞机地面转弯半径,但目前实现此技术的前主轮转角控制律设计方法尚不明确。提出以主起落架受力为约束条件,计算不同滑行速度下的前主轮转角关系,在全速度范围内进行分段选择并离散化,据此设计前主轮协同转弯控制律,以原理样机为对象进行仿真分析,验证了该控制律能有效降低两侧主起落架扭矩和的峰值。提出的设计方法对多轮系地面运载装备的复合转弯控制律设计具有一定的理论指导意义。

大型客机机体噪声机理及控制技术

气动噪声问题不仅是大型客机适航取证的关键技术难题,更是关系到乘客舒适度的重要技术指标。增升装置噪声和起落架噪声是大型客机机体噪声的主要来源。本文针对我国大型客机研制中增升装置噪声和起落架噪声的产生机理及控制关键科学问题,开展噪声源、远场声辐射精细化数值模拟。针对噪声产生机理,发展了近壁面边界涡量流、拟涡能流等涡动力学过程与涡声理论相结合的噪声源分析方法;针对机体噪声控制难题,提出了缝翼凹腔小尺度波纹噪声控制方法和起落架支杆大尺度波纹噪声控制方法。数值模拟结果表明:缝翼凹腔是增升装置的重要噪声源之一;中低频噪声和纯音峰值主要来自缝翼凹腔和主翼前缘,后缘襟翼对噪声的贡献相对较小;起落架尾迹区域和轮胎空腔区域存在大量、复杂的大尺度湍流涡结构,是起落架的主要噪声源,起落架各部件噪声特性基本呈现宽频特性,支柱部件辐射噪声最大,轮胎次之,中间的连轴部件和扭杆部件辐射噪声相对较小;缝翼凹腔波纹噪声控制方法兼具减阻和降噪功效;起落架大尺度波纹噪声控制方法能有效降低远场辐射噪声。本文研究内容可为增升装置气动与噪声一体化设计、起落架降噪设计等提供技术支撑。

飞机前起落架模型的Hopf分岔及控制研究

以一类单轮式飞机前起落架动力学模型为研究对象,将非光滑项进行光滑拟合后,通过坐标变换将系统转化为规范形.运用Hopf分岔理论计算了系统的极限环曲率系数,根据它的符号判断Hopf分岔的类型,并通过数值模拟验证了理论推导的正确性.对系统施加线性反馈控制器,分析控制参数对系统Hopf分岔行为的影响;对系统施加非线性立方反馈控制器,通过幅值计算公式,讨论控制参数对极限环幅值的影响.结果表明,线性控制器能使系统的Hopf分岔点后移,从而减小Hopf分岔的不稳定区域;非线性控制器在不改变系统Hopf分岔点的情况下,能减小Hopf分岔产生的极限环的幅值.该结果可以为飞机前起落架系统的结构优化提供一定理论指导.

飞机起落架自适应模糊神经PID控制方法的研究

针对传统PID控制与模糊PID控制的飞机起落架控制系统存在达不到理想控制精度以及控制速度的问题,提出一种基于模糊控制和神经网络的模糊神经PID控制算法。通过对起落架运动特点以及动力学相关的理论分析建立飞机起落架的运动模型,将此智能PID控制方法应用到飞机起落架的姿态控制系统中。利用MATLAB/Simulink软件进行仿真,并基于树莓派装置进行了起落架单腿实验。仿真和实验结果表明:模糊神经网络PID控制系统的响应速度和抗干扰能力相较于传统PID和模糊PID都有了较大的提升,系统稳定性更强。在飞机起落架控制系统中,应用模糊神经PID控制可进一步提升系统的响应速度,降低系统运动的惯性冲击,提高整体机构的稳定性。

AF1410钢大厚度焊缝的真空电子束焊工艺研究及质量控制

现代飞机起落架高寿命、高可靠的特点促使了各种新材料特别是超高强度钢、钛合金等材料在起落架上的广泛应用,其中A100、300M、AF1410(16Co14Ni10Cr2Mo)等超高强度钢的应用尤为突出。此类超高强度钢在起落架系统中通常采用整体模锻件机械加工的方式,并且因为这些超高强度钢焊接性能较差,很少有采用焊接加工的。主要探讨的是AF1410(16Co14Ni10Cr2Mo)钢大厚度的焊接工艺研究及质量控制。

一种自适应双腔缓冲器动力特性研究

建立了一种基于弹簧自适应控制油孔面积的双气腔双油腔缓冲器动力学模型和分析方法 ,同时也建立了一种三维摇臂式起落架着陆动力学模型。对某型号飞机起落架着陆缓冲性能进行了计算分析 ,并进行了落震试验验证 ,结果证明了本文建立的动力学模型和分析方法是正确的 ,并已成功地应用于工程。

前起落架转弯操纵系统设计及其余度控制技术研究

以某型前起落架转弯操纵系统为研究对象,结合多体动力学建模及其机构仿真对控制系统进行分析与设计,满足其精确转弯与快速响应的基本功能;在此基础上,提出了一种新的基于3个控制器架构策略的双余度控制方法,并构建双余度控制系统;最后在此架构上,实现系统自检及其故障在线监测、诊断、隔离和处理功能,最大限度增强起落架操纵控制系统的可靠性。该电液余度控制技术已成功应用于某型起落架转弯操纵系统的升级改进,并以最小的改动量和最小的成本确保了改进后系统的高可靠性。对于其他型号的起落架控制系统升级改进,上述技术及其方法具有一定的借鉴意义。

起落架摆振主动控制分岔研究

研究起落架摆振及其主动控制的非线性动力学问题。根据分岔理论,应用数值延拓算法求解参数化非线性摆振微分方程,得到摆振的Hopf分岔点(临界摆振速度)和摆振极限环的幅值,通过李亚普诺夫指数确定极限环的稳定性。在此基础上,提出采用主动控制策略抑制摆振,建立相应数学模型,应用数值延拓算法求解加入控制后的非线性摆振微分方程。结果表明,适当选取控制参数,在飞机滑跑速度范围内,应用主动控制策略可以达到完全抑制摆振的目的,并且对系统参数的变化具有强鲁棒性。

基于磁流变缓冲器的飞机起落架模糊控制

根据流变力学的特点,并结合飞机起落架的实际工作情况,简化了起落架缓冲器的受力情况,建立了应用在起落架上的磁流变缓冲器模型.该缓冲器采用环形缝隙结构,无需改变截流面积便能达到改变阻尼的目的,具有结构简单、尺寸较小、易于控制等优点.建立并分析了起落架的系统动力学模型,在控制方法上采用了模糊控制,通过控制电流以控制由磁场产生的力.仿真结果显示在飞机着陆撞击时,本文采用的模糊控制实现了能量吸收和消散快的目的,同时也体现了磁流变缓冲器应用在起落架上的优势.

主动控制起落架滑行性能分析

建立了主动控制起落架的非线性振动模型，并通过建立系统的状态方程和合理的目标函数，使系统的综合性能达到最优。通过数值模拟计算，对主动控制起落架和被动起落架的滑行性能进行了比较。

基于滑模控制的某型起落架落震联合仿真

飞机起落架是飞机起落的安全保证。给出了在ADAMS/Aircraft中建立某型飞机起落架的虚拟样机模型,设计并实现基于磁流变液的飞机起落架滑模缓冲控制算法,通过MATLAB/Simulink和ADAMS完成了该型飞机起落架着陆缓冲联合仿真分析。经过联合仿真得到缓冲器的位移-时间曲线,速度-时间曲线,阻尼力-时间曲线等特性数据,通过与被动式起落架的缓冲性能进行比较,验证了设计的滑模控制算法能够有效提高飞机起落架着陆缓冲性能。

半主动控制起落架缓冲性能初步研究

建立了半主动控制起落架缓冲动力学数学模型,模型中流量系数是油孔等效面积、流量或压差的函数,不再是固定值,而是变量。利用定油孔起落架的落震试验对该模型进行了校验。设计了两个简单控制律,第一个控制律按传统变油孔设计准则给定,第二个控制律按给定吸收功量时峰值载荷最小的准则设计。通过数字仿真对这两种控制律下的起落架和被动式起落架的缓冲性能进行比较。结果表明,半主动控制在提高起落架缓冲性方面有较大潜力。

无人机着陆滑跑数学模型与纠偏控制

针对地面滑跑状态下的无人机滑跑纠偏的控制问题,提出采用方向舵偏转、主轮差动刹车和前轮转向的联合纠偏控制方案和控制结构;通过纠偏控制分配,将多输入单输出无人机滑跑纠偏系统等效为具有单一虚拟纠偏舵面的单输入单输出系统,从而直接采用经典控制理论设计滑跑纠偏控制律参数;全面分析了无人机地面滑跑中所受地面力及力矩,同时考虑气动力及力矩,根据刚体动力学和运动学理论建立了全面反映无人机滑跑运动特性的无人机模型,并据此得到滑跑过程小扰动线性模型。以某无人机为算例,进行地面滑跑建模及分析。仿真结果表明,纠偏控制方案可实现全程滑跑纠偏的有效控制。