飞机全电刹车系统性能研究与仿真分析
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摘要
全电刹车系统是多电飞机重要的子系统,它以EMA(Electro-Mechanical Actuation)刹车机架取代了原来的液压活塞刹车机架,以数字式刹车控制器代替模拟式液压控制器,极大地提高了飞机的刹车效率和性能,提高了系统的安全性。
论文以某型飞机起落架刹车系统为研究对象,通过对飞机全电刹车系统的工作原理、组成结构及刹车特性的细致分析,建立了飞机系统各个组成部分的数学模型,深入探讨了飞机动力学与运动学特性、起落架动态性能以及机轮跑道特性对飞机刹车系统的影响;对电作动机构和刹车力矩反馈作了深入的研究,确定了电作动机构的具体结构和设计参数,并在此基础上建立了系统整体的数学模型。
针对现有刹车系统控制律的不足和全电刹车系统的特点,运用模糊智能控制设计刹车系统的控制律,采用控制系统仿真软件MATLAB/SIMULINK工具对飞机全电刹车系统进行了全系统的数字仿真,仿真结果表明:所建立的系统模型是合理的,较好地模拟了飞机刹车的动态过程,采用模糊控制能够得到较好的控制效果,同时也体现了全电刹车系统的优越性能。
As one of the most important part of multi-electric aircraft, electric braking system takes use of the EMA(Electro-Mechanical Actuation)braking frame instead of the original hydraulic piston braking frame, and the digital anti-skid braking controller instead of the analogous anti-skid braking controller. It has been proved that the efficiency of braking as well as the performance and security of aircraft could be greatly improved as for the proposed electric braking system.
In this paper, the landing gear braking system of a certain type aircraft has been investigated as the research object. Furthermore, mathematic models of each component have been established via comprehensive analysis of the working principle,constitutionof structure and the performance of electric braking. Meanwhile, an improved research on impact factors of the braking system has been discussed, such as the dynamics and movement characteristics of aircraft, the dynamic characteristics of landing gear braking wheel as well as the characteristics of runway . On the basis of research on the electric actuator and the braking moment feedback, a mathematic model of the entire system has been proposed with concrete form of the structure and parameters of the electric actuator.
Owing to the characteristics of electric braking system and the drawback of current control algorithm, a comprehensive simulation of the entire system has been implemented taking use of fuzzy intelligent control algorithm with the simulation software MATLAB/SIMULNIK. It has been proved that the proposed model of system could be valid, which could have given a perfect simulation of the dynamic process of braking. Meanwhile, it has been confirmed that the priority of electric braking system, especially with fuzzy control method.
论文以某型飞机起落架刹车系统为研究对象,通过对飞机全电刹车系统的工作原理、组成结构及刹车特性的细致分析,建立了飞机系统各个组成部分的数学模型,深入探讨了飞机动力学与运动学特性、起落架动态性能以及机轮跑道特性对飞机刹车系统的影响;对电作动机构和刹车力矩反馈作了深入的研究,确定了电作动机构的具体结构和设计参数,并在此基础上建立了系统整体的数学模型。
针对现有刹车系统控制律的不足和全电刹车系统的特点,运用模糊智能控制设计刹车系统的控制律,采用控制系统仿真软件MATLAB/SIMULINK工具对飞机全电刹车系统进行了全系统的数字仿真,仿真结果表明:所建立的系统模型是合理的,较好地模拟了飞机刹车的动态过程,采用模糊控制能够得到较好的控制效果,同时也体现了全电刹车系统的优越性能。
As one of the most important part of multi-electric aircraft, electric braking system takes use of the EMA(Electro-Mechanical Actuation)braking frame instead of the original hydraulic piston braking frame, and the digital anti-skid braking controller instead of the analogous anti-skid braking controller. It has been proved that the efficiency of braking as well as the performance and security of aircraft could be greatly improved as for the proposed electric braking system.
In this paper, the landing gear braking system of a certain type aircraft has been investigated as the research object. Furthermore, mathematic models of each component have been established via comprehensive analysis of the working principle,constitutionof structure and the performance of electric braking. Meanwhile, an improved research on impact factors of the braking system has been discussed, such as the dynamics and movement characteristics of aircraft, the dynamic characteristics of landing gear braking wheel as well as the characteristics of runway . On the basis of research on the electric actuator and the braking moment feedback, a mathematic model of the entire system has been proposed with concrete form of the structure and parameters of the electric actuator.
Owing to the characteristics of electric braking system and the drawback of current control algorithm, a comprehensive simulation of the entire system has been implemented taking use of fuzzy intelligent control algorithm with the simulation software MATLAB/SIMULNIK. It has been proved that the proposed model of system could be valid, which could have given a perfect simulation of the dynamic process of braking. Meanwhile, it has been confirmed that the priority of electric braking system, especially with fuzzy control method.
引文
[1]王复华.多电飞机及其发展状况.航空制造技术, 2008, 9:63-64.
[2]齐蓉,林辉,周素莹.多电飞机电气系统关键技术研究.航空计算机, 2004, 34(1):97-101.
[3] P. D. Khapane. Simulation of asymmetric landing and typical ground maneuvers for large transport aircraft. Aerospace Science and Technology, 2003, 7: 611–619.
[4] P. D. Khapane. Gear walk instability studies using flexible multibody dynamics simulation methods in SIMPACK. Aerospace Science and Technology, 2006, 10: 19–25.
[5] Douglas D.Morseley, Thomas J. Carter. Performance testing on an electrically actuated aircraft braking system. SAE 881399.
[6]王纪森.非线性控制理论在飞机刹车系统中的应用研究,[博士学位论文] .西安:西北工业大学,2001.
[7] Michael A.Dornhrim. Electric Brakes Tested on F-16. Aviation Week & Space Technology, January 18 1999, p51.
[8] Yadav D., Singh C. V. K., Landing Response of Aircraft with Optimal Anti-skid Braking. Journal of Sound and Vibration, 1995, 181(3): 401-416.
[9] Tanner J. A., Review of nASA anti-skid braking research. NASA Langley Research Center, Virginia, SAE 821393, Oct. 1982.
[10] Stubbs S. M., Tanner J. A., Review of anti-skid and brake dynamics research. Conference on Aircraft Safety and Operating Problems, NASA Langley Research Center, Virginia, NASA CP-2170, 1981: 555-568.
[11] Stubbs S. M., Tanner J. A. Behavior of aircraft antiskid braking systems on dry and wet runway surfaces: A velocity-rate-controlled, pressure-bias-modulated system. NASA Langley Research Center, Virginia, NASA TN D-8332, Dec. 1976.
[12] Sandy M. Stubbs, John A. Tanner, and Eunice G. Smith. Behavior of aircraft antiskid braking systems on dry and wet runway surfaces: A Slip-Velocity-Controlled, Pressure-Bias-Modulated System. NASA Langley Research Center, Virginia, NASA TP-1051, Dec.1979.
[13] Tanner J. A., Stubbs S. M. Behavior of aircraft antiskid braking systems on dry and wet runway surfaces: A slip-ratio-controlled systems with ground speed reference from unbraked nose wheel. NASA Langley Research Center, Virginia, NASA TN D-8455, Oct. 1977.
[14]陆晓洁.基于模糊控制的防滑刹车系统建模与仿真研究,[D] .西安:西北工业大学,2003..
[15]邹美英.飞机防滑刹车系统新型控制律设计与仿真研究,[D] .西安:西北工业大学,2005.
[16]郑振华.主起落架特性非对称下的刹车仿真与控制研究,[D] .西安:西北工业大学,2005.
[17]姜伟.非对称载荷下飞机刹车系统控制与仿真技术,[D] .西安:西北工业大学,2006.
[18]郑振华.主起落架特性非对称下的刹车仿真与控制研究,[D] .西安:西北工业大学,2005.
[19]齐洁.多轮系飞机刹车系统控制与仿真研究,[D] .西安:西北工业大学,2007.
[20]赵海鹰,王占林,裘丽华.飞机防滑刹车系统鲁棒控制器的设计与研究.北京航空航天大学学报,2000,26(2):164-166.
[21]黄佑.飞机防滑刹车控制系统LQ最优控制仿真.北京航空航天大学学报,2003,29(12):1119-1122.
[22]曹强.新型航空机轮刹车控制技术研究,[D] .长沙:中南大学,2005.
[23]何恒,吴瑞祥,黄伟明.基于ANN与FNN的飞机防滑刹车系统设计.航空学报, 2005, 26(1): 116-120.
[24]黄伟明,吴瑞祥,张燮年.神经网络及模糊控制在飞机防滑刹车系统中的应用.航空学报, 2001, 22(4): 317-320.
[25]孟庆慈,何恒,吴瑞祥.基于模糊神经网络得飞机防滑刹车系统研究.控制工程, 2005, 12(5): 449-495.
[26]李化良,林辉,汤恒先等.模糊PID在飞机全电刹车系统中的应用.航空计算技术, 2005, 35(4): 15-18.
[27]田广来,谢利理,岳开宪等.飞机防滑刹车系统的最佳滑移率式控制方法研究.航空学报, 2005, 26(4): 461-464.
[28]张琛.直流无刷电动机原理及应用.北京:机械工业出版社,2001.1
[29]李重明,刘卫国.稀土永磁电机.北京:国防工业出版社,1999.7
[30]沈允文,叶庆泰.谐波齿轮传动的理论和设计.北京:机械工业出版社,1985.9
[31]饶振纲.滚珠丝杠副及自锁装置.北京:国防工业出版社,1990.2
[32]程光仁.滚珠螺旋传动设计基础.北京:机械工业出版社,1987.8
[33]张瑜,田小雄.飞机防滑控制系统的数字仿真研究.西北工业大学学报,1994年1月,12(1).
[34]许希儒.飞机电子防滑刹车系统模拟仿真.航空学报,1993年4月,14(4).
[35]李峰,刘刚,张瑜.飞机防滑刹车系统结构谐振一体化设计的仿真研究.西北工业大学学报,1999年8月,17(3).
[36]时培涛,吴瑞祥,张燮年等.飞机防滑刹车系统动态特性仿真研究.北京航空航天大学学报,1999年10月,25(5):569-573.
[37]《飞机设计手册》总编委员会编,飞机设计手册第14册起飞着陆系统设计,北京,航空工业出版社.
[38] Stefania Gualdi, Marco Morandini, Gian Luca Ghiringhelli. Anti-sjid induced aircraft landing gear instability. Aerospace Science and Technology. 2008(12)627-637.
[39]聂宏.飞机起落架的缓冲性能分析与设计及其寿命计算方法,[博士学位论文].南京,南京航空航天大学,1990年4月.
[40]科柯宁.智维列夫.航空机轮与刹车系统设计.北京:国防工业出版社,1980.
[41]陈伯时主编.电力拖动自动控制系统.北京:机械工业出版社,2000.6
[42]明明摘译.全电飞机的电刹车系统.国际航空,1989年底8期
[43]诸静编著.模糊控制理论与系统原理.北京:机械工业出版社,2005.8
[44]曾光奇等主编.模糊控制理论与工程应用.武汉:华中科技大学出版社,2006.8
[2]齐蓉,林辉,周素莹.多电飞机电气系统关键技术研究.航空计算机, 2004, 34(1):97-101.
[3] P. D. Khapane. Simulation of asymmetric landing and typical ground maneuvers for large transport aircraft. Aerospace Science and Technology, 2003, 7: 611–619.
[4] P. D. Khapane. Gear walk instability studies using flexible multibody dynamics simulation methods in SIMPACK. Aerospace Science and Technology, 2006, 10: 19–25.
[5] Douglas D.Morseley, Thomas J. Carter. Performance testing on an electrically actuated aircraft braking system. SAE 881399.
[6]王纪森.非线性控制理论在飞机刹车系统中的应用研究,[博士学位论文] .西安:西北工业大学,2001.
[7] Michael A.Dornhrim. Electric Brakes Tested on F-16. Aviation Week & Space Technology, January 18 1999, p51.
[8] Yadav D., Singh C. V. K., Landing Response of Aircraft with Optimal Anti-skid Braking. Journal of Sound and Vibration, 1995, 181(3): 401-416.
[9] Tanner J. A., Review of nASA anti-skid braking research. NASA Langley Research Center, Virginia, SAE 821393, Oct. 1982.
[10] Stubbs S. M., Tanner J. A., Review of anti-skid and brake dynamics research. Conference on Aircraft Safety and Operating Problems, NASA Langley Research Center, Virginia, NASA CP-2170, 1981: 555-568.
[11] Stubbs S. M., Tanner J. A. Behavior of aircraft antiskid braking systems on dry and wet runway surfaces: A velocity-rate-controlled, pressure-bias-modulated system. NASA Langley Research Center, Virginia, NASA TN D-8332, Dec. 1976.
[12] Sandy M. Stubbs, John A. Tanner, and Eunice G. Smith. Behavior of aircraft antiskid braking systems on dry and wet runway surfaces: A Slip-Velocity-Controlled, Pressure-Bias-Modulated System. NASA Langley Research Center, Virginia, NASA TP-1051, Dec.1979.
[13] Tanner J. A., Stubbs S. M. Behavior of aircraft antiskid braking systems on dry and wet runway surfaces: A slip-ratio-controlled systems with ground speed reference from unbraked nose wheel. NASA Langley Research Center, Virginia, NASA TN D-8455, Oct. 1977.
[14]陆晓洁.基于模糊控制的防滑刹车系统建模与仿真研究,[D] .西安:西北工业大学,2003..
[15]邹美英.飞机防滑刹车系统新型控制律设计与仿真研究,[D] .西安:西北工业大学,2005.
[16]郑振华.主起落架特性非对称下的刹车仿真与控制研究,[D] .西安:西北工业大学,2005.
[17]姜伟.非对称载荷下飞机刹车系统控制与仿真技术,[D] .西安:西北工业大学,2006.
[18]郑振华.主起落架特性非对称下的刹车仿真与控制研究,[D] .西安:西北工业大学,2005.
[19]齐洁.多轮系飞机刹车系统控制与仿真研究,[D] .西安:西北工业大学,2007.
[20]赵海鹰,王占林,裘丽华.飞机防滑刹车系统鲁棒控制器的设计与研究.北京航空航天大学学报,2000,26(2):164-166.
[21]黄佑.飞机防滑刹车控制系统LQ最优控制仿真.北京航空航天大学学报,2003,29(12):1119-1122.
[22]曹强.新型航空机轮刹车控制技术研究,[D] .长沙:中南大学,2005.
[23]何恒,吴瑞祥,黄伟明.基于ANN与FNN的飞机防滑刹车系统设计.航空学报, 2005, 26(1): 116-120.
[24]黄伟明,吴瑞祥,张燮年.神经网络及模糊控制在飞机防滑刹车系统中的应用.航空学报, 2001, 22(4): 317-320.
[25]孟庆慈,何恒,吴瑞祥.基于模糊神经网络得飞机防滑刹车系统研究.控制工程, 2005, 12(5): 449-495.
[26]李化良,林辉,汤恒先等.模糊PID在飞机全电刹车系统中的应用.航空计算技术, 2005, 35(4): 15-18.
[27]田广来,谢利理,岳开宪等.飞机防滑刹车系统的最佳滑移率式控制方法研究.航空学报, 2005, 26(4): 461-464.
[28]张琛.直流无刷电动机原理及应用.北京:机械工业出版社,2001.1
[29]李重明,刘卫国.稀土永磁电机.北京:国防工业出版社,1999.7
[30]沈允文,叶庆泰.谐波齿轮传动的理论和设计.北京:机械工业出版社,1985.9
[31]饶振纲.滚珠丝杠副及自锁装置.北京:国防工业出版社,1990.2
[32]程光仁.滚珠螺旋传动设计基础.北京:机械工业出版社,1987.8
[33]张瑜,田小雄.飞机防滑控制系统的数字仿真研究.西北工业大学学报,1994年1月,12(1).
[34]许希儒.飞机电子防滑刹车系统模拟仿真.航空学报,1993年4月,14(4).
[35]李峰,刘刚,张瑜.飞机防滑刹车系统结构谐振一体化设计的仿真研究.西北工业大学学报,1999年8月,17(3).
[36]时培涛,吴瑞祥,张燮年等.飞机防滑刹车系统动态特性仿真研究.北京航空航天大学学报,1999年10月,25(5):569-573.
[37]《飞机设计手册》总编委员会编,飞机设计手册第14册起飞着陆系统设计,北京,航空工业出版社.
[38] Stefania Gualdi, Marco Morandini, Gian Luca Ghiringhelli. Anti-sjid induced aircraft landing gear instability. Aerospace Science and Technology. 2008(12)627-637.
[39]聂宏.飞机起落架的缓冲性能分析与设计及其寿命计算方法,[博士学位论文].南京,南京航空航天大学,1990年4月.
[40]科柯宁.智维列夫.航空机轮与刹车系统设计.北京:国防工业出版社,1980.
[41]陈伯时主编.电力拖动自动控制系统.北京:机械工业出版社,2000.6
[42]明明摘译.全电飞机的电刹车系统.国际航空,1989年底8期
[43]诸静编著.模糊控制理论与系统原理.北京:机械工业出版社,2005.8
[44]曾光奇等主编.模糊控制理论与工程应用.武汉:华中科技大学出版社,2006.8