飞机牵引滑行对接系统的步态监测理论和外骨骼设计方法

To achieve a safe, green, and economic airport operation in the next generation, an important task has been well recognized as moving aircraft on the ground with an alternative power source but aircraft engines. To explore interface design method for needs of aircraft full traction taxiing, exoskeleton robot analogy method is adopted to deconstruct behaviors of crew, vehicle and aircraft during taxiing by gait analysis. A behavior perception tool is established by means of more physical variables monitoring and multi-source data processing through observing characteristic physical variables of aircraft traction system and environment under different gaits. According to research on each gait's dynamics within aircraft taxiing process, associated models are decided to link characteristics input signal with specific responses. Then, interface’s adaptive classification control mode to cockpit crew, aircraft, tractor, and environment is studied. With the theory of parallel mechanism, a mechanism configuration is worked to execute every motion in traction taxiing process. A combination mode of gas-liquid interaction and variable stiffness spring damping is tried to design aircraft safety device for holding state. Meanwhile, realization of lifting, traction, braking and other functions are tested in case of heavy loads and small space. Finally, some results are testified in virtual simulation and test platform. When this project is finished, a solid theoretical foundation is laid for China's independent innovation on aircraft's intelligent traction system.

飞机地面运行的“Engines-off”新理念，被认为是下一代机场安全、环保、经济运行方式实现的重要一环。以全牵引滑行方式实现这一理念，需要针对飞机牵引车的核心部分——对接系统，展开理论研究。本项目拟通过步态分析方法解构飞机地面滑行过程中的人、车及飞机行为，阐明飞机等在不同步态下系统与环境特征物理量规律；建立起各步态多物理量监测和多源数据处理的行为感知工具；根据对飞机滑行各步态动力学特性的研究，确定特征信号输入的动作响应关联模型。在此之上，利用外骨骼方法，探索对接系统感知机上人员操作和环境要求及对飞机和牵引车体的自适应分级协同控制模式；寻求满足牵引滑行各运动要求的并联机构学构型方案；运用气液联动和变刚度弹簧阻尼方式，设计飞机夹持的安全保护装置；构建虚拟样机和试验平台对举升、牵引、制动联控等功能在小空间重载环境下的实现进行验证。通过本项目研究，力争为飞机智能牵引系统的自主创新设计提供依据。

针对下一代智能飞机牵引对接系统的项目研究目标，课题组从步态监测和抱轮对接系统的外骨骼化设计两个方面展开研究。通过本项目研究，课题组主要解决了下述问题：1）.基于多次现场测绘结果及飞机型号手册，获得了C类飞机B-737 300的起落架高精度尺寸参数及机构拓扑关系，并由此建立了可运动的仿真起落架机构系统；2）.采用跨平台联合仿真方法，研究了飞机地面滑行行为的特点，建立了Solidworks-Adams-Matlab的飞机牵引联合仿真环境；3）.以道格拉斯TBL200无杆飞机牵引车为对象进行了C类飞机牵引车建模，分析了运动学及动力学特性；4）.研究了牵引过程中多种工况（不平路面、制动）下牵引行为对起落架的影响，建立了关联关系；5）.提出了可感知飞行员操纵动作的新型外骨骼式夹持-举升机构；6）.针对飞行员采用语音控制牵引行为的场景，提出了一种语音识别的动态时间规整优化算法；7）.考虑无驾驶员的下一代遥控型飞机牵引车的作业过程，研究了其转弯运动学并提出了抱轮机构在车架上的布局位置的优化点；8）.结合电动起落架机轮的可能应用，课题组针对飞机地面电动滑行系统方案进行了原理探究和物理建模，并进行了方案仿真，得到了可用的设计方案。9）.同时，课题组合作单位成员针对复杂工况下的微弱信号的增强提取以及基于卷积神经网络的多数据融合感知进行了探索，也得到了一定成果。