CN101988866B - Force fighting control law testing device - Google Patents

Force fighting control law testing device Download PDF

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Publication number
CN101988866B
CN101988866B CN200910055802.1A CN200910055802A CN101988866B CN 101988866 B CN101988866 B CN 101988866B CN 200910055802 A CN200910055802 A CN 200910055802A CN 101988866 B CN101988866 B CN 101988866B
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control law
power
test
testing device
tested
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CN101988866A (en
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赵京洲
马显超
廖军辉
王兴波
张京津
徐德胜
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Commercial Aircraft Corp of China Ltd
Shanghai Aircraft Design and Research Institute Commercial Aircraft Corporation of China Ltd
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Commercial Aircraft Corp of China Ltd
Shanghai Aircraft Design and Research Institute Commercial Aircraft Corporation of China Ltd
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Abstract

The invention relates to a force fighting control law testing device, comprising a test controller, an actuation simulating system and a force fighting regulating controller; wherein the test controller is used for loading control law to be tested and outputting test result in test process; the actuation simulating system comprises an actuator and a dummy load, can produce and bear force fighting and is used for simulating a force fighting environment required by the test; the force fighting regulating controller comprises an operation module and is used for regulating force fighting condition in the actuation simulating system by virtue of the control law which is required to be tested and is loaded by the test controller; and the test controller, the actuation simulating system and the force fighting regulating controller are mutually connected. The testing device of the invention is adopted to conveniently load various control laws to be tested, and corresponding force comprehensive actuating system is simulated, so that the performance of a newly designed force fighting control law can be accurately tested.

Description

Power fighting control law testing device
Technical field
The present invention relates to power dispute test field, be specifically related to a kind of device that power fighting control law is tested.
Background technology
In the time that the moving component of the large quality of large scale is operated, often need to apply operating physical force to moving component by multichannel functional unit simultaneously.For example, in the time that Aircraft Main rudder face is operated, normally provide and be used as power simultaneously by 2-3 hydraulic actuator.Like this, the error under accumulation due to the difference of each functional unit self dynamic response capability and while manufacturing assembling may exist small asynchronous between each functional unit.
If the rigidity of moving component is not high, these asynchronously can, by the deformation of parts self " absorption ", can not cause any impact to moving component so.But in the situation that moving component rigidity is higher, because moving component self is not easy to produce deformation, will cause " power dispute " phenomenon between functional unit.The appearance repeatedly of power dispute phenomenon, can cause metal fatigue, and long time integration is easy to cause the fatigue breakdown of moving component.For convenience of description, moving component and the common device forming of multiple functional unit are called to the comprehensive actuating system of power herein.
In order to slow down this power dispute phenomenon, just need to use power dispute slowing device.As in the Chinese patent of Granted publication CN 1202360C, disclose a kind of for " multi-path synchronous hydraulic servo driving device " that slow down or elimination power is disputed, its principle of work is, introduce difference (DDP) between multiple hydraulic means two chamber pressure reduction (DP) as close-loop feedback control parameter, then passing ratio integral element forms the negative displacement increment instruction to leading hydraulic means and the positive displacement increment instruction to hysteresis hydraulic means, thereby by reducing the asynchronous power of the slowing down dispute between hydraulic actuator.
For various power dispute slowing device, its core is all control law wherein.Control law herein refers to the operation relation that the power dispute situation in the comprehensive actuating system of power is regulated, and after its introducing power dispute feedback parameter, it is carried out to computing, then draws adjusting control signal to be exported.Wherein, the selection of control law parameter is most important to the performance of power dispute slowing device, and is directly connected to the security of the comprehensive actuating system of power.
In design control law, the method adopting is that power as required dispute adjusting function is by the counter parameters of releasing control law of mathematical method.But the result of mathematical computations can not be served as the final argument of device design.Owing to always can neglecting some influence factors in theory calculating, therefore the theoretical control law that calculates generation can be different from existing of actual needs.At this moment just need to test control law, thereby to determine that its actual serviceability adjusts control law.
Summary of the invention
Object of the present invention is exactly in order to address the above problem, thereby a set of power fighting control law testing device is provided.It can be written into control law to be tested easily, and treat controlling test rule for the comprehensive actuating system of power simulate, thereby the performance to newly-designed power fighting control law is tested, thereby can adjust targetedly control law parameter according to test findings.
To achieve these goals, the present invention proposes a kind of power fighting control law testing device, comprising: test controller, for being written into control law to be tested, and in process of the test output test result; Simulation actuating system, multiple actuator that it comprises fictitious load and fictitious load is loaded simultaneously, can produce and bearing capacity dispute, thus the power of simulation test dispute environment; Power dispute adjustment control, it is connected with test controller and simulation actuating system respectively, and comprises computing module, and this computing module regulates the power dispute of simulation actuating system for the control law to be tested by being written into by test controller.By this test unit, can provide hardware supported for power fighting control law, so that various power fighting control law is tested, to verify its effect.
Further, actuator quantity and the parameter of simulation actuating system, and the rigidity of fictitious load and inertia all can according to control law to be tested for object adjust.For example, by adjusting the rigidity of part and change support carriers the rigidity that can adjust rudder face, can adjust the inertia of simulation rudder face by increasing mass.Adjust by these, can make test unit treat controlling test rule institute for object simulate, thereby improve the accuracy of testing.
Again further, the form that control law to be tested can model is written into, and preferably, by test controller, the model compiling solution of control law to be tested is counted as to executable code, more preferably, test controller can adopt MATLAB/SIMULINK modeling tool.
Again further, test controller can log, so that test effect is analyzed afterwards.
Again further, test controller comprises emergency tripping device, thereby ends in time test by emergency tripping device in the time there are to cause the abnormal conditions of system damage.
Further, simulation actuating system also can comprise RVDT signal simulation circuit or driving cabin control sensor, also can comprise two kinds of parts simultaneously and switch, to produce the required flight operation instruction of test.
Brief description of the drawings
, by by being only mode for example, with reference to accompanying drawing, embodiments of the invention are described now, wherein:
Fig. 1 has shown the system connection layout of power fighting control law testing device according to the preferred embodiment of the present invention.
Embodiment
Those skilled in the art below the method to the preferred embodiment for the present invention are described, so that can have more clearly and understand to advantage of the present invention.
In a preferred embodiment, power fighting control law testing device comprises three major parts: test controller, power dispute adjustment control and simulation actuating system, connect by Ethernet between each several part.
Wherein, what the test controller in present embodiment adopted is commercial PC computer, and adopt MATLAB/SIMULINK model development instrument and model compiler, be used for being written into control law to be tested and control law compiling solution to be tested is counted as to executable code, again executable code is sent to power dispute adjustment control, and can in process of the test, monitors, record the test findings of power dispute adjustment control output and simulate DDP value, ACE bus data and the flight operation instruction etc. in actuating system.In addition, can also pass through test controller input control order.
Testing crew weaves after model according to control law to be tested, be loaded in power dispute adjustment control, and can resolve this model by software, also data and process in can testing by this system real time monitoring, and end in time test by emergency shutoff device in the time there are to cause the abnormal conditions of system damage.In addition, testing crew can also be transferred test figure and the reprocessing analysis of doing things by this system after off-test.
The structure of the power dispute slowing device using in the power dispute adjustment control in present embodiment and prior art is basic identical, all comprises pressure difference transducer (not shown), DDP interface circuit, test interface circuit, wave filter, limiter and computing module.
Wherein, the pressure differential between two hydraulic actuator A, the B that differential pressure pickup can be used in detection simulation actuating system, two hydraulic cylinders separately, thus form initial actuator Pressure difference feedback DP aand DP b.
DDP interface circuit is for the DP gathering and demodulation differential pressure pickup is exported aand DP belectric signal, then obtains DDP data through subtraction, thus by the work at present condition feedback of two hydraulic actuator A, B to the power adjustment control of disputing, the basis regulating as power dispute.
Test interface circuit is for the power dispute conditioning signal of formation is outputed to actuator electronic-controlled installation ACE, thus the steering order of formation to hydraulic actuator.
Wave filter can be used for eliminating the clutter of inputting with DP electric signal, can make the result of test more accurate; Limiter is for limiting the amplitude of output signal, and the first is for fear of destructive test equipment, and it two is that the degree that regulates for fear of power dispute is too violent.
Data operation module, regulates the power dispute situation of simulation actuating system for the control law to be tested by being written into by test controller, to eliminate the DDP value in simulation actuating system.The difference of the computing module of itself and usual forces dispute slowing device is, it does not have built-in certain force fighting control law, but be written into the control law executable code having resolved from test controller by Ethernet, thereby realize easily the replacement of control law.
Principle and the structure of the simulation actuating system in present embodiment and the general comprehensive actuating system of power are roughly the same, comprise fictitious load (for example simulating rudder face), multiple (for example two) hydraulic actuator, multiple (for example two) actuator electronic-controlled installation ACE of power dispute, and RVDT signal simulation circuit or driving cabin control sensor, thereby can simulate control law to be tested for power dispute environment.
Wherein simulate rudder face and there is large rigidity and size, and be subject to the loading of two hydraulic actuators simultaneously, thereby be easy to generation power dispute phenomenon, be applicable to providing experimental enviroment.And, in order to simulate easily various experimental enviroments, thereby various control laws to be tested are tested, in this preferred implementation, rigidity and the inertia of simulation rudder face can regulate arbitrarily.For example, by adjusting the rigidity of part and change support carriers the rigidity that can adjust rudder face, can adjust the inertia of simulation rudder face by increasing mass.Adjust by these, the characteristic that can make to simulate rudder face and control law to be tested for the comprehensive actuating system of power in rudder face characteristic consistent, further improve thereby make to test accuracy.
And as described above, in simulation actuating system, by the same simulation rudder face of two hydraulic actuator A, B manipulation in parallel, its total power output is each actuator power output sum.The size being used as power is by regulating the carry-out bit in-migration of actuator indirectly to regulate by actuator electronic-controlled installation ACE.On two actuator A, B, there is respectively position transducer (not shown), so that the location parameter of actuator is fed back to electronic-controlled installation ACE.On two actuator A, B, also connect respectively differential pressure pickup (not shown), it can measure the pressure reduction DP between two hydraulic cylinders of each actuator aand DP b, then by Ethernet, pressure difference is transported to associated components, for example DDP circuit interface.
Wherein, the parameter of quantity, parameter (damping, rigidity, quality and the inertia of for example actuator) and the actuator electronic-controlled installation ACE of actuator all can according to control law to be tested for object adjust so that test result more accurate.
In addition, in this preferred implementation, actuator electronic-controlled installation ACE both can connect RVDT signal simulation circuit, also can connect driving cabin control sensor, or was connected with the two and switches easily by modes such as switches simultaneously.The function of these two assemblies is identical, is all the flight operation instruction for simulation is provided to ACE, thereby the hydraulic actuator of simulation rudder face is controlled.Just the two is different in mode, and the test function of realizing is also not quite similar.
RVDT signal simulation circuit is the flight operation instruction that generates voluntarily simulation by circuit, such as, owing to can generating the control signal (square wave or sinusoidal signal etc.) of various rules, therefore be generally used for standardized test, to compare and adjust between multiple control law.
And driving cabin control sensor can be connected with the operating rod of simulator cockpit, thereby obtain the various operational orders that pilot does, and approach real control signal for ACE provides.Like this, can carry out more true and comprehensively inspection to the performance of control law, the accuracy of test is further improved.
Below will be taking single test as example, the process of the test of the power fighting control law testing device to the preferred embodiment for the present invention is described, more to know its advantage.
Preparatory stage before test, is first loaded into the model of control law to be tested in test controller, and according to this control law adjust for the parameter of clarification of objective simulation rudder face, hydraulic actuator A, B and ACE in actuating system to simulation.Fixture or the base for supporting that for example can simulate rudder face by adjustment are adjusted its rigidity, adjust the inertia of simulation rudder face by increase and decrease mass, can also adjust by adjusting pot open loop gain and the closed loop gain of ACE.In addition, can also select to provide flight control instruction with RVDT signal simulation circuit or driving cabin control sensor according to the object of test, for example, in this test, obtain flight control instruction by the control sensor of simulator cockpit.
Then, by test controller, the control law to be tested being written into is resolved, and the executable code of formation control rule, then executable code is transferred to the computing module of power dispute adjustment control by Ethernet.Power dispute adjustment control has just formed complete power dispute regulating device after obtaining the control law through resolving, thereby can regulate the power dispute phenomenon in simulation actuating system.
After on-test, testing crew is made various flare maneuvers in simulator cockpit, and two driving cabin control sensors are surveyed these actions simultaneously, and produce corresponding flight control instruction, output to respectively in coupled ACE.ACE receives after flight control instruction, is flowed to again coupled hydraulic actuator, finally by these two hydraulic actuator A, B, simulation rudder face is loaded jointly.
Now, due to the difference of two actuator A, B self dynamic response capability with manufacture the error of accumulation while installation, probably form two motions between hydraulic actuator A, B asynchronous.And because simulation rudder face has large rigidity, be difficult to occur elastic deformation and absorb that this is asynchronous, therefore just between two hydraulic actuator A, B, form power dispute.
After power dispute produces, the differential pressure pickup of power dispute adjustment control is by the poor DP of cylinder pressure of two hydraulic actuator A, B aand DP bafter collection, be input in DDP interface circuit, here, DDP interface circuit calculates DP aand DP bdifference DDP, and it is transferred in computing module by wave filter.
Now, in computing module, there is the executable code of the control law after resolving, only the value substitution of DDP wherein need have been calculated, can obtain now required DDP regulating command.Then, DDP regulating command, by after limiter amplitude limit, exports in ACE via test interface circuit.
Next, ACE carries out the DDP regulating command receiving and the flight operation instruction being obtained by driving cabin control sensor comprehensively, then end product is flowed to corresponding hydraulic actuator, thereby forms close-loop feedback control.Meanwhile, differential pressure pickup again gathers the pressure differential in two actuator and starts next FEEDBACK CONTROL circulation.
When obtaining after abundant test figure, close simulation actuating system and power dispute adjustment control, then recall and carry out computational analysis being recorded in test figure in test controller.
It will be appreciated that, content of the present invention is not limited to the content in embodiment, but can adopt any optional scheme.Those skilled in the art can expect various modifications easily, and these schemes all should be protected as content of the present invention.

Claims (9)

1. a power fighting control law testing device, comprising:
Test controller, for being written into control law to be tested, and in process of the test output test result;
Simulation actuating system, multiple actuator that it comprises fictitious load and described fictitious load is loaded simultaneously, can produce and bearing capacity dispute, thus the required power dispute environment of simulation test;
Power dispute adjustment control, it is connected with described test controller and simulation actuating system respectively, and comprise computing module, this computing module regulates the power dispute of described simulation actuating system for the control law described to be tested by being written into by test controller.
2. power fighting control law testing device as claimed in claim 1, is characterized in that, the actuator quantity of described simulation actuating system and parameter can according to control law to be tested for object adjust.
3. power fighting control law testing device as claimed in claim 1, is characterized in that, the rigidity of described fictitious load and inertia can according to control law to be tested for object adjust.
4. the power fighting control law testing device as described in any one in claim 1-3, is characterized in that, described control law to be tested is written into the form of model.
5. power fighting control law testing device as claimed in claim 4, is characterized in that, described test controller resolves to form executable code by the model compiling of described control law to be tested.
6. power fighting control law testing device as claimed in claim 4, is characterized in that, described test controller adopts MATLAB/SIMULINK modeling tool.
7. the power fighting control law testing device as described in any one in claim 1-3, is characterized in that, described test controller can log.
8. the power fighting control law testing device as described in any one in claim 1-3, is characterized in that, described test controller comprises can be by the emergency tripping device of simulation actuating system and the disconnection of power dispute adjustment control.
9. the power fighting control law testing device as described in claim 1-3 any one, is characterized in that, described simulation actuating system also comprises RVDT signal simulation circuit and/or driving cabin control sensor, to produce the required flight operation instruction of test.
CN200910055802.1A 2009-07-31 2009-07-31 Force fighting control law testing device Active CN101988866B (en)

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CN103558050B (en) * 2013-11-21 2015-11-04 北京航空航天大学 A kind of Multifunctional load stimulation test stand
CN106482972B (en) * 2016-10-26 2018-12-14 北京航空航天大学 A kind of binary channels Electromechanical Actuators experimental facilities
CN109426140B (en) * 2017-08-25 2022-02-01 南京理工大学 SIMULINK-based load simulator parameter influence degree analysis method

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CN1458425A (en) * 2003-05-30 2003-11-26 北京航空航天大学 Multi-path synchronous hydraulic servo driving device
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