CN102141468B - Two-degree-of-freedom control lever drive test device and control method thereof - Google Patents
Two-degree-of-freedom control lever drive test device and control method thereof Download PDFInfo
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- CN102141468B CN102141468B CN2010106007434A CN201010600743A CN102141468B CN 102141468 B CN102141468 B CN 102141468B CN 2010106007434 A CN2010106007434 A CN 2010106007434A CN 201010600743 A CN201010600743 A CN 201010600743A CN 102141468 B CN102141468 B CN 102141468B
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Abstract
The invention relates to a two-degree-of-freedom control lever driving test device which comprises a mechanical part, wherein the mechanical part comprises a mechanical table body, an outer frame, an inner frame, a control lever clamp and a stress relief mechanism. According to the control rod driving test device, the control rod is arranged on the two-axis motion platform, and the control rod mechanism is driven to simultaneously carry out independent or coupled motion of the pitching shaft and the rolling shaft; when the device is installed, the intersection points of the rotating shaft of the operating lever, the rotating axis of the outer frame and the rotating axis of the inner frame are ensured to be superposed, and the operating lever is prevented from being damaged due to excessive stress generated in the operating lever in the motion process; the stress of the operating lever generated by mechanical error is eliminated by adopting a stress eliminating mechanism at the joint of the operating lever and the inner frame, so that the operating lever mechanism is protected; mechanical stop blocks are arranged at the inner frame and the outer frame to prevent the operating lever from generating sharp deviation and being damaged in the moving process. The invention also relates to a control method of the two-degree-of-freedom joystick drive test device.
Description
Technical field
The present invention relates to a kind of joystick-driven experiment device and control method thereof.
Background technology
The application of side lever catanator on civil aircraft is an obvious trend.With respect to traditional center rod/dish maneuverability pattern, the side lever operating rod has following advantage: thus lightweight, save installing space, be easy to dismounting and reduce maintenance cost, reduce pilot work load etc.Air Passenger series aircraft driving cabin control system has adopted the manipulation input of passive type side lever mechanism as roll, pitching system, and the driver realizes the relevant axis' control of aircraft by horizontal, the lengthwise movement of control side lever.
The introducing of side lever operating rod has also proposed Secretary to test method and the equipment of side lever.In seaworthiness demonstration test, ground simulation test, the demand motive side lever is finished side lever and is handled the projects such as force-displacement behavior test, frequency response test, step response test, and the work such as fault reproduction in need to making a flight test.Therefore need are strong by controllability, precision is high, the driving mechanism of good stability drives side lever and carries out the motion of true-to-shape, to satisfy the requirement of ground simulation test.
Existing side lever driving mechanism be single degree of freedom joystick driver mechanism shown in Fig. 6 is exemplary, linear actuator 61 drives single degree of freedom operating rod 62 by jockey and seesaws, and realizes the single-degree-of-freedom of operating rod 62 is driven.
Because side lever mechanism has two axial freedoms of motion simultaneously, it is a kind of typical two degrees of freedom operating rod, adopt the driving mechanism of traditional single degree of freedom can't realize two coupled motions between axially, can't verify the impact of the axial steering order cross-coupled pair of side lever aircraft control.
Summary of the invention
The object of the invention is to overcome existing above-mentioned shortcoming in the existing design, a kind of new two degrees of freedom joystick driver device is provided.
In order to achieve the above object, joystick-driven experiment device of the present invention includes mechanical part, and described mechanical part provides installation and the motion stand of two degrees of freedom operating rod, thereby so that the two degrees of freedom operating rod reliably, stably be installed on the motion platform.
Described mechanical part comprises mechanical stage body, housing, inside casing, operating rod anchor clamps, strain relief mechanism.
The mechanical stage body is used for installing two degrees of freedom operating rod and internal and external frames.Mechanical stage body is fixed in the housing rotating shaft, the rotating shaft of described housing and the pitching of two degrees of freedom operating rod or roll rotating shaft intersect at the pivotal point of two degrees of freedom operating rod, the preferred form that adopts circle frame or square frame (comprising full frame and frame segment), preferably by being arranged on the pitching of housing motor-driven or the motion of roll direction on the housing, here said " pitching " refer to the decline (bowing) of bowing of aircraft, (facing upward) motion of come back rising, namely corresponding to the pivoting action of housing, " roll " swings corresponding to the pivot of inside casing.The inside casing rotating shaft is installed on housing, the rotating shaft of described inside casing and two degrees of freedom operating rod roll (perhaps pitching) rotating shaft intersect at the pivotal point of two degrees of freedom operating rod, the preferred form that adopts circle frame or square frame (comprising full frame and frame segment) is preferably by being arranged on inside casing motor-driven roll (perhaps pitching) the direction motion on the inside casing.The operating rod anchor clamps are connected with transition between the inside casing in order to realize the two degrees of freedom operating rod, and the operating rod anchor clamps are fixedly connected with joystick lever.Strain relief mechanism adopts the coupling assembling that an axially-movable degree of freedom is only arranged, be used for connecting inside casing and operating rod anchor clamps, in order to eliminate the inside casing in motion process, caused by machine error and the stress between the operating rod anchor clamps, can not side-to-side movement so that the operating rod anchor clamps can only move up and down in the inside casing junction.Preferably, described strain relief mechanism is the coupling assembling that is made of sliding bearing or rolling bearing and axle sleeve.
Preferably, described two-freedom-degree joystick-driven experiment device is provided with the mechanical stop piece in the junction of described internal and external frames junction and described housing and described mechanical stage body, prevents from producing suddenly in described control lever movement process partially destroying.
Preferably, described two-freedom-degree joystick-driven experiment device also comprises TT﹠C system, and described TT﹠C system realizes the two degrees of freedom control to operating rod, to the detection of operating rod force-displacement behavior, output signal characteristics.Described TT﹠C system comprises host computer, control system and test macro.Described mechanical part is connected realization by electric machine controller with described internal and external frames motor with the combination of described TT﹠C system.The function of described host computer comprises that keyboard input, LCD demonstration, data communication and supply voltage detect, carry out data interaction and remote monitoring, and described host computer preferably adopts personal computer (PC).Described control system is according to testing requirements, send steering order to the internal and external frames motor by self or external drive signal, power, displacement, the velocity feedback of Real-time Collection internal and external frames motor, the internal and external frames motor is carried out power, displacement, speed closed loop control, and realize the coupled motions of two motors, preferably, described control system comprises signal source, electric machine controller, digital/analog card (D/A card), mould/number conversion card (A/D card), angle demoder, Ethernet, controlling application program.Described test macro is Real-time Collection joystick manipulation power, manipulation displacement, output electrical signals in two degrees of freedom control lever movement process, and drafting trial curve, the analytical test result, preferably, described test macro comprises mould/number conversion card (A/D card), digital quantity input-output card (DIO), the excitation/demodulation of rotation variable differential sensor (RVDT), test application.
Thereby the present invention is realized driving control to two motors respectively the two degrees of freedom operating rod and carry out pitching and the motion of roll direction by computer or PC control plate input control order, realizes the two degrees of freedom coupling control to operating rod.It can be used as the drive unit of a two degrees of freedom operating rod.
According to joystick-driven experiment device of the present invention, the two degrees of freedom operating rod is installed on the two axle movement platform, drive control mechanism and carry out simultaneously pitch axis and roll axle independence or coupled motions; Guarantee that when mounted the rotating shaft of operating rod overlaps with the rotation of housing, the rotation intersection point of inside casing, avoid operating rod in motion process, to produce excessive stresses, cause operating rod to damage; Adopt strain relief mechanism to eliminate the operating rod stress that produces because of machine error in the junction of operating rod and inside casing, the protection control mechanism; At the internal and external frames place mechanical stop piece is set, prevents from the control lever movement process, producing partially anxious and the destruction operating rod.
Joystick-driven experiment device according to the present invention provides two degrees of freedom control lever movement platform, and simple in structure, volume is little, need not to destroy the operating rod body construction, can not affect the joystick manipulation force characteristic, can realize the two degrees of freedom coupling control to operating rod.Need not to destroy under the prerequisite of two degrees of freedom operating rod body, realize the two degrees of freedom coupled motions control of operating rod, avoid the two degrees of freedom operating rod the stuck and even damage of machinery to occur at motion process, can record the parameters such as manipulation stick force-displacement, output signal characteristics.
Description of drawings
Fig. 1 is the schematic perspective view according to two-freedom-degree joystick-driven experiment device of the present invention;
Fig. 2 is the mechanical part principle of work synoptic diagram according to two-freedom-degree joystick-driven experiment device of the present invention;
Fig. 3 is the installation procedure figure according to two-freedom-degree joystick-driven experiment device of the present invention;
Fig. 4 is the control flow chart according to two-freedom-degree joystick-driven experiment device of the present invention;
Fig. 5 is the schematic diagram that optical measuring method is determined two degrees of freedom operating rod, two motion platform axis of movements;
Fig. 6 is the single degree of freedom joystick driver structural scheme of mechanism of prior art.
Description of reference numerals
1-machinery stage body 21-housing 22-housing motor 23-housing bearing
31-inside casing 32-inside casing motor 33-inside casing bearing
4-operating rod anchor clamps 5-strain relief mechanism 6-operating rod 7-joystick lever
L
1The rotating shaft L of-housing 21
2The rotating shaft of-inside casing 31
61-linear actuator 62-single degree of freedom operating rod
Embodiment
Below in conjunction with embodiment the present invention is described in further detail.
Fig. 1 has provided the schematic perspective view of two degrees of freedom joystick driver device.In an embodiment of the invention, joystick-driven experiment device comprises mechanical part and TT﹠C system, described mechanical part comprises mechanical stage body 1, housing 21, inside casing 31, operating rod anchor clamps 4, strain relief mechanism 5, also comprise the housing motor 22 that is arranged on the housing 21 and the inside casing motor 32 that is arranged on the inside casing 31, wherein housing motor 22 and inside casing motor 32 comprise respectively speed reduction unit, torque sensor, angular encoder (not shown).Wherein housing 21 is used for the control pitch axis, and inside casing 31 is used for control roll axle.
Machinery stage body 1 is for two degrees of freedom operating rod 6 and inside casing 31, housing 21 are installed.Housing 21 and housing motor 22 are fixed in mechanical stage body 1 by housing bearing 23 (position capable of regulating) rotating shaft, the pitching of the rotating shaft of described housing 21 and operating rod 6 (perhaps roll) rotating shaft intersects at the pivotal point of two degrees of freedom operating rod, can adopt half round frame or the square frame form of (comprising full frame and frame segment), adopt in the present embodiment the form of wholecircle frame, drive the motion of pitching (perhaps roll) direction by housing motor 22.In the present embodiment, mechanical stage body 1 is a rectangular parallelepiped stand that designs according to two degrees of freedom operating rod installed surface, two degrees of freedom operating rod body can be stablized, is fixed on the mechanical stage body 1 reliably.Both sides, top at mechanical stage body 1 are equipped with bearing, are used for supporting housing 21 and housing motor 22.Housing 21 can rotate freely after installing with bearing, the diameter of housing 21 matches with the width of mechanical stage body 1, and an end reliably is connected with mechanical stage body 1, and an end is connected with torque sensor, torque sensor is connected with the axle of housing motor 22, and angular encoder also is installed on the housing motor 22.
Inside casing 31 and inside casing motor 32 are installed on housing 21 by inside casing bearing 33 (its installation site guarantees by the machining precision of housing itself) rotating shaft, the roll of the rotating shaft of described inside casing 31 and two degrees of freedom operating rod 6 or pitching rotating shaft intersect at the pivotal point of two degrees of freedom operating rod, can adopt half round frame or the square frame form of (comprising full frame and frame segment), be half round frame in the present embodiment, drive roll or pitch orientation motion by inside casing motor 32.In an embodiment of the invention, at housing 21 bearing is installed, is used for supporting inside casing 31 and inside casing motor 32.Inside casing 31 can rotate freely after installing with bearing, the diameter of inside casing 31 matches with the diameter of housing 21, and an end reliably is connected with housing 21, and an end is connected with torque sensor, torque sensor is connected with the axle of inside casing motor 32, on the inside casing motor 32 angular encoder is installed.The mutual perpendicular bisected of internal and external frames shaft axis.
Operating rod anchor clamps 4 are connected with transition between the inside casing in order to realize the two degrees of freedom operating rod, and operating rod anchor clamps 4 are fixedly connected with joystick lever 7.According to the mechanical equivalent of light feature of joystick lever 7, design operating rod anchor clamps 4, so that operating rod 6 reliably is connected with inside casing 21, the rotating shaft of two degrees of freedom operating rod 6 overlaps with internal and external frames shaft axis intersection point, and is stuck in motion process to avoid operating rod.
In the present embodiment, junction at operating rod and inside casing, strain relief mechanism 5 adopts the coupling assembling that forms variable-length with sliding bearing, sleeve assembly, be used for to connect inside casing 31 and inside casing motor 32 and operating rod anchor clamps 4, in order to eliminate the inside casing 31 that in motion process, caused by mechanical erection and foozle and the stress between the operating rod anchor clamps.The internal and external frames motor is selected suitable size and moment of torsion according to the size of model.
TT﹠C system comprises host computer, control system and test macro.
Host computer adopts personal computer (PC), and its function comprises that keyboard input, LCD demonstration, data communication and supply voltage detect, carry out data interaction and remote monitoring.
Control system comprises signal source, electric machine controller, digital/analog card (D/A card), mould/number conversion card (A/D card), angle demoder, Ethernet, controlling application program.Be responsible for according to testing requirements, send steering order to the internal and external frames motor by self or external drive signal, power, displacement, the velocity feedback of Real-time Collection internal and external frames motor are carried out power, displacement, speed closed loop control to the internal and external frames motor, and realize the coupled motions of two motors.
Test macro comprises mould/number conversion card (A/D), digital quantity input-output card (DIO), the excitation/demodulation of rotation variable differential sensor (RVDT), test application.Mainly be responsible in two degrees of freedom control lever movement process, the parameters such as Real-time Collection joystick manipulation power, manipulation displacement, output electrical signals, and draw trial curve, the analytical test result.
Mechanical part is connected realization by electric machine controller with the internal and external frames motor with the combination of TT﹠C system.Described driving test unit is provided with mechanical stop piece (not shown) in the junction of described internal and external frames junction and described housing and described mechanical stage body, prevents from producing suddenly in described control lever movement process partially destroying.
Fig. 4 has provided the control flow chart of two degrees of freedom joystick driver device.Control system is sent standard signal (sine, square wave, triangular wave) or is received the external drive signal to electric machine controller by the D/A passage by signal source, electric machine controller exports control signal to the housing motor driver, drive the housing electric machine rotation, drive the housing motion.Simultaneously, gather in real time the angle of housing by the angle demoder, gather the output torque of housing motor by torque sensor, detect the housing motor speed by velocity measurement plate, as the control feedback, realize position, speed closed loop control and moment restriction function to the pitching of two degrees of freedom operating rod or roll direction through the A/D conversion.In like manner, the control inside casing is to realize position, speed closed loop control and the moment restriction function to two degrees of freedom operating rod roll (or pitching) direction.The control system program is coordinated control according to testing requirements to the internal and external frames motor, realizes the coupled motions of two degree of freedom of operating rod.
In two degrees of freedom control lever movement process, test macro detects the output signal characteristics of operating rod by RVDT excitation/demodulation, A/D gathers the decoding of torque sensor output and angular encoder and exports to obtain the operating rod angle, and DIO gathers the discrete magnitude signal of the output of operating rod.Data analysis, the drawing of test application to gathering.
The interface that host computer carries out communication by Ethernet (RS232/485) etc. and other testing equipment is to carry out data interaction, to coordinate control and remote monitoring.
Below describe the installation method of two-freedom-degree joystick-driven experiment device and drive control method by specific embodiment.
Wherein, the two degrees of freedom operating rod is mounted to the concrete steps following (referring to Fig. 2,3,5) of mechanical stage body:
A) at mechanical stage body 1 two degrees of freedom operating rod 6 is installed;
B) by measuring method, determine the rotating shaft position of this operating rod 6, be denoted as: O (x
0, y
0, z
0);
C) housing 21, housing motor 22, angular encoder, torque sensor are installed, wherein torque sensor directly is installed on the moment of torsion that is used for measuring housing motor 22 between housing 21 and the housing motor 22, and angular encoder is used for measuring the corner of housing 21;
D) by measuring method, determine the rotating shaft L of housing 21
1
E) judge L
1Whether pass through the O point;
F) if not, then readjust the parts such as housing is installed;
G) if through the O point, inside casing 31, inside casing motor 32, angular encoder, torque sensor then are installed, wherein torque sensor directly is installed on the moment of torsion that is used for measuring inside casing motor 32 between inside casing 31 and the inside casing motor 32, and angular encoder is used for measuring the corner of inside casing 31;
H) by measuring method, determine the rotating shaft L of inside casing 31
2
I) judge L
2Whether pass through the O point;
J) if not, then readjust the parts such as inside casing is installed;
K) if through the O point, then judge L
1And L
2Perpendicular bisected intersects and intersection point overlaps with the O point;
L) if not, then readjust the parts such as internal and external frames and interior housing motor;
M) if then by operating rod anchor clamps and strain relief mechanism 5, connect operating rod 6 and inside casing 31;
N) manual total travel motion internal and external frames 21,31;
O) whether judge that operating rod 6 moves up and down in strain relief mechanism 5 surpasses 1mm;
P) if then readjust the installations such as housing;
Q) if not, then finish the installation of operating rod.
Wherein, measuring method as shown in Figure 5, operating process is as follows: a sensitivity speck is installed in the neutral position at the two degrees of freedom operating rod, as the first point (being made as the A point), determine A point coordinate (x1 by optical measuring instrument, y1, z1), handle operating rod move to respectively second and third, 4 points (B, C, D), and the coordinate (x2 of definite coordinate second point B, y2, z2), the coordinate of C (x3, y3 thirdly, z3), the coordinate (x4 of the 4th D, y4, z4), these four some A, B, C, D are not at grade.Obtain first, second unfaithful intention O1 of first triangle △ ABD and second triangle △ BCD, O2 crosses the normal that described first, second unfaithful intention O1, O2 are respectively △ ABD and △ BCD, intersects at the O point, and the O point is operating rod rotating shaft position (pivotal point).Get average, Reduce measurement error by repeatedly measuring.Under the same coordinate system, use similarity method, can determine the axis of two motion platforms.When installing, adjust according to optical measuring instrument and follow-up result of calculation in real time.
Then, after the two-freedom-degree joystick-driven experiment device installation, by control internal and external frames 21,31 motion, just can realize the driving of two degrees of freedom operating rod 6 is controlled.
In an embodiment of the invention, control two degrees of freedom operating rod carries out first 5 cycles of pitching sinusoidal motion (amplitude 5deg, frequency 0.1Hz), controls it again and carries out 3 cycles of roll motion (amplitude 3deg, frequency 0.2Hz).Power value protection limit is 100N.The RVDT driving voltage is 5V, and adopts 16 A/D cards, for detection of the operating rod output electrical signals.Wherein, the specified output torque of internal and external frames motor and speed reduction unit thereof is not less than 1Nm, specified output speed is not less than 1000r/s, reduction gear ratio is not less than 10: 1 (the internal and external frames motor carries position transducer), torque sensor range 10Nm on the internal and external frames motor, the linearity is not less than 0.5%, and 14 of angular encoder individual pen resolution, multi-turn resolution are 13.
Operating rod is mounted to mechanical stage body, controlling it carries out slowly, stably total travel motion, obtain the side lever pitching, roll steering force-angle curve, analyzing this curve obtains a result: pitching, roll steering force (100N), pitching, roll control run (35～35deg), pitching, roll tripping force (10N), pitching, roll gap (0.1deg), pitching, roll gap friction force (5N), pitching, the output of roll electric signal is (in the side lever motion process, gather-10～10V) by RVDT excitation/demodulation card and A/D card.
Concrete driving control method step following (seeing Fig. 4):
N) send sinusoidal wave steering order by signal source to housing electric machine controller (computing machine that contains the motor motion control card);
O) the housing electric machine controller inputs to the housing motor driver with steering order, drives the housing electric machine rotation;
P) the housing electric machine controller according to the position transducer of housing motor itself behind velocity measurement plate, obtain the tach signal of housing motor, its value of feedback as the housing motor rotation frequency is inputed to the housing electric machine controller, realize the speed closed loop control of housing, to reach the cycle request of 0.1Hz;
Q) the housing electric machine controller is determined the position of housing its feedback signal as the housing position to be inputed to the housing electric machine controller according to angular encoder, realizes the position closed loop control of housing, to reach the amplitude requirement of 5deg;
R) the housing electric machine controller is according to the torque sensor between housing motor and the housing; the operating torque of test operating rod; and as the value of feedback of power limiting protecting, Real-Time Monitoring operating rod steering force in motion process is to reach the requirement of 100N power limiting protecting.
S) by the housing electric machine controller housing period of motion is counted, to reach the motion requirement in 5 cycles;
T) 5 all after dates of housing motion are by sending sinusoidal wave steering order by signal source to the inside casing electric machine controller;
U) the inside casing electric machine controller inputs to the inside casing motor driver with steering order, drives the inside casing electric machine rotation;
V) the inside casing electric machine controller according to the position transducer of inside casing motor itself behind velocity measurement plate, obtain the tach signal of inside casing motor, its value of feedback as the inside casing motor rotation frequency is inputed to the inside casing electric machine controller, realize the speed closed loop control of inside casing, to reach the cycle request of 0.2Hz;
W) the inside casing electric machine controller is determined the position of inside casing its feedback signal as the inside casing position to be inputed to the inside casing electric machine controller according to angular encoder, realizes the position closed loop control of inside casing, to reach the amplitude requirement of 3deg;
X) the inside casing electric machine controller is according to the torque sensor between inside casing motor and the inside casing; the operating torque of test operating rod; and as the value of feedback of power limiting protecting, Real-Time Monitoring operating rod steering force in motion process is to reach the requirement of 100N power limiting protecting.
Y) by the inside casing electric machine controller inside casing period of motion is counted, to reach the motion requirement in 3 cycles;
Z) in the whole motion process of operating rod, by the test value of internal and external frames upper angle scrambler and torque sensor, just can obtain steering force, the placement property of operating rod roll, luffing.
Operating rod test unit according to the present invention is when reality is implemented, first according to concrete two degrees of freedom operating rod profile, design the mechanical part (comprising mechanical stage body, housing, inside casing, operating rod anchor clamps, strain relief mechanism) of joystick-driven experiment device, through corresponding theoretical calculating and actual measurement, show that this operating rod test unit can satisfy the condition of operating rod two degree-of-freedom motion, with traditional drive unit contrast, can realize the two degree-of-freedom motion coupling control to operating rod.
Claims (12)
1. a two-freedom-degree joystick-driven experiment device includes mechanical part, and described mechanical part comprises mechanical stage body (1), housing (21), inside casing (31), operating rod anchor clamps (4), strain relief mechanism (5), wherein,
Described mechanical stage body (1) is used for installing described operating rod (6) and described inside casing (31) and described housing (21);
Described housing (21) is fixed on the described mechanical stage body (1) pivotly, and the rotating shaft of the rotating shaft of described housing (21) and described operating rod (6) intersects at the pivotal point of described operating rod (6);
Described inside casing (31) is installed on described housing (21) pivotly, and the rotating shaft of the rotating shaft of described inside casing (31) and described operating rod (6) intersects at the pivotal point of described operating rod (6);
Described operating rod anchor clamps (4) are connected with transition between the described inside casing (31) in order to realize described operating rod, and described operating rod anchor clamps (4) are fixedly connected with joystick lever (7);
Described strain relief mechanism (5), be used for connecting described inside casing (31) and described operating rod anchor clamps (4), the described inside casing (31) that in motion process, is caused by machine error in order to elimination and the stress between the described operating rod anchor clamps (4).
2. two-freedom-degree joystick-driven experiment device as claimed in claim 1, it is characterized in that, described driving test unit is provided with the mechanical stop piece in described inside casing (21) and the junction of described housing (31) and the junction of described housing (31) and described mechanical stage body (1), prevents from producing suddenly in described control lever movement process and partially destroys.
3. two-freedom-degree joystick-driven experiment device as claimed in claim 1 or 2 is characterized in that, described strain relief mechanism (5) is the structure that an axially-movable degree of freedom is only arranged.
4. two-freedom-degree joystick-driven experiment device as claimed in claim 3 is characterized in that, described strain relief mechanism (5) is the structure with sliding bearing and axle sleeve or rolling bearing and axle sleeve.
5. two-freedom-degree joystick-driven experiment device as claimed in claim 1 or 2 is characterized in that, is provided with housing motor (22) at described housing (21), is used for realizing the pivot of described housing (21).
6. two-freedom-degree joystick-driven experiment device as claimed in claim 5 is characterized in that, is provided with inside casing motor (32) at described inside casing (31), is used for realizing the pivot of described inside casing (31).
7. two-freedom-degree joystick-driven experiment device as claimed in claim 1 or 2 is characterized in that, described housing (21), described inside casing (31) adopt the form of circle frame or square frame.
8. two-freedom-degree joystick-driven experiment device as claimed in claim 6 is characterized in that, described two-freedom-degree joystick-driven experiment device also comprises TT﹠C system, and described TT﹠C system comprises host computer, control system and test macro, wherein,
The function of described host computer comprises that keyboard input, LCD demonstration, data communication and supply voltage detect, carry out data interaction and remote monitoring; Described control system is sent steering order to described inside casing motor and described housing motor by self or external drive signal, power, displacement, the velocity feedback of the described inside casing motor of Real-time Collection and described housing motor, described internal and external frames motor is carried out power, displacement, speed closed loop control, and realize the coupled motions of described internal and external frames motor; Described test macro Real-time Collection joystick manipulation power, is handled displacement, output electrical signals in described control lever movement process, and draws trial curve, analytical test result.
9. such as aforementioned two-freedom-degree joystick-driven experiment device claimed in claim 8, it is characterized in that described host computer adopts personal computer.
10. such as aforementioned two-freedom-degree joystick-driven experiment device claimed in claim 8, it is characterized in that, described control system comprises signal source, inside casing electric machine controller, housing electric machine controller, mould/number conversion card, digital/analog card, angle demoder, Ethernet, controlling application program, and described mechanical part is connected realization by the internal and external frames electric machine controller with described internal and external frames motor with the combination of described TT﹠C system.
11., it is characterized in that described test macro comprises mould/number conversion card, digital quantity input-output card, rotation variable differential sensor excitation/demodulation module, test application such as aforementioned two-freedom-degree joystick-driven experiment device claimed in claim 8.
12. the control method such as claim 10 or 11 described two-freedom-degree joystick-driven experiment devices, wherein, described control method comprises the steps:
A) by signal source to housing electric machine controller sending controling instruction;
B) the housing electric machine controller inputs to the housing motor driver with steering order, drives described housing motor (22) and rotates;
C) position sensor signal of described housing motor (22) itself is behind velocity measurement plate, be converted into the tach signal of described housing motor (22), the housing electric machine controller is realized the speed closed loop control of described housing (21) with the close-loop feedback value of this tach signal as the housing motor rotation frequency;
D) the housing electric machine controller is determined the position of described housing (21) according to the angular encoder on the described housing motor (22), its position feed back signal as described housing (21) is inputed to the housing electric machine controller, realize the position closed loop control of described housing (21);
E) the housing electric machine controller is according to the torque sensor between described housing motor (22) and the described housing (21), test the operating torque of described two degrees of freedom operating rod, and as the value of feedback of power limiting protecting, the described two degrees of freedom operating rod of Real-Time Monitoring steering force in motion process;
F) by the housing electric machine controller described housing (21) period of motion is counted;
G) by signal source to inside casing electric machine controller sending controling instruction;
H) the inside casing electric machine controller inputs to the inside casing motor driver with steering order, drives described inside casing motor (32) and rotates;
I) position sensor signal of described inside casing motor (32) itself is behind velocity measurement plate, be converted into the tach signal of described inside casing motor (32), the inside casing electric machine controller is realized the speed closed loop control of described inside casing (31) with the close-loop feedback value of this tach signal as the inside casing motor rotation frequency;
J) the inside casing electric machine controller is determined the position of described inside casing (31) its feedback signal as the inside casing position to be inputed to the inside casing electric machine controller according to angular encoder, realizes the position closed loop control of described inside casing (31);
K) the inside casing electric machine controller is according to the torque sensor between described inside casing motor (32) and the described inside casing (31), test the operating torque of described two degrees of freedom operating rod, and as the value of feedback of power limiting protecting, the steering force of the described two degrees of freedom operating rod of Real-Time Monitoring in motion process;
L) by the inside casing electric machine controller described inside casing (31) period of motion is counted;
M) in the whole motion process of described two degrees of freedom operating rod, by the test value of described internal and external frames upper angle scrambler and torque sensor, just can obtain steering force, the placement property of described two degrees of freedom control lever movement.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106007434A CN102141468B (en) | 2010-12-20 | 2010-12-20 | Two-degree-of-freedom control lever drive test device and control method thereof |
| PCT/CN2011/083558 WO2012083792A1 (en) | 2010-12-20 | 2011-12-06 | Apparatus for testing and driving control column having two degrees of freedom and control method therefor |
| PCT/CN2011/084271 WO2012083835A1 (en) | 2010-12-20 | 2011-12-20 | Apparatus for testing and driving control column having two degrees of freedom, and installation method and control method therefor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106007434A CN102141468B (en) | 2010-12-20 | 2010-12-20 | Two-degree-of-freedom control lever drive test device and control method thereof |
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| Publication Number | Publication Date |
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| CN102141468A CN102141468A (en) | 2011-08-03 |
| CN102141468B true CN102141468B (en) | 2013-05-01 |
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| WO (1) | WO2012083792A1 (en) |
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| WO2012083835A1 (en) * | 2010-12-20 | 2012-06-28 | 中国商用飞机有限责任公司 | Apparatus for testing and driving control column having two degrees of freedom, and installation method and control method therefor |
| CN102393632B (en) * | 2011-09-28 | 2013-07-03 | 华南理工大学 | Device and control method for pneumatically driving two swing piezoelectric flexible beams |
| FR2991662B1 (en) * | 2012-06-07 | 2014-06-13 | Sagem Defense Securite | MINIMANCHE OF PILOTAGE OF AN AIRCRAFT |
| CN103092190B (en) * | 2013-01-04 | 2015-06-24 | 中国商用飞机有限责任公司 | Automatic control force detection system for side lever controller |
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| WO2012083792A1 (en) | 2012-06-28 |
| CN102141468A (en) | 2011-08-03 |
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