CN-122009130-A - Unmanned aerial vehicle autonomous driving-out stage brake thermal overload protection method, control equipment and medium

CN122009130ACN 122009130 ACN122009130 ACN 122009130ACN-122009130-A

Abstract

The invention provides a braking thermal overload protection method, control equipment and medium for an unmanned aerial vehicle in an autonomous driving-out stage, and relates to the technical field of unmanned aerial vehicle control. The method comprises the steps of constructing a brake energy inheritance mechanism, taking landing deceleration running accumulated brake energy as a calculated initial value of an autonomous running-out stage, collecting brake pipeline pressure and wheel speed in real time after an autonomous running-out program is started, dynamically calculating accumulated total brake energy of the autonomous running-out stage through an integral algorithm, and executing a grading response strategy based on the ratio of the accumulated energy to a thermal overload design threshold value, wherein the grading response strategy comprises early warning prompt and autonomous stopping and emergency traction switching. The invention solves the thermal overload risk caused by energy superposition in the landing and exiting stages through the full-period management of 'energy inheritance + real-time integration + grading response', overcomes the limitations of the traditional temperature monitoring hysteresis and pressure limiting method, and the calculation is not influenced by the altitude of an airport, thereby effectively prolonging the service life of a brake disc and guaranteeing the operation safety.

Inventors

ZHU JUN
SHI YANG
XIONG YIHUA
Xin Kangkang
LIN ZIJIE
CHEN HANG

Assignees

四川腾盾科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260414

Claims (10)

1. The brake thermal overload protection method for the unmanned aerial vehicle in the autonomous driving-out stage is characterized by comprising the following steps of: when the unmanned aerial vehicle finishes landing speed-down running and starts an autonomous running-out program, acquiring landing speed-down running accumulated brake energy as a calculated initial value of an autonomous running-out stage; In the process of autonomous driving-out of the unmanned aerial vehicle, acquiring brake energy related parameters in real time according to a preset sampling period; Based on the calculated initial value and real-time sampling data of the unmanned aerial vehicle autonomous driving-out process, calculating accumulated total braking energy in an autonomous driving-out stage; And comparing the accumulated total braking energy with a thermal overload design threshold of a brake disc, and executing a grading response strategy, wherein an early warning signal is sent out when the accumulated total braking energy reaches a first preset threshold, and the unmanned aerial vehicle is controlled to stop autonomously and switch to an emergency traction program when the accumulated total braking energy reaches a second preset threshold, and the second preset threshold is larger than the first preset threshold.
2. The method for protecting braking thermal overload in an autonomous driving-out phase of an unmanned aerial vehicle according to claim 1, wherein the step of acquiring braking energy related parameters in real time according to a preset sampling period during the autonomous driving-out of the unmanned aerial vehicle comprises: Brake pipeline pressure changing along with time in an autonomous driving-out stage; And, the wheel speed of the autonomous exit phase varies with time.
3. The unmanned aerial vehicle autonomous egress phase braking thermal overload protection method of claim 2, wherein the calculating the accumulated total braking energy for the autonomous egress phase comprises: Wherein, the A cumulative total braking energy representing an autonomous driving-out phase; Representing landing deceleration running accumulated brake energy; the moment when the unmanned aerial vehicle starts an autonomous driving-out program is represented; Indicating the moment when the unmanned aerial vehicle completely stops into the apron; Representing the heat exchange coefficient of the brake disc; Representing the braking force at unit brake line pressure; a brake line pressure representative of a change in time during the autonomous off phase; wheel speed representing the change of the autonomous driving-out period with time; Representing the sampling period.
4. The unmanned aerial vehicle autonomous driving-out phase braking thermal overload protection method according to claim 1, wherein the method for acquiring landing deceleration running accumulated braking energy comprises: And monitoring braking energy data of the unmanned aerial vehicle from the moment of landing to the moment of landing deceleration running, accumulating and recording braking energy generated during the braking energy data, and locking a recorded value into the calculated initial value at the starting moment of an autonomous driving-out program.
5. The method for protecting the braking thermal overload in the autonomous driving-out stage of the unmanned aerial vehicle according to claim 1, wherein the autonomous driving-out program is started according to a pre-designed driving-out route in the autonomous driving-out process of the unmanned aerial vehicle.
6. The method according to claim 1, wherein the first preset threshold corresponds to a thermal failure mode in which the brake disc material is plastically deformed by exceeding a recrystallization temperature, and the second preset threshold corresponds to a thermal failure mode in which the brake disc material is peeled off by reaching a liquidus line.
7. The method for protecting brake thermal overload in an autonomous driving-out stage of an unmanned aerial vehicle according to claim 1, wherein the first preset threshold is set to 80% of the designed threshold for thermal overload of the brake disc, and the second preset threshold is set to 90% of the designed threshold for thermal overload of the brake disc.
8. The unmanned aerial vehicle autonomous driving-out stage brake thermal overload protection method of claim 7, wherein when the accumulated total brake energy is between 80% and 90% of the brake disc thermal overload design threshold, performing hierarchical differentiated display at an unmanned aerial vehicle control interface and prompting manual attention to brake energy or preparing manual intervention; When the accumulated total braking energy reaches or exceeds 90% of the thermal overload design threshold value of the brake disc, carrying out grading distinguishing display on an unmanned aerial vehicle control interface, controlling the unmanned aerial vehicle to execute an automatic braking instruction, starting an emergency program of the manual traction unmanned aerial vehicle, recording an event triggering the automatic braking instruction at the same time, reading the preset total number of safety braking of the unmanned aerial vehicle braking system, subtracting the number of times triggering the automatic braking instruction of a history record according to the preset total number of safety braking, and calculating and updating the remaining safety braking number.
9. A drone control device comprising a processor, a memory and a computer program stored on the memory and executable on the processor, which when executed by the processor implements the method of any one of claims 1 to 8.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the method according to any of claims 1 to 8.

Description

Unmanned aerial vehicle autonomous driving-out stage brake thermal overload protection method, control equipment and medium Technical Field The invention relates to the technical field of unmanned aerial vehicle control, in particular to a method, equipment and medium for protecting braking thermal overload in an autonomous driving-out stage of an unmanned aerial vehicle. Background Along with the rapid development of unmanned aerial vehicle technology, the application of large-scale fixed wing unmanned aerial vehicle in fields such as logistics transportation, aviation mapping, emergency rescue and the like presents explosive growth, and more such unmanned aerial vehicles begin to be deployed at unmanned aerial vehicle navigation airports and even large-scale civil aviation airports. Modern airport operating efficiency is highly dependent on the turnover rate of the runway, and runway occupancy time directly determines airport throughput. Traditional unmanned aerial vehicle recovery mode often relies on ground tractor to get into the runway and drag the transfer, and this is loaded down with trivial details not only of flow, leads to unmanned aerial vehicle to occupy the runway time overlength moreover, very easily causes the chain delay of airport flight schedule. In order to integrate into an airport scheduling system and adapt to the admission requirement of a national airspace system, the function of 'autonomous driving out' after landing becomes one of the core capabilities of a large fixed-wing unmanned aerial vehicle, and the function requires that the unmanned aerial vehicle can rapidly depart from a runway after landing and autonomously slide to a specified stand. However, large fixed wing unmanned aerial vehicles face serious thermal protection challenges for the braking system when performing autonomous driving-out tasks. The unmanned aerial vehicle just after experiencing high-intensity landing and deceleration running, the braking device of the unmanned aerial vehicle converts huge kinetic energy into heat energy through friction, and at the moment, the thermal load of the brake disc generally reaches 60% -70% of a design threshold value. Different from a man-machine or a traction mode, the unmanned aerial vehicle cannot release heat through shutdown cooling in an autonomous driving-out stage, and instead, the unmanned aerial vehicle needs to continuously and frequently use a brake to perform low-speed accurate control, including deceleration control, turning avoidance, accurate stopping and the like. The high-energy accumulation of the landing speed-reducing running stage and the continuous braking energy of the autonomous running-out stage are overlapped, so that the thermal load of the brake disc is extremely easy to exceed the physical limit of materials, and particularly, serious faults such as high-temperature deformation of the brake disc, carbonization and peeling of friction materials, even melting loss of a hydraulic sealing element and the like are extremely easy to be caused under the condition of large landing speed of a high-altitude airport or long sliding distance of a large airport. The existing brake protection technology mainly depends on a temperature monitoring method and a pressure limiting method, but the temperature monitoring method and the pressure limiting method have obvious limitations when dealing with the continuous high-energy working condition: Temperature monitoring methods typically either mount a temperature sensor on the brake disc or rely on manual detection. Because of the time lag of heat conduction of the brake disc, the sensor is often used for measuring the surface temperature, and when the surface temperature triggers an alarm, the core area inside the brake disc can be in material failure due to overheating, so that the protection response is too slow, and the pre-judgment cannot be realized. The pressure limiting method is to prevent locking or overload by setting a maximum threshold value of the brake pressure. The method only focuses on the current instantaneous pressure value, ignoring the "historical heat" state of the brake system. In particular to an unmanned aerial vehicle autonomous driving-out scene, the method cannot incorporate the huge thermal effect accumulated in the previous stage (landing deceleration) into calculation, so that potential safety hazards can be faced in the initial stage of autonomous driving-out. In addition, the prior art lacks a hierarchical early warning mechanism and a full period tracking means for braking energy, and is difficult to effectively intercept risks before burst overrun risks occur. Therefore, a protection method capable of comprehensively considering energy superposition in two stages of landing and exiting and accurately predicting the brake thermal overload risk in real time is needed. Disclosure of Invention The present invention aims to solve at least one of the above technical problems in the p