CN101907890A - Method for automatically testing control law of flying control system - Google Patents
Method for automatically testing control law of flying control system Download PDFInfo
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Abstract
The invention belongs to test technologies of flying control systems and relates to improvement on a test method of the control law of the flying control system. The method is developed based on a control law semi-physical bench test system consisting of a flying control computer [1], a steering engine [2], an airplane simulator [3], an angular speed rotary table [4], an angular speed sensor [5], data acquiring and processing equipment [6] and a main console [7]. The method is characterized by comprising the following test steps of: setting initial conditions for automatic test of the control law; and automatically testing the control law. The invention has the advantages of low workload, high efficiency, short time and less possibility on generating the errors.
Description
Technical field
The invention belongs to the flight control system measuring technology, relate to improvement the control law of flying control system method of testing.
Background technology
Present control law of flying control system method of testing is according to stand control law test program, carry out each state of flight of control law test at needs, excitation is handled in the various initialization condition of setting or input test and adding manually respectively, the time domain response of the relevant flight parameter of register system closed loop, according to corresponding time domain criterion, the matching degree of check flight quality and rank; Above-mentioned control law test needs one by one trystate according to the rules, carries out thousands of times operation manually; Its shortcoming is: by finishing manually, workload is big substantially for test process, and efficient is low, and mistake appears in length consuming time easily.
Summary of the invention
The objective of the invention is: propose that a kind of workload is little, efficient is high, the time is short, be not easy to occur the method for automatically testing control law of flying control system of mistake.
Technical scheme of the present invention is: a kind of method for automatically testing control law of flying control system, based on by flight control computer 1, steering wheel 2, flight simulation machine 3, angular speed turntable 4, angular rate sensor 5, data acquisition process equipment 6, the control law semi physical bench test system that master station 7 is formed, flight control computer 1 is connected with master station 7 by cable, reception is from the control command signal of master station 7, the aircraft response signal output part of flight simulation machine 3 is connected with flight control computer 1 corresponding input end by cable, the tri-axis angular rate signal of angular rate sensor 5 is connected with flight control computer 1 corresponding input end respectively, the steering wheel control signal of flight control computer 1 is connected with steering wheel 2 corresponding input ends by cable, the output terminal of the displacement transducer on the steering wheel 2 is connected with flight simulation machine 3 corresponding input ends by cable, the angular speed turntable control signal output ends of flight simulation machine 3 is connected with angular speed turntable 4 corresponding input ends by cable, angular rate sensor 5 is installed on the angular speed turntable 4, the acquired signal input end of data acquisition process equipment 6 by cable respectively with master station 7, steering wheel 2, the acquired signal output terminal of flight simulation machine 3 and angular rate sensor 5 is connected; It is characterized in that the step of test is as follows
1, the automatic test initialization condition setting of control law;
1.1, write the test input file according to the control law test program;
This document is the two-dimensional table format text, has put down in writing the test relevant information, comprises the test duration of state of flight, kind of incentives, excitation size, incentive action time and this state, and this document is write with following form: have 9 row, m is capable, 1≤m≤10000; 1 group of data of every behavior test condition, in every row the 1st classified the sequence number of these group test condition data as, the 2nd classifies Flight Condition Data as, the 3rd classifies a horizontal left side/right depression bar instruction excited data " Dx " as, the 4th classifies course pedal instruction excited data " Dy " as, the 5th classifies as vertically and pushes away/pull bar instruction excited data " Dz ", the 6th classifies angle of attack undesired signal excited data " dalf " as, the 7th classifies excitation input time " t1 " as, the 8th classifies excitation as cancels " t2 " constantly, and the 9th classifies the finish time " t3 " of testing with these group test condition data as;
1.2, will test input file and read in the computing machine that stores test procedure on the master station 7;
1.3, determine other test condition; These test conditions are: gear up/down state, control law be active/standby/and directly chain/air refuelling mode, aircraft routine/extension bullet/auxiliary fuel tank configuration; The method of determining is: by the test procedure assignment is determined other test conditions;
2, carry out the automatic test of control law;
2.1, automatic trim; Flight control computer 1 extracts the test condition data set from the test input file by sequence number, before every group of test condition data are tested, aircraft is carried out trim, the trim initial value is directly got trim bar and the trim rudder face under the state of flight that these group test condition data provide, the result stablizes after 2 seconds and finishes trim, enters the process of the test under this state;
2.2, enter test; With trim finish time be timeorigin, test according to these group test condition data, t1 feeds excitation, t2 and cancels excitation during second during second, t3 is end of test (EOT) during second;
2.3, data storage; After this group test condition data test finishes, test result is stored as document data record successively;
The generation of document data record depends on the test input file, and the number that finally generates data file equals to test the line number of input file, and each document data record is being stored and tested the test result data under corresponding every group of test condition in the input file; Document data record is named according to the sequence number of test condition data successively; In chronological order, served as to store all test datas at interval in the document data record, comprise state of flight, test and excitation, rudder face response and aircraft response information with 0.01 second.Concrete form is divided into two kinds in vertical and horizontal course by the difference of test and excitation, wherein vertical correspondence is actuated to vertically and pushes away/pull bar instruction excited data " Dz " and angle of attack undesired signal excited data " dalf ", horizontal course correspondence is actuated to a horizontal left side/right depression bar instruction excited data " Dx " and course pedal instruction excited data " Dy ", and two kinds of document data record forms are as follows respectively:
Testing longitudinal: have 10 row, t3 * 100 row; In every behavior test this time test data of inscribing; Wherein the 1st classify temporal information as,, increase progressively with 0.01 second, until last 1 row t3 end of test (EOT) second since 0; The 2nd classifies fore-and-aft control bar signal as; The 3rd classifies angle of pitch rate signal as; The 4th classifies the axial acceleration signal as; The 5th classifies the aircraft angle of attack signal as; The 6th classifies horizontal tail defection signal in the same way as; The 7th classifies front part of a Chinese robe or jacket rudder face position signalling as; The 8th classifies altitude signal as; The 9th classifies the Mach number signal as; The 10th classifies angle of pitch signal as;
Horizontal course test: have 11 row, t3 * 100 row; In every behavior test this time test data of inscribing; Wherein the 1st classify temporal information as,, increase progressively with 0.01 second, until last 1 row t3 end of test (EOT) second since 0; The 2nd classifies aircraft yaw angle signal as; The 3rd classifies the roll angle rate signal as; The 4th classifies the yawrate signal as; The 5th classifies the roll angle signal as; The 6th classifies the side direction overload signal as; The 7th classifies flaperon rudder face position signalling as; The 8th classifies the yaw rudder position signalling as; The 9th classifies the horizontal tail differential wave as; The 10th classifies side direction depression bar signal as; The 11st classifies pedal as pedals rudder signal.
2.4, repeating step 2.1 is to step 2.3, carries out the test of next group test condition data, up to the test of finishing all test condition data sets.
Advantage of the present invention is: workload is little, the efficient height, and the time is short, is not easy to occur mistake.Evidence, adopt method of the present invention after, a test duration of taking turns control law shortened in one day from least seven days.
Description of drawings
Fig. 1 is the structural representation of control law of flying control system test macro.
Embodiment
Below the present invention is described in further details.A kind of method for automatically testing control law of flying control system, based on by flight control computer 1, steering wheel 2, flight simulation machine 3, angular speed turntable 4, angular rate sensor 5, data acquisition process equipment 6, the control law semi physical bench test system that master station 7 is formed, flight control computer 1 is connected with master station 7 by cable, reception is from the control command signal of master station 7, the aircraft response signal output part of flight simulation machine 3 is connected with flight control computer 1 corresponding input end by cable, the tri-axis angular rate signal of angular rate sensor 5 is connected with flight control computer 1 corresponding input end respectively, the steering wheel control signal of flight control computer 1 is connected with steering wheel 2 corresponding input ends by cable, the output terminal of the displacement transducer on the steering wheel 2 is connected with flight simulation machine 3 corresponding input ends by cable, the angular speed turntable control signal output ends of flight simulation machine 3 is connected with angular speed turntable 4 corresponding input ends by cable, angular rate sensor 5 is installed on the angular speed turntable 4, the acquired signal input end of data acquisition process equipment 6 by cable respectively with master station 7, steering wheel 2, the acquired signal output terminal of flight simulation machine 3 and angular rate sensor 5 is connected; It is characterized in that the step of test is as follows
1, the automatic test initialization condition setting of control law;
1.1, write the test input file according to the control law test program;
This document is the two-dimensional table format text, has put down in writing the test relevant information, comprises the test duration of state of flight, kind of incentives, excitation size, incentive action time and this state, and this document is write with following form: have 9 row, m is capable, 1≤m≤10000; 1 group of data of every behavior test condition, in every row the 1st classified the sequence number of these group test condition data as, the 2nd classifies Flight Condition Data as, the 3rd classifies a horizontal left side/right depression bar instruction excited data " Dx " as, the 4th classifies course pedal instruction excited data " Dy " as, the 5th classifies as vertically and pushes away/pull bar instruction excited data " Dz ", the 6th classifies angle of attack undesired signal excited data " dalf " as, the 7th classifies excitation input time " t1 " as, the 8th classifies excitation as cancels " t2 " constantly, and the 9th classifies the finish time " t3 " of testing with these group test condition data as;
1.2, will test input file and read in the computing machine that stores test procedure on the master station 7;
1.3, determine other test condition; These test conditions are: gear up/down state, control law be active/standby/and directly chain/air refuelling mode, aircraft routine/extension bullet/auxiliary fuel tank configuration; The method of determining is: by the test procedure assignment is determined other test conditions;
2, carry out the automatic test of control law;
2.1, automatic trim; Flight control computer 1 extracts the test condition data set from the test input file by sequence number, before every group of test condition data are tested, aircraft is carried out trim, the trim initial value is directly got trim bar and the trim rudder face under the state of flight that these group test condition data provide, the result stablizes after 2 seconds and finishes trim, enters the process of the test under this state;
2.2, enter test; With trim finish time be timeorigin, test according to these group test condition data, t1 feeds excitation, t2 and cancels excitation during second during second, t3 is end of test (EOT) during second;
2.3, data storage; After this group test condition data test finishes, test result is stored as document data record successively
The generation of document data record depends on the test input file, and the number that finally generates data file equals to test the line number of input file, and each document data record is being stored and tested the test result data under corresponding every group of test condition in the input file; Document data record is named according to the sequence number of test condition data successively; In chronological order, served as to store all test datas at interval in the document data record, comprise state of flight, test and excitation, rudder face response and aircraft response information with 0.01 second.Concrete form is divided into two kinds in vertical and horizontal course by the difference of test and excitation, wherein vertical correspondence is actuated to vertically and pushes away/pull bar instruction excited data " Dz " and angle of attack undesired signal excited data " dalf ", and horizontal course correspondence is actuated to a horizontal left side/right depression bar instruction excited data " Dx " and course pedal instruction excited data " Dy "; Two kinds of document data record forms are as follows respectively:
Testing longitudinal: have 10 row, t3 * 100 row; In every behavior test this time test data of inscribing; Wherein the 1st classify temporal information as,, increase progressively with 0.01 second, until last 1 row t3 end of test (EOT) second since 0; The 2nd classifies fore-and-aft control bar signal as; The 3rd classifies angle of pitch rate signal as; The 4th classifies the axial acceleration signal as; The 5th classifies the aircraft angle of attack signal as; The 6th classifies horizontal tail defection signal in the same way as; The 7th classifies front part of a Chinese robe or jacket rudder face position signalling as; The 8th classifies altitude signal as; The 9th classifies the Mach number signal as; The 10th classifies angle of pitch signal as;
Horizontal course test: have 11 row, t3 * 100 row; In every behavior test this time test data of inscribing; Wherein the 1st classify temporal information as,, increase progressively with 0.01 second, until last 1 row t3 end of test (EOT) second since 0; The 2nd classifies aircraft yaw angle signal as; The 3rd classifies the roll angle rate signal as; The 4th classifies the yawrate signal as; The 5th classifies the roll angle signal as; The 6th classifies the side direction overload signal as; The 7th classifies flaperon rudder face position signalling as; The 8th classifies the yaw rudder position signalling as; The 9th classifies the horizontal tail differential wave as; The 10th classifies side direction depression bar signal as; The 11st classifies pedal as pedals rudder signal.
2.4, repeating step 2.1 is to step 2.3, carries out the test of next group test condition data, up to the test of finishing all test condition data sets.
Embodiment 1:
1, the automatic test initialization condition setting of control law;
1.1, write following test input file;
Sequence number state of flight Dx Dy Dz alf t1 t2 t3
0001 0003 20?0 0 0 1 3 10
… … …?…?…?… …?…?…
1.2, above-mentioned file is read in the computing machine that stores test procedure on the master station 7;
1.3, determine other test condition;
2, carrying out control law tests automatically;
2.1, automatic trim;
2.2, enter automatic test;
2.3, according to the test input file, be the data file of following form with test result stored record successively;
0001.dat：
The differential cross bar pedal of time yaw angle roll angle speed yawrate roll angle side direction overload flaperon yaw rudder horizontal tail
0.01000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000
0.02000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000
… … … … … … … … … … …
1.01000 0.00000 -0.00057 0.00003 -0.00000 -0.00011 0.02176 0.00000 0.00035 20.00000?0.00000
1.02000 0.00000 -0.00562 0.00027 -0.00003 -0.00053 0.10706 0.00000 0.00324 20.00000?0.00000
… … … … … … … … … … …
3.01000 -0.66381 -5.68143 0.83301 -9.07626 0.01092 0.78571 0.12450 0.70918 0.00000 0.00000
3.02000 -0.66873 -5.67037 0.83793 -9.13384 0.01112 0.76395 0.12493 0.70930 0.00000 0.00000
… … … … … … … … … … …
9.99000 -0.32228 0.81951 0.68575 -8.94515 0.00676 0.00000 0.00077 0.03782 0.00000 0.00000
10.00000?-0.32272 0.82413 0.68665 -8.93761 0.00676 0.00000 0.00107 0.03809 0.00000 0.00000
Embodiment 2:
1, the automatic test initialization condition setting of control law;
1.1, write following test input file;
Sequence number state of flight Dx Dy Dz a1f t1 t2 t3
0001 0004 30 0 0 0 1 3 10
… … … … … … … … …
1.2, above-mentioned file is read in the computing machine that stores test procedure on the master station 7;
1.3, determine other test condition;
2, carrying out control law tests automatically;
2.1, automatic trim;
2.2, enter automatic test;
2.3, according to the test input file, be the data file of following form with test result stored record successively;
0001.dat：
The differential cross bar pedal of time yaw angle roll angle speed yawrate roll angle side direction overload flaperon yaw rudder horizontal tail
0.01000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000
0.02000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000
… … … … … … … … … … …
1.01000 0.00000 -0.00101 0.00005 -0.00000 -0.00019 0.02176 0.00000 0.00035 30.00000?0.00000
1.02000 0.00001 -0.00998 0.00049 -0.00005 -0.00096 0.10706 0.00000 0.00324 30.00000?0.00000
… … … … … … … … … … …
3.01000 -0.34102 -9.32884 0.99996 -14.47315?0.00884 0.78571 0.13852 0.52841 0.00000 0.00000
3.02000 -0.34487 -9.31973 1.00550 -14.56684?0.00916 0.76395 0.13899 0.52839 0.00000 0.00000
… … … … … … … … … … …
9.99000 -0.21771 0.74131 1.07792 -15.29524?0.00876 0.00000 0.01512 0.03685 0.00000 0.00000
10.00000?-0.21720 0.74140 1.07861 -15.28830?0.00875 0.00000 0.01524 0.03689 0.00000 0.00000
1, the automatic test initialization condition setting of control law;
1.1, write following test input file;
Sequence number state of flight Dx Dy Dz alf t1 t2 t3
0001 0506 0 0 60 0 1 3 10
… … … … … … … … …
1.2, above-mentioned file is read in the computing machine that stores test procedure on the master station 7;
1.3, determine other test condition;
2, carrying out control law tests automatically;
2.1, automatic trim;
2.2, enter automatic test;
2.3, according to the test input file, be the data file of following form with test result stored record successively;
0001.dat：
The time vertical pole is handled the angle of pitch speed axial acceleration angle of attack horizontal tail front part of a Chinese robe or jacket height Mach number angle of pitch in the same way
0.000000 30.810890?0.011197 1.017089 1.640179 1.976686 -0.438175?5000.000000 0.600000 1.639969
0.010000 30.810890?0.018556 1.009561 1.640451 2.095598 -0.368052?5000.000000 0.600000 1.640104
0.020000 30.810890?0.029902 1.002419 1.640923 2.208629 -0.223064?5000.000000 0.600000 1.640366
… … … … … … … … … …
1.000000 90.810890?0.284889 1.060074 1.814415 2.206293 -0.397545?5000.000000 0.600000 1.886068
1.010000 90.810890?0.274111 1.046967 1.815404 2.421398 -0.097874?5000.000000 0.600000 1.888860
1.020000 90.810890?0.278661 1.058931 1.816640 2.238115 -0.462924?5000.000000 0.600000 1.891623
… … … … … … … … … …
3.000000 90.810890?-28.172393 -7.879887 -26.681199?-8.749605?-0.190684?5000.000000 0.600000 -53.462342
3.010000 30.810890?-28.047202 -7.896871 -26.697499?-8.599435?-0.191096?5000.000000 0.600000 -53.743414
3.020000 30.810890?-27.915988 -7.882219 -26.712283?-8.942313?-0.429512?5000.000000 0.600000 -54.023253
… … … … … … … … … …
9.980000 30.810890?0.184234 1.042753 1.791167 2.372979 -0.150672?5000.000000 0.600000 -52.883306
9.990000 30.810890?0.188370 1.053514 1.791702 2.204923 -0.367846?5000.000000 0.600000 -52.881452
The foregoing description has all improved testing efficiency greatly.
Claims (1)
1. method for automatically testing control law of flying control system, based on by flight control computer [1], steering wheel [2], flight simulation machine [3], angular speed turntable [4], angular rate sensor [5], data acquisition process equipment [6], the control law semi physical bench test system that master station [7] is formed, flight control computer [1] is connected with master station [7] by cable, reception is from the control command signal of master station [7], the aircraft response signal output part of flight simulation machine [3] is connected by the corresponding input end of cable and flight control computer [1], the tri-axis angular rate signal of angular rate sensor [5] is connected with the corresponding input end of flight control computer [1] respectively, the steering wheel control signal of flight control computer [1] is connected by the corresponding input end of cable and steering wheel [2], the output terminal of the displacement transducer on the steering wheel [2] is connected by the corresponding input end of cable and flight simulation machine [3], the angular speed turntable control signal output ends of flight simulation machine [3] is connected by the corresponding input end of cable and angular speed turntable [4], angular rate sensor [5] is installed on the angular speed turntable [4], the acquired signal input end of data acquisition process equipment [6] by cable respectively with master station [7], steering wheel [2], flight simulation machine [3] is connected with the acquired signal output terminal of angular rate sensor [5]; It is characterized in that the step of test is as follows:
1.1, the automatic test initialization condition setting of control law;
1.1.1, write the test input file according to the control law test program;
This document is the two-dimensional table format text, has put down in writing the test relevant information, comprises the test duration of state of flight, kind of incentives, excitation size, incentive action time and this state, and this document is write with following form: have 9 row, m is capable, 1≤m≤10000; 1 group of data of every behavior test condition, in every row the 1st classified the sequence number of these group test condition data as, the 2nd classifies Flight Condition Data as, the 3rd classifies a horizontal left side/right depression bar instruction excited data " Dx " as, the 4th classifies course pedal instruction excited data " Dy " as, the 5th classifies as vertically and pushes away/pull bar instruction excited data " Dz ", the 6th classifies angle of attack undesired signal excited data " dalf " as, the 7th classifies excitation input time " t1 " as, the 8th classifies excitation as cancels " t2 " constantly, and the 9th classifies the finish time " t3 " of testing with these group test condition data as;
1.1.2, will test input file and read on the master station [7] and store in the computing machine of test procedure;
1.1.3, determine other test condition; These test conditions are: gear up/down state, control law be active/standby/and directly chain/air refuelling mode, aircraft routine/extension bullet/auxiliary fuel tank configuration; The method of determining is: by the test procedure assignment is determined other test conditions;
1.2, carry out the automatic test of control law;
1.2.1, automatic trim; Flight control computer [1] extracts the test condition data set from the test input file by sequence number, before every group of test condition data are tested, aircraft is carried out trim, the trim initial value is directly got trim bar and the trim rudder face under the state of flight that these group test condition data provide, the result stablizes after 2 seconds and finishes trim, enters the process of the test under this state;
1.2.2, enter test; With trim finish time be timeorigin, test according to these group test condition data, t1 feeds excitation, t2 and cancels excitation during second during second, t3 is end of test (EOT) during second;
1.2.3, data storage; After this group test condition data test finishes, test result is stored as document data record successively; The generation of document data record depends on the test input file, and the number that finally generates data file equals to test the line number of input file, and each document data record is being stored and tested the test result data under corresponding every group of test condition in the input file; Document data record is named according to the sequence number of test condition data successively; In chronological order, served as to store all test datas at interval in the document data record, comprise state of flight, test and excitation, rudder face response and aircraft response information with 0.01 second; Concrete form is divided into two kinds in vertical and horizontal course by the difference of test and excitation, wherein vertical correspondence is actuated to vertically and pushes away/pull bar instruction excited data " Dz " and angle of attack undesired signal excited data " dalf ", and horizontal course correspondence is actuated to a horizontal left side/right depression bar instruction excited data " Dx " and course pedal instruction excited data " Dy ".Two kinds of document data record forms are as follows respectively:
Testing longitudinal: have 10 row, t3 * 100 row; In every behavior test this time test data of inscribing; Wherein the 1st classify temporal information as,, increase progressively with 0.01 second, until last 1 row t3 end of test (EOT) second since 0; The 2nd classifies fore-and-aft control bar signal as; The 3rd classifies angle of pitch rate signal as; The 4th classifies the axial acceleration signal as; The 5th classifies the aircraft angle of attack signal as; The 6th classifies horizontal tail defection signal in the same way as; The 7th classifies front part of a Chinese robe or jacket rudder face position signalling as; The 8th classifies altitude signal as; The 9th classifies the Mach number signal as; The 10th classifies angle of pitch signal as;
Horizontal course test: have 11 row, t3 * 100 row; In every behavior test this time test data of inscribing; Wherein the 1st classify temporal information as,, increase progressively with 0.01 second, until last 1 row t3 end of test (EOT) second since 0; The 2nd classifies aircraft yaw angle signal as; The 3rd classifies the roll angle rate signal as; The 4th classifies the yawrate signal as; The 5th classifies the roll angle signal as; The 6th classifies the side direction overload signal as; The 7th classifies flaperon rudder face position signalling as; The 8th classifies the yaw rudder position signalling as; The 9th classifies the horizontal tail differential wave as; The 10th classifies side direction depression bar signal as; The 11st classifies pedal as pedals rudder signal.
1.2.4, repeating step 1.2.1 is to step 1.2.3, carries out the test of next group test condition data, up to the test of finishing all test condition data sets.
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