CN106096071A - A kind of model configuration controls the aircraft semi-physical system of coupling effect - Google Patents
A kind of model configuration controls the aircraft semi-physical system of coupling effect Download PDFInfo
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Abstract
The present invention relates to a kind of model configuration and control the aircraft semi-physical system of coupling effect, belong to aircraft semi-physical simulation technical field.The analogue system of the present invention, it it is connection flexible connector between artificial rotary table and angular rate gyroscope, flexible connector after connecting is designed to identical with being modeled aircraft modal vibration frequency with the structural dynamic system that angular rate gyroscope forms, and it is amplified superposition by angular rate gyroscope being measured the vibration signal of structural dynamic system, obtain the simulation result after model configuration controls coupling effect.The analogue system of the present invention can simulate the impact of structure control coupling effect in semi-physical simulation, improves the validity of Elastic Vehicles semi-physical simulation；And rigid motion in semi-physical simulation and elastic vibration campaign can be separated, reduce the computing duration of replicating machine.
Description
Technical field
The present invention relates to a kind of model configuration and control the aircraft semi-physical system of coupling effect, belong to aircraft half
Physical simulation technical field.
Background technology
Semi-physical simulation technology is a kind of emulation technology being used widely in aircraft development process.By half thing
Reason emulation can reduce lead time and cost, judges the feasibility of design in time.Traditional semi-physical simulation is usual
Aircraft is thought of as rigid body, have ignored frame elastic and vibrate the impact of Sensitive Apparatus on aircraft.But along with in high precision, greatly
The development of draw ratio aircraft, its elastic characteristic becomes more and more very important.When Elastic Vehicles flies in an atmosphere
Time, on aircraft, the measurement signal of Sensitive Apparatus will be affected by elastic vibration, so that control signal is affected, and controls
Signal processed produces control power the most also can affect the vibration of guided missile structure, and the structure of guided missile will couple effect with control system
Should, i.e. structure control coupling effect.So far, the research to Elastic Vehicles both at home and abroad has been achieved for remarkable progress, bullet
The mathematical simulation comparative maturity of property aircraft.But in the research field of semi-physical simulation, also it is not involved with utilizing emulation
The method that aircraft is affected by equipment simulating structure control coupling effect.When therefore Elastic Vehicles being carried out semi-physical simulation,
Control coupling effect by model configuration, be conducive to reducing phantom error, make the result of semi-physical simulation more level off to truly and tie
Really.
Summary of the invention
The invention aims to simulate the impact of structure control coupling effect in aircraft semi-physical simulation, improve
The validity of Elastic Vehicles semi-physical simulation, it is proposed that a kind of model configuration controls the aircraft semi-physical simulation of coupling effect
System.
It is an object of the invention to be achieved through the following technical solutions:
A kind of model configuration of the present invention controls the aircraft semi-physical system of coupling effect, and this analogue system includes
Artificial rotary table, flexible connector, angular rate gyroscope, signal amplifier and signal picker；Flexible connector uses square-section
Elastic beam structure, flexible connector afterbody is fixed on artificial rotary table, and makes the bearing of trend of flexible connector turn with emulation
Platform rotation direction is vertical, and the head fixed angles rate gyroscope of flexible connector, the outfan of angular rate gyroscope is amplified by signal
Device is connected with signal picker；
Described flexible connector design variable specifically determine that step is as follows:
Step 1: set up the motion model of analogue system, obtains natural frequency f of flexible connectornRight with eigenvalue λ
Should be related to, such as formula:
Wherein, eigenvalue λ is solved by the transcendental equation shown in formula:
In formula, ρ is the density of flexible connector material, and A is flexible connector area of section, and L is the length of flexible connector
Degree, this length of flexible connector stretches out a little to the length of angular rate gyroscope fixed position starting point from artificial rotary table；J is angle speed
The rotary inertia of rate gyro, m is the quality of angular rate gyroscope；E is the Young's modulus of flexible connector material, and I is flexible connection
Device cross sectional moment of inertia；
The derivation of above equation is as follows:
The freely-movable equation of flexible connector model is:
In formula, y is the lateral displacement of flexible connector, and y is flexible connector axial coordinate x and the function of time t, point
From variable It is respectively coordinate function, its shape function with Y (t)There is following form:
For convenience of calculating, the every derivative calculating shape function is as follows:
The boundary condition of the consideration clamped end of flexible connector (x=0) is:
So, simultaneous, formula and formula, obtain:
A can be obtained from formula2=-A4,A1=-A3, and make A1=a, A2=b, then
A1=a, A2=b, A3=-a, A4=-b * MERGEFORMAT (8)
Considering the boundary condition of flexible connector free end, flexible connector is cut with angular rate gyroscope junction (x=L's)
Power and moment of flexure balance respectively:
Bring formula into formula:
Simultaneous formula and formula, can obtain:
According to variables separationIn substitution formula, can release:
Definition intermediate quantity γ=b/a, and formula is substituted into formula,
Formula two formula proposes γ respectively, can obtain the expression formula of γ:
Make formula two formula equal, obtain through abbreviation:
The formula of solving can get λ.Owing to formula is the transcendental equation about λ, Numerical Methods Solve approximate solution therefore can only be used,
The not mode of same order that λ difference solution is corresponding, minimum λ is corresponding first step mode.After obtaining λ, formula is utilized to can get model
Circular frequency ωn, then the natural frequency of model is
Step 2: utilize finite element software to set up the FEM (finite element) model of simulated aircraft, calculate the one of simulated aircraft
Rank natural frequency fdLateral rotation Mode Shape with aircraft angular rate gyroscope position
Step 3: take flexible connector natural frequency f in step 1 motion modelnThe first order frequency f1(x；U) with step 2
First natural frequency f of the simulated aircraft obtained bydThe absolute value of difference be object function, object function is taken minimum
Value, to obtain f1(x；The optimal value of design variable x corresponding in u), i.e. completes the optimization problem being shown below；
In formula, x represents the design variable of flexible connector, including length L, the cross section of flexible connector of flexible connector
The cross sectional moment of inertia I of area A and flexible connector；Owing to flexible connector uses the straight-bar structure of square-section, its cross section is high
For h, a width of p；Then A=ph,U represents known parameter, including quality m of angular rate gyroscope, the turning of angular rate gyroscope
Dynamic inertia J, the density of material ρ of flexible connector and flexible connector elastic modulus E.
s.t.x∈[xL,xU] represent constraints, xLAnd xURepresent the lower limit of the design variable x of flexible connector respectively
And the upper limit, by given bound, computational efficiency can be improved and rejecting does not meets the chi that space limits and processing technique requires
Very little parameter.
Optimizing through above, i.e. can get the optimal value of flexible connector design variable x, optimal value has multiple, selects
Any one is as design load x of flexible connector1, including L1,p1,h1。
The vibration signal amplification coefficient of angular rate gyroscope can be obtained by described signal amplifier by formula:
α in formula1Represent the rotation translation ratio of flexible connector free end position, can be drawn by following formula:
Intermediate variable γ in above formula1Can be obtained by following formula:
Then by substituting into flexible connector design variable value L1,p1,h1Horizontal with aircraft angular rate gyroscope position
Rotate Mode ShapeThe signal amplifier vibration signal amplification coefficient to angular rate gyroscope can be obtained.
Beneficial effect
The present invention compared with prior art, has the advantage that
(1) impact of structure control coupling effect can be simulated in semi-physical simulation, improve Elastic Vehicles semi physical
The validity of emulation.
(2) rigid motion in semi-physical simulation and elastic vibration campaign can be separated, reduce the computing duration of replicating machine.
Accompanying drawing explanation
Fig. 1 is the device schematic diagram that a kind of model configuration controls the aircraft semi-physical system of coupling effect；
Fig. 2 is the emulation of the semi-physical system that semi-physical system does not consider elastic vibration with tradition in embodiment
Correlation curve；
Wherein: 1-artificial rotary table, 2-flexible connector, 3-angular rate gyroscope, 4-signal amplifier.
Detailed description of the invention
Below in conjunction with the accompanying drawings and describe the present invention as a example by the emulation of certain guided missile.The present embodiment is with this
Implement under premised on bright technical scheme, give detailed embodiment and concrete operating process, but the guarantor of the present invention
The scope of protecting is not limited to following embodiment.
Embodiment
A kind of model configuration of the present invention controls the aircraft semi-physical system of coupling effect, and this analogue system includes
Artificial rotary table, flexible connector 2, angular rate gyroscope 3, signal amplifier 4 and signal picker；Flexible connector 2 uses rectangle
The Elastic Straight structure in cross section, flexible connector 2 afterbody is fixed on artificial rotary table 1, and makes the bearing of trend of flexible connector 2
Vertical with artificial rotary table 1 rotation direction, the head fixed angles rate gyroscope 3 of flexible connector 2, the outfan of angular rate gyroscope 3
It is connected with signal picker by signal amplifier 4；Its structure is as shown in Figure 1.
Described flexible connector design variable specifically determine that step is as follows:
Step 1: set up the motion model of analogue system, obtains natural frequency f of flexible connectornRight with eigenvalue λ
Should be related to, such as formula:
Flexible connector first natural frequency f1For fnMinima.
Step 2: utilize finite element software to set up the FEM (finite element) model of simulated aircraft, calculate the one of simulated aircraft
Rank natural frequency fdLateral rotation Mode Shape with simulated aircraft angular rate gyroscope positionIt is computed, fd=
13.109,
Step 3: take flexible connector natural frequency f in step 1 motion modelnThe first order frequency f1(x；U) with step 2
First natural frequency f of the simulated aircraft obtained bydThe absolute value of difference be object function, object function is taken minimum
Value, to obtain f1(x；The optimal value of design variable x corresponding in u), the object function of optimization be min (| f1(x,u)-fd|), give
Determine the constraints of design variable x, according to requirements such as processing technique and bulk restrictions, selected constraints be 0.1m≤
L≤1m, 0.005m≤p≤0.05m and 0.005m≤h≤0.05m.
The parameter u of given optimization problem, the material of flexible connector 2 is aluminium alloy, its density p=2700kg × m-3, bullet
Property modulus E=70Gpa, the quality of angular rate gyroscope 3 and rotary inertia are respectively m=1kg and J=0.002kg × m2。
Utilize the above optimization problem of fmincon function in Matlab software to solve, solve the optimization solution obtained
In, choose design load x1=[1,0.052,0.014]T, i.e. the length of flexible connector 2, width and height respectively 1m,
0.052m and 0.014m.The most corresponding frequency f1=13.11, eigenvalue λ1=1.4148.
The vibration signal amplification coefficient of angular rate gyroscope 3 can be obtained by described signal amplifier 4 by formula:
α in formula1Represent the rotation translation ratio of flexible connector free end position, can be drawn by following formula:
Intermediate variable γ in above formula1Can be obtained by following formula:
Then by substituting into flexible connector design variable value L1,p1,h1Horizontal with aircraft angular rate gyroscope position
Rotate Mode ShapeThe signal amplifier 4 vibration signal amplification coefficient Q=0.0608 to angular rate gyroscope 3 can be obtained.
According to design variable value L1,p1,h1Processing flexible connector 2, i.e. length, width and height respectively 1m,
0.052m and 0.014m；The amplification coefficient Q=0.0608 of Setting signal amplifier 4；Complete simulation and control half thing of coupling effect
Reason emulation.A kind of model configuration obtained by mathematical simulation controls aircraft semi-physical system and the tradition of coupling effect
Not considering that the semi-physical system of elastic vibration contrasts, the simulation curve obtained is as shown in Figure 2.
As can be seen from Figure 2, the simulation result of traditional semi-physical system not considering elastic vibration only comprises flight
The angular velocity of device rigid body, differs bigger with the simulation curve result of Elastic Vehicles rate of pitch；And utilize flexible connector
Model configuration controls the aircraft semi-physical system of coupling effect and has simulated aircraft elastic vibration to angular rate measurement
The impact of signal, its simulation curve is closer to Elastic Vehicles rate of pitch simulation curve.
Claims (2)
1. model configuration controls an aircraft semi-physical system for coupling effect, it is characterized in that: this analogue system includes
Artificial rotary table, flexible connector, angular rate gyroscope, signal amplifier and signal picker；Flexible connector uses square-section
Elastic beam structure, flexible connector afterbody is fixed on artificial rotary table, and makes the bearing of trend of flexible connector turn with emulation
Platform rotation direction is vertical, and the head fixed angles rate gyroscope of flexible connector, the outfan of angular rate gyroscope is amplified by signal
Device is connected with signal picker；
Described flexible connector design variable specifically determine that step is as follows:
Step 1: set up the motion model of analogue system, obtains natural frequency f of flexible connectornPass corresponding with eigenvalue λ
System, such as formula:
Wherein, eigenvalue λ is solved by the transcendental equation shown in formula:
In formula, ρ is the density of flexible connector material, and A is flexible connector area of section, and L is the length of flexible connector, should
A length of flexible connector stretches out a little to the length of angular rate gyroscope fixed position starting point from artificial rotary table；J is angular speed top
The rotary inertia of spiral shell, m is the quality of angular rate gyroscope；E is the Young's modulus of flexible connector material, and I is that flexible connector cuts
Face the moment of inertia；
Step 2: utilize finite element software to set up the FEM (finite element) model of simulated aircraft, the single order calculating simulated aircraft is solid
There is frequency fdLateral rotation Mode Shape with aircraft angular rate gyroscope position
Step 3: take flexible connector natural frequency f in step 1 motion modelnThe first order frequency f1(x；U) with institute in step 2
First natural frequency f of the simulated aircraft obtaineddThe absolute value of difference be object function, object function is taken minima,
To obtain f1(x；The optimal value of design variable x corresponding in u), i.e. completes the optimization problem being shown below；
min|f1(x；u)-fd|\*MERGEFORMAT(15)
In formula, x represents the design variable of flexible connector, including length L, the area of section A of flexible connector of flexible connector
Cross sectional moment of inertia I with flexible connector；Due to flexible connector use square-section straight-bar structure, a height of h in its cross section, wide
For p；Then A=ph,U represents known parameter, including quality m, the rotary inertia of angular rate gyroscope of angular rate gyroscope
J, the density of material ρ of flexible connector and flexible connector elastic modulus E；
Optimizing through above, i.e. can get the optimal value of flexible connector design variable x, optimal value has multiple, selects arbitrarily
One design load x as flexible connector1, including L1,p1,h1；
The vibration signal amplification coefficient of angular rate gyroscope can be obtained by described signal amplifier by formula:
α in formula1Represent the rotation translation ratio of flexible connector free end position, can be drawn by following formula:
Intermediate variable γ in above formula1Can be obtained by following formula:
Then by substituting into flexible connector design variable value L1,p1,h1Lateral rotation with aircraft angular rate gyroscope position
Mode ShapeThe signal amplifier vibration signal amplification coefficient to angular rate gyroscope can be obtained.
A kind of model configuration the most as claimed in claim 1 controls the aircraft semi-physical system of coupling effect, its feature
It is: in step 3, the optimal value of design variable x meets s.t.x ∈ [xL,xU] constraints, xLAnd xURepresent flexible connection respectively
The lower limit of the design variable x of device and the upper limit.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112287492A (en) * | 2020-12-28 | 2021-01-29 | 四川大学 | Dynamic characteristic identification method for five-axis linkage machining center swinging turntable |
| CN114371633A (en) * | 2021-12-03 | 2022-04-19 | 北京仿真中心 | Semi-physical simulation device, system and method |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US3903614A (en) * | 1970-03-27 | 1975-09-09 | Singer Co | Apparatus for simulating aircraft control loading |
| CN104828259A (en) * | 2015-05-05 | 2015-08-12 | 北京理工大学 | Method for simulating influence of elastic vibration on sensitive device by vibration exciter and realization device thereof |
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2016
- 2016-05-17 CN CN201610326843.XA patent/CN106096071B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3903614A (en) * | 1970-03-27 | 1975-09-09 | Singer Co | Apparatus for simulating aircraft control loading |
| CN104828259A (en) * | 2015-05-05 | 2015-08-12 | 北京理工大学 | Method for simulating influence of elastic vibration on sensitive device by vibration exciter and realization device thereof |
Non-Patent Citations (1)
| Title |
|---|
| 刘莉: "考虑弹体弹性的导弹半物理仿真方法与影响分析", 《北京航空航天大学学报》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112287492A (en) * | 2020-12-28 | 2021-01-29 | 四川大学 | Dynamic characteristic identification method for five-axis linkage machining center swinging turntable |
| CN114371633A (en) * | 2021-12-03 | 2022-04-19 | 北京仿真中心 | Semi-physical simulation device, system and method |
| CN114371633B (en) * | 2021-12-03 | 2023-09-26 | 北京仿真中心 | Semi-physical simulation device, system and method thereof |
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