CN109814649A - A kind of current compensation method and system suitable for endpiece steering engine test macro - Google Patents
A kind of current compensation method and system suitable for endpiece steering engine test macro Download PDFInfo
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Abstract
The invention discloses a kind of current compensation methods suitable for endpiece steering engine test macro, including steering engine to power on, and acquires the initial deflection angle of steering engine, and by the initial compensation current value zero setting of steering engine；After the time of a data collection cycle, the instantaneous deflection angle of steering engine is acquired；The difference for calculating the steering engine deflection angle that a data collection cycle both ends measure obtains the compensation current of steering engine according to the deflection angle difference；Angle modification is carried out to steering engine using compensation current.The invention discloses a kind of current compensation systems suitable for endpiece steering engine test macro.The precision that technical solution of the present invention is directed to endpiece steering engine current compensation in the prior art is not high, is difficult to the case where meeting endpiece steering engine measurement demand, pass through the deflection angle variation of steering engine before and after one data collection cycle of measurement, and it is modified, the stability and accuracy of steering engine work can be improved.
Description
Technical field
The invention belongs to endpiece steering engine observation and control technology fields, and in particular to a kind of electricity suitable for endpiece steering engine test macro
Flow compensation method and system.
Background technique
Steering engine refers to a kind of execution unit that operating aircraft rudder face (control surface) rotates in automatic pilot.It is remote control
Aeronautics and Astronautics model cootrol movement, change nyctitropic important composition, steering engine type needed for different types of telecontrolled model also with
Difference.Steering engine is primarily adapted for use in those control systems that needs angle constantly to change and can keep, such as anthropomorphic robot
Arm and leg, the direction controlling of Che Mo and model plane.The control signal of steering engine is actually a pulse width modulating signal
(pwm signal), the signal can be generated by FP-GA device, analog circuit or single-chip microcontroller.
The control electric current of steering engine includes instruction current and compensation electric current, in the case where any instruction current of no application,
Due to the attribute of steering engine itself, as long as steering engine one powers on, steering engine there is slight drift phenomenon, if not taking error compensation
Measure certainly will influence the performance of steering engine.Steering engine compensation electric current is exactly to apply the electricity of steering engine reverse deflection in test equipment compensating end
Stream keeps steering engine static (it is generally acknowledged that steering engine angular speed is then determined as that steering engine is static lower than 0.3 °/s), to eliminate since drift belongs to
Error caused by property.When applying instruction current again, the control of steering engine can be more accurately completed.
Traditional test macro when carrying out steering engine compensation testing current, mainly by needle dc voltmeter and ammeter into
Row adjusts ammeter pointer, then observes whether voltage list index moves, and whole process is entirely to be judged by human eye, automation
Degree is low, and probability of human error is high, and measuring accuracy and accuracy are low.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides one kind to be suitable for endpiece steering engine test system
The current compensation method and system of system, at least can partially solve the above problems.Technical solution of the present invention is in the prior art
The precision of endpiece steering engine current compensation is not high, is difficult to the case where meeting endpiece steering engine measurement demand, is adopted by measuring a data
Collect the deflection angle variation of period front and back steering engine, and it is modified, the stability and accuracy of steering engine work can be improved.
To achieve the above object, according to one aspect of the present invention, it provides a kind of suitable for endpiece steering engine test macro
Current compensation method, which is characterized in that including
S1 steering engine powers on, and acquires the initial deflection angle of steering engine, and by the initial compensation current value zero setting of steering engine；
S2 acquires the instantaneous deflection angle of steering engine after the time of a data collection cycle；
S3 calculates the difference for the steering engine deflection angle that a data collection cycle both ends measure, according to the deflection angle difference
Obtain the compensation current of steering engine；
S4 carries out angle modification to steering engine using compensation current.
Preferably as one of technical solution of the present invention, step S3 includes,
S31 calculates the deflection angle difference of two adjacent data collection period；
S32 compares the size of the deflection angle difference and threshold value, if more than then according to the deflection angle difference to steering engine
Current compensation current is modified, and does not otherwise change the current compensation current of steering engine.
One as technical solution of the present invention is preferred, includes in step S4,
S41 obtains N number of steering engine deflection angle difference of any N number of continuous data collection cycle,
S42 successively determines corresponding steering engine compensation current according to the deflection angle difference；
S43 seeks the average value of N number of steering engine compensation current, carries out angle modification to steering engine using the average value.
One as technical solution of the present invention is preferred, and threshold value is 0.001 °/120ms.
One as technical solution of the present invention is preferred, in step S3, compensates electric current to steering engine according to deflection angle difference
It is as follows to be worth correction formula:
Ii+1=Ii+ΔI；
Wherein, i is current compensation number, and Δ I is according to determined by the steering engine deflection angle difference that i-th measurement obtains
The correction value of steering engine deflection angle angle value.
One as technical solution of the present invention is preferred, and the correction value of steering engine deflection angle angle value is dynamic change value, meter
It is as follows to calculate formula:
Δ I=KWi；
Wherein, K is the modified proportionality coefficient of current compensation, WiThe average angle speed deflected for steering engine in the current data period
Degree.
One as technical solution of the present invention is preferred, the modified proportionality coefficient calculation formula of current compensation are as follows:
Wherein, U0For the voltage of steering engine current compensation circuit, R0For the equivalent resistance of steering engine current compensation circuit.
According to the one aspect of technical solution of the present invention, a kind of electric current benefit suitable for endpiece steering engine test macro is provided
Repay system, which is characterized in that including
Initialization module is powered on for steering engine, acquires the initial deflection angle of steering engine, and by the initial compensation electric current of steering engine
It is worth zero setting；
Acquisition module, for after the time of a data collection cycle, acquiring the instantaneous deflection angle of steering engine；
Computing module, for calculating the difference for the steering engine deflection angle that a data collection cycle both ends measure, according to this
The compensation current of deflection angle difference acquisition steering engine；
Compensating module, for carrying out angle modification to steering engine using compensation current.
Preferably as one of technical solution of the present invention, computing module includes,
Difference block, for calculating the deflection angle difference of two adjacent data collection period；
Judgment module, for comparing the size of the deflection angle difference and threshold value, if more than then according to the deflection angle
The difference compensation current current to steering engine is modified, and does not otherwise change the current compensation current of steering engine.
Preferably as one of technical solution of the present invention, compensating module includes,
Data module, for obtaining N number of steering engine deflection angle difference of any N number of continuous data collection cycle,
Conversion module, for successively determining corresponding steering engine compensation current according to the deflection angle difference；
Mean module carries out angle to steering engine using the average value for seeking the average value of N number of steering engine compensation current
Amendment.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, have below beneficial to effect
Fruit:
1) in technical solution of the present invention, in core that the intelligent compensation current methods of endpiece steering engine Auto-Test System are provided
Hold mainly includes acquisition module, judgment module and compensating module.Three modules are mutually indepedent, but mutually restrict again, acquire mould
Block and compensating module are linearly related, and form negative-feedback effect, and acquisition module and compensating module are the convergence items in judgment module
Implement under part, substantially increases the real-time and accuracy of test process.
2) technical solution of the present invention, compensating current methods applied to the compensation testing current of endpiece steering engine can be convenient survey
The compensation electric current for trying out steering engine solves the problems, such as that traditional artificial test manual intervention is high, precision is low.Entire test process sum number
It is all automatically performed by system according to processing, realizes the automation of test process, servo mechanism test field is expanded to test macro and is risen
To positive effect.
3) technical solution of the present invention, can adjust the testing time of compensation electric current according to accuracy requirement, and selection is disposable complete
It is determined either in such a way that dynamic compensates at the current offset values of endpiece steering engine, the current offset values of steering engine of every amendment
The measurement of a deflection angle is carried out, to it just to guarantee in the whole work process of endpiece steering engine always in required precision
In the range of.
Detailed description of the invention
Fig. 1 is endpiece steering engine test macro connection schematic diagram in technical solution of the present invention embodiment；
Fig. 2 is that endpiece steering engine test macro compensates testing current process in technical solution of the present invention embodiment.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.The present invention is described in more detail With reference to embodiment.
In general, when endpiece steering engine powers on, the moment of turn-on current can generate transient pulse, so as to cause steering engine generation
Certain offset, in this case, it is necessary to this offset is modified by applying a reversed electric current, so that steering engine
Work is in normal error range.
The present embodiment steering engine compensation current methods system core content mainly include data acquisition blocks, condition judgement and
Several parts such as simulation output.Wherein, the data information that acquisition module is sent for acquiring optical fibre gyro in real time；Judgment module is used
Whether meet the condition of convergence in real-time judge steering engine angular speed；After compensating module is for calculating data collection cycle superposition next time
Compensation current and implement compensate current-order.Data information includes that the angular speed, scale factor and gyro of optical fibre gyro are compiled
Number.Testing system software is by opening gyro data receiving thread real time parsing data information.In the present embodiment, real time parsing number
It is believed that the process of breath is: being resolved to scale factor and gyro number first, then parse the angular speed of gyro, the angle that will be resolved to
Speed and constant multiplier substitute into angle calculation formula and obtain angle value, are finally overlapped to angle value.Angle calculation formula are as follows:
Angle=magnitude of angular velocity/constant multiplier * time.Wherein, magnitude of angular velocity is the real time data that gyro is sent by serial ports；Time is
The update interval (2.5ms) of angle information；Constant multiplier is the preset parameter of gyro, need to only parse primary, subsequent participation angle
When calculating, it is directly substituted into analytic value for the first time.The condition of convergence refers to keeping steering engine quiet in the electric current for applying steering engine reverse deflection
Compensation current only.Present invention determine that the static condition of steering engine is angular speed less than 0.001 °/120ms, than general standard
0.3 °/s is stringenter.
Further, the calculation formula of a superimposed compensation current of data collection cycle is Il+1=Ii+ Δ I,
Middle IiFor the compensation current of this data collection cycle, Ii+1For the compensation current of data collection cycle next time, Δ I is
The compensation current of superposition.The compensation current of superposition is dynamic change, and the deflection angle with this data collection cycle
Changing value is linearly related, and its calculation formula is Δ I=KWi.K is a proportionality coefficient, the compensation circuit phase with test macro
It closes, its calculation formula isWherein, U0For the voltage of steering engine current compensation circuit, R0For steering engine current compensation circuit etc.
Imitate resistance.In the present embodiment, the actual value of K is 1.7/1.753.WiFor the mean angular velocity of this data collection cycle, meter
Calculation formula is Wi=(Ai-Ai-1)/Δ t, wherein AiFor the deflection angle of this data collection cycle last moment, Ai-1It is upper one
The deflection angle of secondary data collection cycle last moment, Δ t are unit collection period value.From the above equation, we can see that: deflection angle variation
Value is bigger, and the compensation current of superposition is bigger；Deflection angle changing value is smaller, and the compensation current of superposition is with regard to smaller.
It is as shown in Figure 1 the test connection relationship of test macro and endpiece steering engine in technical solution of the present invention embodiment,
In mainly include bracket zero adjustment device, optical fibre gyro and tester host.In the present embodiment, endpiece Auto-Test System master
NICompactRIO infrastructure component, control panel, mainboard, power supply etc. built in machine, endpiece and test macro host preferably pass through test
Cable is attached, and power supply is mainly used for being powered to steering engine, helm potentiometer and control panel, and the control core of test uses
NICompactRIO platform computer system, the platform can realize that circuit control and data acquire function under more complex environment
Can, reliable operation, system platform is mainly by master controller NI cDAQ-9139 module, analog input NI9205 module, simulation
Export the modules such as NI9264 module, digital IO NI9403 composition.Angel measuring instrument mainly includes angular transducer, angle
Switching mechanism, positioning pin, optoelectronic switch etc., positioning pin mainly determine helm potentiometer zero-bit and endpiece mechanical zero, are simultaneously
It avoids damage of the positioning pin to rudder piece in test process, detects the method for positioning pin state automatically using optoelectronic switch.
In the present embodiment, preferably optical fibre gyro is fixed on endpiece Y-piece threaded hole by supporting plate, tester master
Machine is powered by test cable to gyro and steering engine, and tester software passes through the angle of serial communication real-time reception spinning top rake
Information, and fed back using acquisition module real-time measurement helm potentiometer and steering engine analog quantity, software passes through one using feedback signal
Fixed control algolithm control output steering engine electric current, to complete the integrated testability to endpiece.
The intelligent compensating method provided in the present embodiment is suitable for the compensation testing current of endpiece steering engine Auto-Test System,
The test item is the Xiang Gongneng in system testing, and specifically, steering engine compensates testing current, and specific step is as follows:
1) the initial deflection angle A of steering engine is acquiredi=A0, enabling the compensation electric current initial value of steering engine is zero；
2) after waiting a data collection cycle Δ t (such as 120ms), the instantaneous deflection angle A of steering engine is acquiredi；
3) relationship for judging neighbouring deflection angle difference DELTA A twice with 0.001 ° of threshold value, if Δ A > 0.001 °, under
The steering engine error compensation electric current I of data collection cyclei+1=Ii+ Δ I, wherein Δ I is the superposition of data collection cycle next time
Compensation current, it is on the contrary then be transferred to step 4)；
4) compensation current of record this moment completes single compensation testing current；
5) judge whether to complete to compensate testing current three times, if it is not, then return step 1)；If so, to compensation electricity three times
After flow valuve is averaging, the compensation current I as final output is compensated.
That is, in embodiments herein, through deflection angle difference twice compared with the size between threshold value,
Whether the compensation electric current to determine current needs to be adjusted, if it is greater, then adjustment, otherwise it will not be adjusted.Therefore, the present embodiment
In, since initial compensation current is zero, after first data collection cycle, compensation electric current can be determined for the first time
Size.It is contemplated that the accuracy of measuring instrument, needs to verify this compensation current, i.e. judgement carries out electric current benefit
Whether the steering engine after repaying meets the required precision of work.Continue to carry out current compensation to it if being unsatisfactory for, until steering engine
Precision meet demand.In the present embodiment, after the compensation electric current that first time determines steering engine, again according to a data acquisition week
The deflection angle difference at phase both ends verifies the precision of steering engine, if the difference is not more than threshold value, illustrates by electricity
The steering engine of stream compensation has worked in normal accuracy rating, if it is greater, then continuing to be modified it.It needs to illustrate
It is, if the difference is not more than threshold value, not need to be modified compensation electric current, that is to say, that compensate the size of electric current not
Become.
In general, compensation current measurement for the first time can be obtained accurate compensation current, therefore the present embodiment
In preferably by three times compensate current measurement result average value as final compensation current.But institute in the present embodiment
This form used is only used as further explanation of the technical solution of the present invention, is not constituted to technical solution of the present invention
Concrete restriction.
Due to the difference of working environment, the operating accuracy of endpiece steering engine requires also have certain difference.For the ease of to this
Inventive technique scheme is illustrated, and in the present embodiment, the operating accuracy requirement of endpiece steering engine is the deviation angle of steering engine in one second
Degree is less than 0.01 °, then it is assumed that steering engine is opposing stationary, within the scope of normal working accuracy.Further, in this embodiment by upper
Required precision is stated to be divided into each data collection cycle, for example, collection period be 120ms when, then require collection period twice
Between error be no more than 0.001 °, in fact, this required precision than one second in steering engine deviation angle less than 0.01 °
It is required that higher, compensation electric current obtained is also more accurate.
In fact, the test process of above-mentioned compensation electric current is also that can be adjusted under higher required precision.Though
It is directed to for this measurement accuracy of " deviation angle of steering engine is less than 0.01 ° in one second " in right the present embodiment, has only used three
Secondary compensation testing current can be obtained an accurate compensation current, but require in higher precision either other
Under some measurement requests (such as environmental impact factor), the testing time of compensation electric current can be changed, it can carry out n times compensation
Testing current, it (includes but is not limited to seek mathematics arithmetic average that the compensation current then measured to this n times, which is averaged,
The average acquired under the forms such as number either linear regression), using the compensation current pair that this average value is final as steering engine
Steering engine compensates.
In addition it is also possible to use the form of dynamic current compensation to steering engine.In the case of steering engine dynamic compensates, every completion
Single compensation testing current, then feed back to steering engine for the compensation current measured, and steering engine is completed primary according to the compensation current
Amendment in real time, then starts compensation testing current next time.
In the present embodiment, it is " deviation angle of steering engine is less than 0.01 ° in one second ", carries out three times in steering engine measurement accuracy
In the case where compensating testing current averaged, it is as follows that steering engine compensates the backstage log information generated during testing current:
2017-12-18 14:55:09.552:-- starts compensating for algorithm --
2017-12-18 14:55:09.552: compensation beginning initial angle: 0.360280
2017-12-18 14:55:09.672: compensating test intermediate angle: 0.357831
2017-12-18 14:55:09.682: compensation addition median: -0.002375
2017-12-18 14:55:09.792: compensating test intermediate angle: 0.352129
2017-12-18 14:55:09.802: compensation addition median: -0.007905
2017-12-18 14:55:09.912: compensating test intermediate angle: 0.354165
2017-12-18 14:55:09.922: compensation addition median: -0.005930
2017-12-18 14:55:10.032: compensating test intermediate angle: 0.364345
2017-12-18 14:55:10.042: compensation addition median: 0.003942
2017-12-18 14:55:10.152: compensating test intermediate angle: 0.359637
2017-12-18 14:55:10.162: compensation addition median: -0.000624
2017-12-18 14:55:10.272: compensating test intermediate angle: 0.359108
14:55:10.272: the 1 compensating test of 2017-12-18 measures offset -0.001286
2017-12-18 14:55:10.292: start the 2nd backoff algorithm
2017-12-18 14:55:12.292:-- starts compensating for algorithm --
2017-12-18 14:55:12.292: compensation beginning initial angle: 0.340719
2017-12-18 14:55:12.412: compensating test intermediate angle: 0.347981
2017-12-18 14:55:12.422: compensation addition median: 0.007043
2017-12-18 14:55:12.532: compensating test intermediate angle: 0.338820
2017-12-18 14:55:12.542: compensation addition median: -0.001841
2017-12-18 14:55:12.652: compensating test intermediate angle: 0.345682
2017-12-18 14:55:12.662: compensation addition median: 0.004813
2017-12-18 14:55:12.772: compensating test intermediate angle: 0.341135
2017-12-18 14:55:12.782: compensation addition median: 0.000404
2017-12-18 14:55:12.892: compensating test intermediate angle: 0.345396
2017-12-18 14:55:12.902: compensation addition median: 0.004536
2017-12-18 14:55:13.012: compensating test intermediate angle: 0.341554
2017-12-18 14:55:13.022: compensation addition median: 0.000810
2017-12-18 14:55:13.132: compensating test intermediate angle: 0.342485
14:55:13.142: the 2 compensating test of 2017-12-18 measures offset 0.001671
2017-12-18 14:55:13.162: start the 3rd backoff algorithm
2017-12-18 14:55:15.162:-- starts compensating for algorithm --
2017-12-18 14:55:15.162: compensation beginning initial angle: 0.347304
2017-12-18 14:55:15.282: compensating test intermediate angle: 0.343882
2017-12-18 14:55:15.292: compensation addition median: -0.003319
2017-12-18 14:55:15.402: compensating test intermediate angle: 0.351724
2017-12-18 14:55:15.412: compensation addition median: 0.004286
2017-12-18 14:55:15.522: compensating test intermediate angle: 0.345894
2017-12-18 14:55:15.532: compensation addition median: -0.001368
2017-12-18 14:55:15.642: compensating test intermediate angle: 0.349435
2017-12-18 14:55:15.652: compensation addition median: 0.002067
2017-12-18 14:55:15.762: compensating test intermediate angle: 0.345437
2017-12-18 14:55:15.772: compensation addition median: -0.001811
2017-12-18 14:55:15.882: compensating test intermediate angle: 0.348528
2017-12-18 14:55:15.892: compensation addition median: 0.001187
2017-12-18 14:55:16.002: compensating test intermediate angle: 0.347331
2017-12-18 14:55:16.012: compensation addition median: 0.000026
2017-12-18 14:55:16.122: compensating test intermediate angle: 0.336906
2017-12-18 14:55:16.132: compensation addition median: -0.010084
2017-12-18 14:55:16.242: compensating test intermediate angle: 0.349460
2017-12-18 14:55:16.252: compensation addition median: 0.002090
2017-12-18 14:55:16.362: compensating test intermediate angle: 0.348758
14:55:16.362: the 3 compensating test of 2017-12-18 measures offset 0.004311
2017-12-18 14:55:16.372: offset 0.001565 is finally measured
2017-12-18 14:55:16.372:-- terminates to compensate current detecting thread --
Wherein, " compensation starts initial angle " refers to steering engine initial deflection angle A0, " compensation addition median " refers to
It is the superimposed compensation current I of data collection cycle next timei+1, " compensating test intermediate angle " is this data acquisition week
The deflection angle A of last moment phasei。
For example, in above-mentioned log information,
2017-12-18 14:55:09.552: compensation beginning initial angle: 0.360280
2017-12-18 14:55:09.672: compensating test intermediate angle: 0.357831
2017-12-18 14:55:09.682: compensation addition median: -0.002375
According to formula Ii+1=Ii+ Δ I and Δ I=K*WiIt can obtain: Ii+1=Ii+K*Wi, wherein the actual value of K is 1.7/
1.753 i.e. Ii+1=0+1.7/1.753* (0.357831-0.360280) ≈ -0.002375.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of current compensation method suitable for endpiece steering engine test macro, which is characterized in that including
S1 steering engine powers on, and acquires the initial deflection angle of steering engine, and by the initial compensation current value zero setting of steering engine；
S2 acquires the instantaneous deflection angle of steering engine after the time of a data collection cycle；
S3 calculates the difference for the steering engine deflection angle that a data collection cycle both ends measure, and is obtained according to the deflection angle difference
The compensation current of steering engine；
S4 carries out angle modification to steering engine using compensation current.
2. a kind of current compensation method suitable for endpiece steering engine test macro according to claim 1, wherein the step
Rapid S3 includes,
S31 calculates the deflection angle difference of two adjacent data collection period；
S32 compares the size of the deflection angle difference and threshold value, if more than then current to steering engine according to the deflection angle difference
Compensation current be modified, otherwise do not change the current compensation current of steering engine.
3. a kind of current compensation method suitable for endpiece steering engine test macro according to claim 1 or 2, wherein institute
It states in step S4 and includes,
S41 obtains N number of steering engine deflection angle difference of any N number of continuous data collection cycle,
S42 successively determines corresponding steering engine compensation current according to the deflection angle difference；
S43 seeks the average value of N number of steering engine compensation current, carries out angle modification to steering engine using the average value.
4. a kind of current compensation method suitable for endpiece steering engine test macro according to claim 2 or 3, wherein institute
Stating threshold value is 0.001 °/120ms.
5. a kind of current compensation method suitable for endpiece steering engine test macro according to any one of claims 1 to 4,
In, it is as follows to steering engine compensation current correction formula according to deflection angle difference in the step S3:
Ii+1=Ii+ΔI；
Wherein, i is current compensation number, and Δ I is the steering engine according to determined by the steering engine deflection angle difference that i-th measurement obtains
The correction value of deflection angle angle value.
6. a kind of current compensation method suitable for endpiece steering engine test macro according to claim 5, wherein the rudder
The correction value of machine deflection angle angle value is dynamic change value, and calculation formula is as follows:
Δ I=KWi；
Wherein, K is the modified proportionality coefficient of current compensation, WiThe mean angular velocity deflected for steering engine in the current data period.
7. a kind of current compensation method suitable for endpiece steering engine test macro according to claim 6, wherein the electricity
Flow the proportionality coefficient calculation formula of compensating approach are as follows:
Wherein, U0For the voltage of steering engine current compensation circuit, R0For the equivalent resistance of steering engine current compensation circuit.
8. a kind of current compensation system suitable for endpiece steering engine test macro, which is characterized in that including
Initialization module is powered on for steering engine, acquires the initial deflection angle of steering engine, and the initial compensation current value of steering engine is set
Zero；
Acquisition module, for after the time of a data collection cycle, acquiring the instantaneous deflection angle of steering engine；
Computing module, for calculating the difference for the steering engine deflection angle that a data collection cycle both ends measure, according to the deflection
The compensation current of angle difference acquisition steering engine；
Compensating module, for carrying out angle modification to steering engine using compensation current.
9. a kind of current compensation system suitable for endpiece steering engine test macro according to claim 8, wherein the meter
Calculating module includes,
Difference block, for calculating the deflection angle difference of two adjacent data collection period；
Judgment module, for comparing the size of the deflection angle difference and threshold value, if more than then according to the deflection angle difference
The compensation current current to steering engine is modified, and does not otherwise change the current compensation current of steering engine.
10. a kind of current compensation system suitable for endpiece steering engine test macro according to claim 8 or claim 9, wherein institute
Stating compensating module includes,
Data module, for obtaining N number of steering engine deflection angle difference of any N number of continuous data collection cycle,
Conversion module, for successively determining corresponding steering engine compensation current according to the deflection angle difference；
Mean module carries out angle to steering engine using the average value and repairs for seeking the average value of N number of steering engine compensation current
Just.
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| CN114261525A (en) * | 2021-12-30 | 2022-04-01 | 中国航天空气动力技术研究院 | Control surface deflection control and measurement system and method |
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