CN106444695B - A kind of intelligence Aircraft Steering Engine method for rapidly testing and device - Google Patents
A kind of intelligence Aircraft Steering Engine method for rapidly testing and device Download PDFInfo
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- CN106444695B CN106444695B CN201610421790.XA CN201610421790A CN106444695B CN 106444695 B CN106444695 B CN 106444695B CN 201610421790 A CN201610421790 A CN 201610421790A CN 106444695 B CN106444695 B CN 106444695B
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- steering engine
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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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0243—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model
Abstract
The invention discloses a kind of intelligent Aircraft Steering Engine method for rapidly testing and devices, realize intelligent Aircraft Steering Engine test.Belong to air line technical field.The present invention includes following module: microprocessor, data storage, drive module, display module, measurement module and steering engine.Data in steering engine test process are all handled by processor, solve the problems, such as the cumbersome data of artificial treatment, make evaluation by health status of the analysis to data to steering engine.Present invention mainly solves inefficient, the low accuracy problems of current steering engine manual test, and device reliability is strong, easy to operate, efficient, can meet the requirement of steering engine test well.
Description
Technical field
The invention belongs to air line field of fault detection, the failure inspection of steering engine automatically and manually is may be implemented in the present invention
It surveys, that is, carries out effective steering engine test.
Background technique
Currently, the test of steering engine is mainly manual testing, need by expert or veteran maintenance personal to steering engine
It is tested, test process has many uncertainties, such as environment when test, and the physical condition of tester all can be to knot
Fruit has an impact.In addition, the efficiency of manual testing is relatively low, tester can not work for 24 hours first, and survey every time
The reason of time of examination is also longer, the two aspects causes its efficiency to be difficult to improve a lot.So manual testing will exit
The arena of history.
Fault diagnosis technology is quickly grown between last decade, has huge help to the reliability of the system of raising.Failure
Diagnostic method can be divided into three kinds: the method based on mathematical model, the method based on signal processing, the side based on artificial intelligence
Method.Its main task can be divided into the evaluation and decision of fault detection, fault diagnosis and failure.The angle changed from signal can divide
Are as follows: measurement space, judges space and classifying space at feature space.The process of its work is as follows, and fault diagnosis system is from system
It extracts fault-signal and carries out the analysis detection of fault message, estimation, isolation.Finally, failure is evaluated according to acquired results,
And corresponding movement occurs.
In terms of power electronic technique, the field technology is fairly advanced at present, especially MEMS device application increasingly
Extensively, the development of MEMS technology opens a completely new technical field and industry, using MEMS technology production microsensor,
Microactrator, micro parts, Micromechanical Optics device, vacuum microelectronic device, power electronic devices etc. are in Aeronautics and Astronautics, vapour
Very wide application is suffered from vehicle, biomedicine, environmental monitoring, military affairs and all spectra that almost people are touched
Prospect.
The present invention combines presently relevant advanced technology, using the method for diagnosing faults based on model, realizes the intelligence to steering engine
It can detect, substantially increase the efficiency of steering engine test, improve the reliability of steering engine test.And steering engine is widely used
General, reliable, stable steering engine also significantly improves the reliability and stability of relevant apparatus.
Summary of the invention
1, goal of the invention
For the demand for closing civil aircraft general assembly flight control subsystem steering engine test, aircraft manufacturing engineering technology is relied on to grind
Study carefully center innovation funds project " civil aircraft flight control system direct fault location and fault test technical research ", making every effort to, which improves steering engine, surveys
The efficiency and accuracy of examination, major function of the present invention are detected to steering engine performance, state.Realization automatically gives control letter
Number, automatically control control surface deflection, automatic measurement and display test result.Make system that there is good versatility, transplantability and expansion
Malleability improves the degree of automation and levels of precision of steering engine test.
2, technical solution
The present invention is made of following components:
1) microprocessor handles measurement data, and the health status of steering engine is judged according to rule.
2) display module, by important data and the results show that succinct, the easy-operating interactive interface of design.
3) it measures the operation data of steering engine and is transferred to processor to realize steering engine fault detection.
4) data memory module stores the measurement data of acquisition, is analysed in depth so as to subsequent.
The course of work of the invention is as follows: microprocessor issues initialization directive first, prepares so that various pieces are in
Then state issues calibration command and calibrates to testing device of steering engine, relevant operation can be carried out after calibration with implement it is automatic or
Manually steering engine test function.
3, beneficial effect
Two kinds of test patterns, i.e. manual test mode and automatic test pattern may be implemented in the present invention, when to high-volume rudder
Automatic test pattern can be used when machine is tested with improve steering engine test efficiency, to single or a small number of steering engine into
Row can use the mode of manual test to meet the requirements when testing comprehensively.The present invention considers wanting for actual test well
It asks, and realizes the automation of steering engine test, intelligence.To in the reliability of reliability and steering engine application apparatus for improving steering engine
All have very great help.In addition, interaction design of the invention is succinct, easy to operate, upper hand test is easy to layman,
This improves application value of the invention, and it is significant to be generalized to practical application to it.
Detailed description of the invention
Fig. 1 is pwm signal figure.
Fig. 2 is keypress function structure chart.
Fig. 3 residual error generates structure chart.
Simulation result when failure is added in Fig. 4 system.
Residual error response curve when Fig. 5 failure.
Fig. 6 steering engine tester structure chart.
Specific embodiment
The present invention includes that module is as follows: microprocessor, data storage, drive module, display module, measurement module and rudder
Machine, each functions of modules are as follows:
Microprocessor: processing measurement data makes evaluation to steering engine health status according to fault detection rule.
Data storage: steering engine operation data is in storage test process so as to successive depths analysis.
Drive module: the control to steering engine is realized, to obtain the complete operation data of steering engine.
Display module: the interaction design of steering engine test.
Measurement module: the angle in steering engine operational process is measured in real time and is sent to processor.
Functions implementing the present invention process is as follows:
Processor uses STM32F103RCT6, and resource abundant can be very good to meet requirement of the invention, by micro-
Processor sends control instruction control steering engine deflection.
1, device is calibrated, and process is as follows: just being calibrated to steering engine when system is initial, control steering engine first is inclined when calibration
Turn 0 degree of value, when steering engine deflection completion and after stablize, the angle of measuring device automatic measurement steering engine and storage, i.e. steering engine collimation angle
Degree.This process controls the deflection of steering engine, pwm signal and steering engine deflection angle corresponding relationship are as schemed by generating pwm signal
Show.As shown in Figure 1, needing to generate the pwm signal that pulsewidth is 1.5ms, this signal will be so that steering engine deflects to 0 degree.
2, DATA REASONING is detected, the obtained data of gyroscope in real time using position of the double tops instrument to steering engine
For the position that steering engine current operation arrives, the method for obtaining steering engine rotational angle is storage when real-time angle to be subtracted to steering engine calibration
Angle.With this, the angle value of steering engine rotation can be accurately obtained by gyroscope.Left and right gyroscope numerical difference transfinites i.e.
It is abnormal to can determine that steering engine occurs.
3, data processing and display, process are as follows: after obtaining angle information due to angle measurement unit, expanded 100 times
It is stored later in 16 forms, processor is sent in the form of 8 serial ports.Processor handles data
When, the most-significant byte of acquisition and least-significant byte are merged into 16 data first, and reduced 100 times and true angle can be obtained.
And display module can not show decimal, the angle of steering engine is the decimal for being accurate to percentile, therefore is also needed in data display
The conversion of data is carried out, conversion process is as follows: obtaining the integer part of data first, after integer part is shown, shows decimal
Then point subtracts the fractional part that integer part obtains data by initial data, be rounded after fractional part is expanded 100 times
It has been shown that, that is, show true angle value.
4, Human-computer Interactive Design, the present invention realize function selection by three keys and determine that keypress function is multiplexed,
Structure chart such as Fig. 2.Implementation method is as follows: mark is arranged to key to realize, i.e., when the button is pressed, presses subscript for generating
Will, and under different functional modules, mark is also different, therefore can will separate by the environment of key pressing, thus real
Existing different function.
5, fault detection, after obtaining steering engine operation data, generating residual error can be according to fault detection rule to steering engine
Health status makes evaluation, and residual error generates structure chart such as Fig. 3, mathematical description are as follows:
Fault detection rule are as follows: the difference for comparing steering engine control angle and measurement angle, when the absolute value of its difference is greater than
When the threshold value of setting, it is judged as failure, is otherwise normal.It is 0.5 degree that threshold value, which is arranged, according to actual verification data in the present invention, threshold value
Design method it is as follows:
Consider false alarm rate and omission factor, when threshold value η increases, false alarm rate PfReduce, omission factor PmIncrease, and threshold value η reduces
When, false alarm rate PfIncrease, omission factor PmReduce.Therefore, it is necessary to consider both sides factor, selected threshold of trading off.Utilization cost letter
When number method, calculating P firstf、PmSize, then construct cost function, take optimal threshold η.
(1) P is calculatedf
Assuming that one group of redundant signals x1, x2, equal Normal Distribution N (u, σ2), probability-distribution function are as follows:
Enable δ=| x1-x2|, then its probability-distribution function are as follows:
Taking threshold value is η, then
(2) P is calculatedm
Assuming that occur amount of bias be d failure, then corresponding δ=| x1-x2| probability-distribution function are as follows:
Wherein, the size of failure d is random quantity, thus it can be assumed that d ∈ [- M, M] and being uniformly distributed.Taking threshold value is η
Then
(3) threshold value η
If the probability of malfunction of monitored signal is PF, construct cost function
C (η)=PFPm(η)+(1-PF)Pf(η)
Cost function can evaluate threshold value, and it comprises break down but alarmed falsely another kind of feelings when missing inspection and fault-free
Condition.C (η) is solved to the minimum value of η, the as optimal value of threshold value.
Steering gear system model is
Y=Cx
Wherein
C=[0 0 5.8139]
The tracer model of steering engine is
Wherein, [20.7190-22.5468 6.9310] H=T, emulate, emulate to failure is added at system two seconds
As a result such as Fig. 4, shown in Fig. 5.
Claims (1)
1. a kind of intelligent Aircraft Steering Engine method for rapidly testing, test device include microprocessor, measurement module, drive module,
Data storage and display module, its feature is as follows:
1) double tops instrument realizes the measurement to steering engine rotational angle, is symmetrically attached to aircraft or so rudder face rear table using double tops instrument
The position of steering engine is detected in face in real time；It is calibrated when testing initial, generates pwm signal control steering engine and deflect to 0
Degree, after steering engine, which deflects, to be completed and stablize, measuring device automatic measurement gyroscope angle is simultaneously stored, i.e. steering engine initial angle；
2) microprocessor module handles measurement data, makes evaluation to steering engine health status according to fault detection rule；Gyroscope
Obtained data are the position θ that steering engine current operation arrives1, the initial angle of steering engine is θ0, the angle of steering engine rotation is θ=θ1-
θ0, default setting threshold value is 0.5 degree；
3) steering engine data processing method, storage and display are expanded 100 times after Angle Measurement Module obtains angle information
It is stored afterwards in 16 forms, serial ports is sent to processor in 8 forms；Processor is first by the most-significant byte of acquisition and low 8
Position is merged into 16 data, and is reduced 100 times and true angle can be obtained；Data are carried out to the measurement data of storage to change
It calculates, obtains the integer part of data first, after integer part is shown, show decimal point, then subtracted by initial data whole
Number part obtains the fractional part of data, is rounded and shows after fractional part is expanded 100 times, that is, shows true angle
Value.
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| CN107941192A (en) * | 2017-11-16 | 2018-04-20 | 西安长峰机电研究所 | A kind of angle of rudder reflection tester |
| CN109708862A (en) * | 2019-01-10 | 2019-05-03 | 深圳飞马机器人科技有限公司 | A kind of steering engine test macro |
Citations (3)
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| EP2204778A2 (en) * | 2008-12-23 | 2010-07-07 | EMBRAER - Empresa Brasileira de Aeronáutica S.A. | Prognostics and health monitoring for electro-mechanical systems and components |
| CN104634600A (en) * | 2015-02-08 | 2015-05-20 | 杭州电子科技大学 | Automatic detection system of civil unmanned aircraft steering engine |
| CN104656630A (en) * | 2013-11-25 | 2015-05-27 | 哈尔滨功成科技创业投资有限公司 | Testing system of electric steering engine for flight navigation |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2204778A2 (en) * | 2008-12-23 | 2010-07-07 | EMBRAER - Empresa Brasileira de Aeronáutica S.A. | Prognostics and health monitoring for electro-mechanical systems and components |
| CN104656630A (en) * | 2013-11-25 | 2015-05-27 | 哈尔滨功成科技创业投资有限公司 | Testing system of electric steering engine for flight navigation |
| CN104634600A (en) * | 2015-02-08 | 2015-05-20 | 杭州电子科技大学 | Automatic detection system of civil unmanned aircraft steering engine |
Non-Patent Citations (2)
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| 《基于LabVIEW的直流舵机性能测试系统》;习赵军;《自动化与仪表》;20061125(第6期);正文第60页-第62页，第88页 |
| 《基于模型的故障诊断技术及其在电动舵机上的应用》;吴彬;《中国优秀硕士学位论文全文数据库 信息科技辑 》;20090515(第5期);正文第11页，第13页-第14页，第18页-第22页，第25页 |
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