CN105527835B - A kind of aircaft configuration static strength pid parameter adjustment method - Google Patents
A kind of aircaft configuration static strength pid parameter adjustment method Download PDFInfo
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- CN105527835B CN105527835B CN201510907143.5A CN201510907143A CN105527835B CN 105527835 B CN105527835 B CN 105527835B CN 201510907143 A CN201510907143 A CN 201510907143A CN 105527835 B CN105527835 B CN 105527835B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
Abstract
The invention discloses a kind of aircaft configuration static strength pid parameter adjustment methods.The aircaft configuration static strength pid parameter adjustment method includes the following steps：Step 1：Obtain the parameter of the nozzle-flapper servo valve and asymmetric cylinder in passage to be debugged；Step 2：Establish the mathematical model of controller in passage to be debugged, nozzle-flapper servo valve and asymmetric cylinder；Step 3：It is converted into controller transfer function, nozzle-flapper servo valve transmission function and asymmetric cylinder transmission function；Step 4：Controller transfer function, nozzle-flapper servo valve transmission function and asymmetric cylinder transmission function are coupled；Step 5：Determine the pid parameter scope in passage to be debugged；Step 6：Judge whether the pid parameter in Bode diagram meets system stable threshold, if so, terminating debugging.Experimental rig need not be installed in the aircaft configuration static strength pid parameter adjustment method of the present invention, save experiment time, reduce experimentation cost and risk.
Description
Technical field
The present invention relates to aircaft configuration test of static strength technical field, more particularly to a kind of aircaft configuration static strength PID
Parameter testing method.
Background technology
Aircraft structure strength experiment is generally using PID control, and PID control rule is ratio, the control of integration, differential (damping)
System, i.e., according to the departure of system, proportion of utilization, integration, differential algorithm calculate control and regulation amount, to realize to system
Control.
In the prior art, aircraft structure test pid control parameter mainly builds test platform, by during experiment
Artificial examination gather acquisition, so load is likely to occur vibration in debugging process, to the security of testpieces structure and testing equipment
It damages, causes potential risk.
Thus, it is desirable to have a kind of technical solution is come at least one drawbacks described above for overcoming or at least mitigating the prior art.
The content of the invention
It is an object of the invention to provide a kind of aircaft configuration static strength pid parameter adjustment methods to overcome or at least mitigate
At least one drawbacks described above in the prior art.
To achieve the above object, the present invention provides a kind of aircaft configuration static strength pid parameter adjustment method, more for debugging
The pid parameter of any one passage in Channel Test control system, wherein, each multichannel experiment control system include controller,
Nozzle-flapper servo valve and differential cylinder, the aircaft configuration static strength pid parameter adjustment method include the following steps：
Step 1：Obtain the parameter of the nozzle-flapper servo valve and asymmetric cylinder in passage to be debugged；Step 2：It establishes and treats respectively
The mathematical model of controller, nozzle-flapper servo valve and asymmetric cylinder in debugging passage；Step 3：Respectively by described in
Controller, nozzle-flapper servo valve and asymmetric cylinder mathematical model in step 2 are converted into respective transmission function, i.e.,
Controller transfer function, nozzle-flapper servo valve transmission function and asymmetric cylinder transmission function；Step 4：By the step
Controller transfer function, nozzle-flapper servo valve transmission function and the coupling of asymmetric cylinder transmission function in rapid 3, so as to
Form the frequency method of plate test loading system；Step 5：It is determined using open cycle system stability margin analysis method to be debugged logical
Pid parameter scope in road；Step 6：Initialization system stable threshold, and rendering controller transmission function, nozzle-flapper servo valve
Transmission function, asymmetric cylinder transmission function, the frequency method of plate test loading system and the Bode diagram of pid parameter,
And judge whether the pid parameter in Bode diagram meets system stable threshold, if so, terminating debugging；If it is not, then repeat the step
Rapid 5, until judging result is yes.
Preferably, in the step 3 respectively by controller, the nozzle-flapper servo valve and non-right in the step 2
Cylinder mathematical model is claimed to be converted into respective transmission function to be converted especially by Kapp Lars transform method.
Preferably, the parameter of the nozzle-flapper servo valve in the step 1 is specially：Servo valve natural frequency ωsv, valve resistance
Buddhist nun compares ξsv, servo valve gain ksv；The parameter of the asymmetric cylinder cylinder is specially:Back cavity piston area A1, cylinder
Ante-chamber piston area A2, start the cylinder piston and piston rod quality m, the bulk modulus β of hydraulic oil sourcee, viscosity coefficient Co。
Preferably, the expression formula of the controller transfer function in the step 3 is：
Wherein,
G1(s) controller transfer function；I (s) is output current；E (s) is output current；kpFor proportional gain；kiFor product
Divide gain；kdFor damping gain；S Laplace operators.
Preferably, the expression formula of the nozzle-flapper servo valve transmission function in the step 3 is：
Wherein,
G2(s) servo valve transmission function；Xv(s) servo valve displacement；ksvFor servo valve gain；I (s) servo valves input electricity
Stream；S Laplace operators；ωsvAnd ξsvIt can be drawn by the servo valve response curve estimation that servo valve manufacturer provides,M90 corresponds to amplitude when being delayed phase 90deg.
Preferably, the expression formula of the asymmetric cylinder transmission function in the step 3 is：
Wherein,
G3(s) cylinder transmission function；Xp (s) is piston displacement；Xv(s) valve core of servo valve displacement；α pistons both sides area
Than；h1、h2Proportionality coefficient；kcoZero-bit pressure flow coefficient；kcZero-bit pressure flow coefficient；VoFor cylinder pressure chamber volume；
A01、A02The equivalent city pressure surface product of piston during negative movement positive for piston；AeFor piston average area；rcFor the footpath between spool valve pocket
To gap；ω is servo valve throttling window area gradient；S Laplace operators.
Preferably, the frequency method of the plate test loading system in the step 4 is：
Wherein,
Xp(s) it is piston displacement；E (s) is output current；G1(s) it is：Controller transfer function；G2(s) it is：Nozzle flapper
Servo valve transmission function；G3(s) it is：Asymmetric cylinder transmission function；S Laplace operators.
Preferably, the system stable threshold is specially：Magnitude margin h>6dB, phase margin 60deg<θ<90deg.
Experimental rig need not be installed in the aircaft configuration static strength pid parameter adjustment method of the present invention, directly by building
The mathematical model of vertical test assembly is that can obtain the pid control parameter of structural test, while would know that the dynamic property of each component
Information so as to save experiment time, reduces experimentation cost and risk.
Description of the drawings
Fig. 1 is the flow diagram of the aircaft configuration static strength pid parameter adjustment method of one embodiment of the invention.
Fig. 2 is the controller control schematic diagram in aircaft configuration static strength pid parameter adjustment method shown in FIG. 1.
Fig. 3 is the structure of the servo valve control cylinder in aircaft configuration static strength pid parameter adjustment method shown in FIG. 1
Schematic diagram.
Specific embodiment
To make the purpose, technical scheme and advantage that the present invention is implemented clearer, below in conjunction in the embodiment of the present invention
Attached drawing, the technical solution in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from beginning to end or class
As label represent same or similar element or there is same or like element.Described embodiment is the present invention
Part of the embodiment, instead of all the embodiments.The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to use
It is of the invention in explaining, and be not considered as limiting the invention.Based on the embodiments of the present invention, ordinary skill people
Member's all other embodiments obtained without creative efforts, belong to the scope of protection of the invention.Under
Face is described in detail the embodiment of the present invention with reference to attached drawing.
In the description of the present invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", "front", "rear",
The orientation or position relationship of the instructions such as "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " is based on attached drawing institutes
The orientation or position relationship shown is for only for ease of the description present invention and simplifies description rather than instruction or imply signified dress
It puts or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that the present invention is protected
The limitation of scope.
Fig. 1 is the flow diagram of the aircaft configuration static strength pid parameter adjustment method of one embodiment of the invention.Fig. 2 is
Controller control schematic diagram in aircaft configuration static strength pid parameter adjustment method shown in FIG. 1.Fig. 3 is aircraft shown in FIG. 1
The structure principle chart of servo valve control cylinder in structural static strength pid parameter adjustment method.
Aircaft configuration static strength pid parameter adjustment method as shown in Figure 1, for debugging in multichannel experiment control system
The pid parameter of any one passage, wherein, each multichannel experiment control system include controller, nozzle-flapper servo valve and
Differential cylinder, the aircaft configuration static strength pid parameter adjustment method include the following steps：Step 1：It obtains to be debugged logical
The parameter of nozzle-flapper servo valve and asymmetric cylinder in road；Step 2：The control in passage to be debugged is established respectively
The mathematical model of device, nozzle-flapper servo valve and asymmetric cylinder；Step 3：Respectively by controller, the nozzle in step 2
Swashplate servo valve and asymmetric cylinder mathematical model are converted into respective transmission function, i.e. controller transfer function, nozzle
Swashplate servo valve transmission function and asymmetric cylinder transmission function；Step 4：By in step 3 controller transfer function, spray
Mouth swashplate servo valve transmission function and the coupling of asymmetric cylinder transmission function, pass so as to form the coupling of plate test loading system
Delivery function；Step 5：The pid parameter scope in passage to be debugged is determined using open cycle system stability margin analysis method；Step 6：
Initialization system stable threshold, and rendering controller transmission function, nozzle-flapper servo valve transmission function, asymmetric cylinder transfer
The Bode diagram of function, the frequency method of plate test loading system and pid parameter, and judge that the pid parameter in Bode diagram is
It is no to meet system stable threshold, if so, terminating debugging；If it is not, then repeating said steps 5, until judging result is yes.
In the present embodiment, in step 3 respectively by controller, the nozzle-flapper servo valve and asymmetric in step 2
Cylinder mathematical model is converted into respective transmission function and is converted especially by Kapp Lars transform method.
In the present embodiment, the parameter of the nozzle-flapper servo valve in step 1 is specially：Servo valve natural frequency ωsv, valve
Damping ratio ξsv, servo valve gain ksv；The parameter of the asymmetric cylinder cylinder is specially:Back cavity piston area A1, start
Cylinder ante-chamber piston area A2, start the cylinder piston and piston rod quality m, the bulk modulus β of hydraulic oil sourcee, viscosity coefficient Co。
Referring to Fig. 2, in the present embodiment, the expression formula of the controller transfer function in step 3 is：
Wherein,
G1(s) controller transfer function；I (s) is output current；E (s) is output current；kpFor proportional gain；kiFor product
Divide gain；kdFor damping gain；S Laplace operators.
In the present embodiment, the expression formula of the nozzle-flapper servo valve transmission function in the step 3 is：
Wherein,
G2(s) servo valve transmission function；Xv(s) servo valve displacement；ksvFor servo valve gain；I (s) servo valves input electricity
Stream；S Laplace operators；ωsvAnd ξsvIt can be drawn by the servo valve response curve estimation that servo valve manufacturer provides,M90 corresponds to amplitude when being delayed phase 90deg.
In the present embodiment, the expression formula of the asymmetric cylinder transmission function in the step 3 is：
Wherein,
G3(s) cylinder transmission function；Xp (s) is piston displacement；Xv(s) valve core of servo valve displacement；α pistons both sides area
Than；h1、h2Proportionality coefficient；kcoZero-bit pressure flow coefficient；kcZero-bit pressure flow coefficient；VoFor cylinder pressure chamber volume；
A01、A02The equivalent city pressure surface product of piston during negative movement positive for piston；AeFor piston average area；rcFor the footpath between spool valve pocket
To gap；ω is servo valve throttling window area gradient；S Laplace operators.
In the present embodiment, the frequency method of the plate test loading system in the step 4 is：
Wherein,
Xp(s) it is piston displacement；E (s) is output current；G1(s) it is：Controller transfer function；G2(s) it is：Nozzle flapper
Servo valve transmission function；G3(s) it is：Asymmetric cylinder transmission function；S Laplace operators.
In the present embodiment, the system stable threshold is specially：Magnitude margin h>6dB, phase margin 60deg<θ<
90deg.It is understood that the system stable threshold can sets itself as needed.
It is last it is to be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations.To the greatest extent
Pipe is with reference to the foregoing embodiments described in detail the present invention, it will be understood by those of ordinary skill in the art that：It is still
It can modify to the technical solution recorded in foregoing embodiments or which part technical characteristic is equally replaced
It changes；And these modifications or replacement, the essence of appropriate technical solution is not made to depart from the essence of various embodiments of the present invention technical solution
God and scope.
Claims (8)
1. a kind of aircaft configuration static strength pid parameter adjustment method, any one logical in multichannel experiment control system for debugging
The pid parameter in road, wherein, each multichannel experiment control system includes controller, nozzle-flapper servo valve and asymmetric work
Dynamic cylinder, which is characterized in that the aircaft configuration static strength pid parameter adjustment method includes the following steps：
Step 1：Obtain the parameter of the nozzle-flapper servo valve and asymmetric cylinder in passage to be debugged；
Step 2：The mathematical modulo of controller in passage to be debugged, nozzle-flapper servo valve and asymmetric cylinder is established respectively
Type；
Step 3：Controller, nozzle-flapper servo valve and the asymmetric cylinder mathematical model in the step 2 are turned respectively
Change respective transmission function into, i.e. controller transfer function, nozzle-flapper servo valve transmission function and asymmetric cylinder passes
Delivery function；
Step 4：By controller transfer function, nozzle-flapper servo valve transmission function and the asymmetric start in the step 3
Cylinder transmission function couples, so as to form the frequency method of plate test loading system；
Step 5：The pid parameter scope in passage to be debugged is determined using open cycle system stability margin analysis method；
Step 6：Initialization system stable threshold, and it is rendering controller transmission function, nozzle-flapper servo valve transmission function, asymmetric
The Bode diagram of cylinder transmission function, the frequency method of plate test loading system and pid parameter, and judge in Bode diagram
Whether pid parameter meets system stable threshold, if so, terminating debugging；If it is not, then repeating said steps 5, until judging result
It is yes.
2. aircaft configuration static strength pid parameter adjustment method as described in claim 1, which is characterized in that in the step 3
Controller, nozzle-flapper servo valve and the asymmetric cylinder mathematical model in the step 2 are converted into respectively respective
Transmission function is converted especially by Kapp Lars transform method.
3. aircaft configuration static strength pid parameter adjustment method as claimed in claim 2, which is characterized in that in the step 1
The parameter of nozzle-flapper servo valve is specially：Servo valve natural frequency ωsv, valve damping ratio ξsv, servo valve gain ksv；
The parameter of the asymmetric cylinder cylinder is specially:Back cavity piston area A1, cylinder ante-chamber piston area A2, make
Quality m, the bulk modulus β of hydraulic oil source of dynamic the cylinder piston and piston rode, viscosity coefficient Co。
4. aircaft configuration static strength pid parameter adjustment method as claimed in claim 3, which is characterized in that in the step 3
The expression formula of controller transfer function is：
Wherein,
G1(s) controller transfer function；I (s) is output current；E (s) is output current；kpFor proportional gain；kiIncrease for integration
Benefit；kdFor damping gain；S Laplace operators.
5. aircaft configuration static strength pid parameter adjustment method as claimed in claim 3, which is characterized in that in the step 3
The expression formula of nozzle-flapper servo valve transmission function is：
Wherein,
G2(s) servo valve transmission function；Xv(s) servo valve displacement；ksvFor servo valve gain；I (s) servo valve input currents；S is drawn
General Laplacian operater；ωsvAnd ξsvIt can be drawn by the servo valve response curve estimation that servo valve manufacturer provides,
M90 corresponds to amplitude when being delayed phase 90deg.
6. aircaft configuration static strength pid parameter adjustment method as claimed in claim 3, which is characterized in that in the step 3
The expression formula of asymmetric cylinder transmission function is：
Wherein,
G3(s) cylinder transmission function；Xp (s) is piston displacement；Xv(s) valve core of servo valve displacement；α pistons both sides area ratio；
h1、h2Proportionality coefficient；kcoZero-bit pressure flow coefficient；kcZero-bit pressure flow coefficient；VoFor cylinder pressure chamber volume；A01、
A02The equivalent city pressure surface product of piston during negative movement positive for piston；AeFor piston average area；rcFor the radial direction between spool valve pocket
Gap；ω is servo valve throttling window area gradient；S Laplace operators.
7. aircaft configuration static strength pid parameter adjustment method as claimed in claim 3, which is characterized in that in the step 4
The frequency method of plate test loading system is：
Wherein,
Xp(s) it is piston displacement；E (s) is output current；G1(s) it is：Controller transfer function；G2(s) it is：Nozzle flapper servo
Valve transmission function；G3(s) it is：Asymmetric cylinder transmission function；S Laplace operators.
8. aircaft configuration static strength pid parameter adjustment method as described in claim 1, which is characterized in that the system is stablized
Threshold value is specially：Magnitude margin h>6dB, phase margin 60deg<θ<90deg.
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| US6958593B2 (en) * | 2002-11-26 | 2005-10-25 | Taiyo Yuden Co., Ltd. | Power supply apparatus |
| CN101247097A (en) * | 2008-03-03 | 2008-08-20 | 北京航空航天大学 | Method for designing trap parameter of magnetic suspension flat high speed rotor system |
| CN103226326A (en) * | 2013-03-11 | 2013-07-31 | 上海电力学院 | Frequency domain analysis method for ship autopilot system |
| CN104181905A (en) * | 2014-09-16 | 2014-12-03 | 哈尔滨工业大学 | Servo system controller optimization method based on expected closed-loop transfer function |
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