CN105043774B - A kind of method using interpolation calculation steering wheel power consumption - Google Patents
A kind of method using interpolation calculation steering wheel power consumption Download PDFInfo
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- CN105043774B CN105043774B CN201510411928.3A CN201510411928A CN105043774B CN 105043774 B CN105043774 B CN 105043774B CN 201510411928 A CN201510411928 A CN 201510411928A CN 105043774 B CN105043774 B CN 105043774B
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Abstract
The invention provides a kind of method using interpolation calculation steering wheel power consumption, the test in the test point of setting of this method basis first obtains steering wheel efficiency of the different steering engine output torques under different rotating speeds, then the interpolating function of output torque, output speed and steering wheel efficiency is formed, it is more accurate relative to traditional constant efficiency value by steering wheel efficiency of the various hinge moments of interpolation calculation under various speed.And using binary, sample interpolation algorithm realizes the interpolation calculation of steering wheel efficiency to the present invention three times, the algorithm is simple, better numerical value stability, without singular point, be easy to Project Realization.
Description
Technical field
The present invention relates to Servo System Design technical field, more particularly to a kind of side using interpolation calculation steering wheel power consumption
Method, the steering wheel power consumption in servo-drive system is estimated applied in space industry.
Background technology
In the aircraft such as Aero-Space missile armament, largely using servo-drive system as operating mechanism, for control flaps
According to the throw of pointer, the aerodynamic moment required for producing realizes the posture TRAJECTORY CONTROL of aircraft in face.
Thrust caused by servo-drive system and speed directly affect flying vehicles control ability and precision, and steering wheel efficiency is then determined
Determine servo-drive system power consumption demand and bearing capacity, directly influence servo-drive system volume and weight size, and then restrict flight
Device quality.
At the beginning of Flight Vehicle Design, aircraft flight track and posture are completed in planning, how accurately to be calculated according to track
Servo-drive system power consumption demand, the design of power supply-distribution system battery capacity will be directly influenced.
Servo-drive system power consumption demand size and actuator load moment and steering wheel speed are closely related, and the relationship factor is referred to as rudder
Engine efficiency, under different loads torque, friction speed, steering wheel efficiency is different.In traditional type design, steering wheel efficiency takes constant
Value, the power consumption thus calculated can not truly reflect steering wheel actual condition, such as exist efficiency value it is smaller caused by battery hold
Amount design is superfluous, or the larger caused steering wheel fan-out capability of efficiency value not enough influences flight success or failure.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of side using interpolation calculation steering wheel power consumption
Method, the steering wheel effect that this method obtains different steering engine output torques under different rotating speeds according to being tested in the test point of setting first
Rate, the interpolating function of output torque, output speed and steering wheel efficiency is then formed, by the various hinge moments of interpolation calculation each
Steering wheel efficiency under kind speed, it is more accurate relative to traditional constant efficiency value.
The above-mentioned purpose of the present invention is realized by following technical scheme：
A kind of method using interpolation calculation steering wheel power consumption comprises the following steps：
(1), steering wheel is powered according to the operating voltage of setting, actuator load moment size is adjusted, controls steering wheel
Output torque and rotating speed change in the range of the test value of setting, and in the test point of setting record steering wheel operating voltage and
Operating current, wherein,In individual test point, steering engine output torque and rotating speed are respectively MmAnd ωn, its
In, m=1,2 ..., Q, n=1,2 ..., N；Q, N is respectively the test value number of the output torque and rotating speed set；
(2), in calculation procedure (1) Q × N number of test point steering wheel efficiency；
(3), using the steering wheel efficiency of each test point as functional value, change is used as using the steering engine output torque of each point and rotating speed
Amount, form interpolating function form；
(4), in the interpolating function form that step (3) obtains, the steering wheel power output using interpolation algorithm to outside input
Square M ' and rotational speed omega ' carry out interpolation calculation, obtain the output torque M ' and rotational speed omega ' corresponding steering wheel efficiency eta '；
(5), according to output torque M ', rotational speed omega ' and steering wheel efficiency eta ' steering wheel power consumption is calculated.
The above-mentioned method using interpolation calculation steering wheel power consumption, in step (1), realized using steering wheel efficiency test system
The test of Q × N number of test point, the steering wheel efficiency test system include steering wheel, brake, power supply, torque velocities sensor, electricity
Stream pincers and oscillograph, wherein：Brake applies loading moment to steering wheel；Power supply is powered for steering wheel；Torque velocities sensor measures
Steering engine output torque and rotating speed, and measurement result is exported to oscillograph；Current clamp detects the electric current of steering wheel energization input, and defeated
Go out testing result to oscillograph；Oscillograph output steering engine output torque, rotating speed, steering gear input results of weak current calculate to outside
Machine.
The above-mentioned method using interpolation calculation steering wheel power consumption, in step (2), theIndividual test point
Steering wheel efficiencyWhereinRespectivelyThe steering wheel operating voltage recorded in individual test point and work
Electric current, wherein, m=1,2 ..., Q, n=1,2 ..., N.
The above-mentioned method using interpolation calculation steering wheel power consumption, in step (4), using bivariate cubic spline interpolation algorithm
Steering engine output torque M ' and rotational speed omega ' carry out interpolation calculation to outside input, obtain steering wheel efficiency eta '；Specific interpolation calculation mistake
Journey is as follows：
(4a), the output torque test value M in setting1~MQIt is middle to search 3 and similar three power outputs of output torque M '
Square value, respectively Mq、Mq+1、Mq+2；And in the output speed test value ω of setting1~ωNIt is middle to search 3 and output speed ω ' phases
Three near output speed values, respectively ωp、ωp+1、ωp+2；Wherein q, and p are positive integer；
(4b), the functional value η ' using bivariate cubic spline interpolation formula calculating interpolation point (M ', ω ') place：
Wherein, ηI, jFor the steering wheel efficiency of (j-1) × Q+i test point.
The above-mentioned method using interpolation calculation steering wheel power consumption, in step (5), according to output torque M ', rotational speed omega ' and
Steering wheel efficiency eta ' steering wheel power consumption is calculated
The present invention compared with prior art, has advantages below：
(1), the present invention obtains different steering engine output torques under different rotating speeds according to the test point of setting, test first
Steering wheel efficiency, the interpolating function of output torque, output speed and steering wheel efficiency is then formed, passes through the various hinge power of interpolation calculation
Steering wheel efficiency of the square under various speed, so as to which the power consumption number of steering wheel be calculated, relative to traditional constant efficiency value more
Accurately；
(2), using binary, sample interpolation algorithm realizes the interpolation calculation of steering wheel efficiency to the present invention three times, the algorithm is simple,
Better numerical value stability, without singular point, be easy to Project Realization.
Brief description of the drawings
Fig. 1 is the method flow diagram using interpolation calculation steering wheel power consumption of the present invention；
Fig. 2 is centered rudder engine efficiency measurement system composition frame chart of the present invention.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings：
Aircraft servo-drive system is acted by GNC system commands, it is necessary to possess enough thrust and speed can be only achieved requirement
Control ability and precision.Servo-drive system steering wheel power output size depends on loading moment and rotating speed, is passed because steering wheel is present
Motivation structure mechanical loss, electronic component thermal losses, therefore required power consumption are more than real output.
Power consumption needed for steering wheel is equal to the input voltage of motor and the product of input current, and steering wheel power output exports equal to steering wheel
The output torque (i.e. flight load torque) of axle and the product of output speed, i.e.,：
Pout=Mout·ωout (1)
Pin=Uin·Iin (2)
In formula, MoutFor the output torque of steering wheel, ωoutFor steering wheel output speed, UinFor steering wheel input voltage, IinFor electricity
The input current of dynamic steering wheel.
Steering wheel efficiency is power output and input power when steering wheel output shaft rotates smoothly under the effect of a certain output torque
Ratio, calculation formula is as follows：
Bring formula (1) and (2) into (3), can release steering wheel efficiency is：
According to formula (4), as long as measuring respectively in synchronization steering engine output torque MoutWith output speed ωout, input
Voltage Uin, input current IinSteering wheel efficiency can be calculated.
In theoretical foundation more than, the invention provides a kind of method using interpolation calculation steering wheel power consumption, such as Fig. 1 institutes
Show, the specific implementation step of this method is as follows：
(1), steering wheel efficiency measurement
The present invention realizes steering wheel efficiency measurement using steering wheel efficiency test system, as shown in Fig. 2 the steering wheel efficiency test system
System includes steering wheel, brake, power supply, torque velocities sensor, current clamp and oscillograph, wherein：Brake applies negative to steering wheel
Carry torque；Power supply is powered for steering wheel；Torque velocities sensor measures steering engine output torque and rotating speed, and exports measurement result to showing
Ripple device；Current clamp detects the electric current of steering wheel energization input, and exports testing result to oscillograph；Oscillograph output steering wheel output
Torque, rotating speed, steering gear input results of weak current to outer computer.
The present invention using steering wheel efficiency test system under multiple test conditions, survey by the steering wheel efficiency obtained under typical condition
Examination value.Specific method of testing is as follows：Steering wheel is powered according to the operating voltage of setting, adjusts actuator load moment size,
The output torque and rotating speed for controlling steering wheel change in the range of the test value of setting, and steering wheel is recorded in the test point of setting
Operating voltage and operating current, the steering wheel efficiency of each test point is then calculated by equation below：
Wherein, ηM, nForThe steering wheel efficiency of individual test point；MmAnd ωnRespectivelyThe output torque and rotating speed of steering wheel in individual test point；RespectivelyThe rudder recorded in individual test point
Machine operating voltage and operating current；Wherein, m=1,2 ..., Q, n=1,2 ..., N；Q, N is respectively the output torque set
With the test value number of rotating speed.
(2), steering wheel efficiency interpolation calculation
The present invention is made using the steering wheel efficiency of each test point as functional value with the steering engine output torque of each test point and rotating speed
For variable, interpolating function form is formed, as a result as shown in table 1.
The steering wheel efficiency interpolation table of table 1
Based on above-mentioned interpolation table, the effect under any output torque and speed conditions can be realized using interpolation algorithm
Rate.If the steering engine output torque and rotating speed of external setting-up are respectively M ' and ω ', the present embodiment uses bivariate cubic spline interpolation
Algorithm realizes interpolation calculation, obtain steering wheel efficiency eta ', specific calculation procedure is as follows：
(a), in the output torque test value M of setting1~MQIt is middle to search 3 and similar three power outputs of output torque M '
Square value, respectively Mq、Mq+1、Mq+2；And in the output speed test value ω of setting1~ωNIt is middle to search 3 and output speed ω ' phases
Three near output speed values, respectively ωp、ωp+1、ωp+2；Wherein q, and p is positive integer, 1≤q≤Q-2,1≤p≤N-2.
(b) the functional value η ' at interpolation point (M ', ω ') place, is calculated using bivariate cubic spline interpolation formula：
Wherein, ηI, jFor the steering wheel efficiency of (j-1) × Q+i test point.
(3), steering wheel power consumption calculation
By above-described steering wheel efficiency interpolation computing method, can calculate under any output torque and speed conditions
Steering wheel efficiency, then according to output torque M ', rotational speed omega ' and steering wheel efficiency eta ' steering wheel power consumption is calculated
The method using interpolation calculation steering wheel power consumption of the present invention, can be used for the servo solutions design phase, is used for
The power consumption demand of whole system is estimated, the power supply plan of whole system is determined according to the power consumption demand.
It is described above, it is only an embodiment of the invention, but protection scope of the present invention is not limited thereto, and is appointed
What those familiar with the art the invention discloses technical scope in, the change or replacement that can readily occur in, all
It should be included within the scope of the present invention.
The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.
Claims (4)
- A kind of 1. method using interpolation calculation steering wheel power consumption, it is characterised in that comprise the following steps：(1), steering wheel is powered according to the operating voltage of setting, actuator load moment size is adjusted, controls the output of steering wheel Torque and rotating speed change in the range of the test value of setting, and operating voltage and the work of steering wheel are recorded in the test point of setting Electric current, wherein,In individual test point, steering engine output torque and rotating speed are respectively MmAnd ωn, wherein, m =1,2 ..., Q, n=1,2 ..., N；Q, N is respectively the test value number of the output torque and rotating speed set；(2), in calculation procedure (1) Q × N number of test point steering wheel efficiency；TheThe steering wheel efficiency of individual test pointWhereinRespectivelyIndividual test point The steering wheel operating voltage and operating current of upper record, wherein, m=1,2 ..., Q, n=1,2 ..., N；(3), using the steering wheel efficiency of each test point as functional value, variable, shape are used as using the steering engine output torque of each point and rotating speed Into interpolating function form；(4), in the interpolating function form that step (3) obtains, the steering engine output torque M ' using interpolation algorithm to outside input With rotational speed omega ' carry out interpolation calculation, obtain the output torque M ' and rotational speed omega ' corresponding steering wheel efficiency eta '；(5), according to output torque M ', rotational speed omega ' and steering wheel efficiency eta ' steering wheel power consumption is calculated.
- A kind of 2. method using interpolation calculation steering wheel power consumption according to claim 1, it is characterised in that：In step (1) In, the test of Q × N number of test point is realized using steering wheel efficiency test system, the steering wheel efficiency test system includes steering wheel, system Dynamic device, power supply, torque velocities sensor, current clamp and oscillograph, wherein：Brake applies loading moment to steering wheel；Power supply is Steering wheel is powered；Torque velocities sensor measures steering engine output torque and rotating speed, and exports measurement result to oscillograph；Current clamp is examined The electric current of steering wheel energization input is surveyed, and exports testing result to oscillograph；Oscillograph output steering engine output torque, rotating speed, rudder Machine input results of weak current is to outer computer.
- A kind of 3. method using interpolation calculation steering wheel power consumption according to claim 1, it is characterised in that：In step (4) In, using bivariate cubic spline interpolation algorithm to the steering engine output torque M ' of outside input and rotational speed omega ' carry out interpolation calculation, obtain To steering wheel efficiency eta '；Specific interpolation calculation process is as follows：(4a), the output torque test value M in setting1~MQIt is middle to search 3 and similar three output torques of output torque M ' Value, respectively Mq、Mq+1、Mq+2；And in the output speed test value ω of setting1~ωNMiddle lookup 3 is close with output speed ω ' Three output speed values, respectively ωp、ωp+1、ωp+2；Wherein q, and p are positive integer；(4b), the functional value η ' using bivariate cubic spline interpolation formula calculating interpolation point (M ', ω ') place：<mrow> <msup> <mi>&eta;</mi> <mo>&prime;</mo> </msup> <mo>=</mo> <munderover> <mo>&Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mi>q</mi> </mrow> <mrow> <mi>q</mi> <mo>+</mo> <mn>2</mn> </mrow> </munderover> <munderover> <mo>&Sigma;</mo> <mrow> <mi>j</mi> <mo>=</mo> <mi>p</mi> </mrow> <mrow> <mi>p</mi> <mo>+</mo> <mn>2</mn> </mrow> </munderover> <mrow> <mo>(</mo> <munderover> <munder> <mo>&Pi;</mo> <mrow> <mi>k</mi> <mo>=</mo> <mi>q</mi> </mrow> </munder> <mrow> <mi>k</mi> <mo>&NotEqual;</mo> <mi>i</mi> </mrow> <mrow> <mi>q</mi> <mo>+</mo> <mn>2</mn> </mrow> </munderover> <mfrac> <mrow> <msup> <mi>M</mi> <mo>&prime;</mo> </msup> <mo>-</mo> <msub> <mi>M</mi> <mi>k</mi> </msub> </mrow> <mrow> <msub> <mi>M</mi> <mi>i</mi> </msub> <mo>-</mo> <msub> <mi>M</mi> <mi>k</mi> </msub> </mrow> </mfrac> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <munderover> <munder> <mo>&Pi;</mo> <mrow> <mi>l</mi> <mo>=</mo> <mi>q</mi> </mrow> </munder> <mrow> <mi>l</mi> <mo>&NotEqual;</mo> <mi>j</mi> </mrow> <mrow> <mi>q</mi> <mo>+</mo> <mn>2</mn> </mrow> </munderover> <mfrac> <mrow> <msup> <mi>&omega;</mi> <mo>&prime;</mo> </msup> <mo>-</mo> <msub> <mi>&omega;</mi> <mi>l</mi> </msub> </mrow> <mrow> <msub> <mi>&omega;</mi> <mi>j</mi> </msub> <mo>-</mo> <msub> <mi>&omega;</mi> <mi>l</mi> </msub> </mrow> </mfrac> <mo>)</mo> </mrow> <msub> <mi>&eta;</mi> <mrow> <mi>i</mi> <mo>,</mo> <mi>j</mi> </mrow> </msub> <mo>;</mo> </mrow>Wherein, ηi,jFor the steering wheel efficiency of (j-1) × Q+i test point.
- A kind of 4. method using interpolation calculation steering wheel power consumption according to claim 1, it is characterised in that：In step (5) In, according to output torque M ', rotational speed omega ' and steering wheel efficiency eta ' steering wheel power consumption is calculated
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| CN106484967B (en) * | 2016-09-22 | 2019-06-18 | 中国运载火箭技术研究院 | A kind of steering gear power calculation method based on Monte-Carlo method |
| CN106991030B (en) * | 2017-03-01 | 2020-04-14 | 北京航空航天大学 | Online learning-based system power consumption optimization lightweight method |
| CN109975700B (en) * | 2017-12-27 | 2021-10-29 | 深圳市优必选科技有限公司 | Steering engine abnormal state detection method and device, terminal device and medium |
| CN109472388B (en) * | 2018-04-10 | 2022-02-22 | 国网浙江省电力有限公司嘉兴供电公司 | Power protection equipment fault early warning method and system based on loss |
| CN112540533B (en) * | 2020-12-16 | 2022-09-30 | 中国航天科工集团第二研究院 | Aircraft air rudder system control method based on hinge moment variable parameters |
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| CN101706366A (en) * | 2009-11-06 | 2010-05-12 | 奇瑞汽车股份有限公司 | Drawing method of universal characteristic curve of engine |
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| JPH06341928A (en) * | 1993-05-31 | 1994-12-13 | Toshiba Corp | Measuring device for engine characteristic |
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| CN101706366A (en) * | 2009-11-06 | 2010-05-12 | 奇瑞汽车股份有限公司 | Drawing method of universal characteristic curve of engine |
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| 一种改进的电动舵机加载工作效率测试方法;高智刚等;《计算机测量与控制》;20101125;第18卷(第11期);第2502-2504页 * |
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