CN106773782B - Pneumatic servo elastic hybrid modeling method - Google Patents

Pneumatic servo elastic hybrid modeling method Download PDF

Info

Publication number
CN106773782B
CN106773782B CN201611161879.3A CN201611161879A CN106773782B CN 106773782 B CN106773782 B CN 106773782B CN 201611161879 A CN201611161879 A CN 201611161879A CN 106773782 B CN106773782 B CN 106773782B
Authority
CN
China
Prior art keywords
modal
equation
generalized
formula
mass
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201611161879.3A
Other languages
Chinese (zh)
Other versions
CN106773782A (en
Inventor
张庚庚
严泽洲
高怡宁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xian Aircraft Design and Research Institute of AVIC
Original Assignee
Xian Aircraft Design and Research Institute of AVIC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xian Aircraft Design and Research Institute of AVIC filed Critical Xian Aircraft Design and Research Institute of AVIC
Priority to CN201611161879.3A priority Critical patent/CN106773782B/en
Publication of CN106773782A publication Critical patent/CN106773782A/en
Application granted granted Critical
Publication of CN106773782B publication Critical patent/CN106773782B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
  • Testing Of Engines (AREA)

Abstract

The invention belongs to the field of pneumatic servo elasticity, and relates to a pneumatic servo elasticity modeling method. A structural model is established through test data, and an aeroelastic motion model and a control model are calculated and established, so that the degree of freedom of the model is objectively reduced, and the calculation efficiency is improved.

Description

Pneumatic servo elastic hybrid modeling method
Technical Field
The invention belongs to the field of pneumatic servo elasticity, and relates to a pneumatic servo elasticity modeling method.
Background
For aircraft with servo control systems, the aeroelastic stability problem is an unavoidable problem. For the first flight of the airplane and the major modification of the airplane, the aeroelastic stability analysis is required to be carried out.
At present, the problem of the pneumatic servo elastic stability is mainly analyzed through computer simulation, and the computer simulation modeling and the actual situation of an airplane have great difference, so that a simulation model is mainly corrected through a test method, but the model correction difficulty is great, and the correction result is difficult to completely coincide.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the problems that the simulation model is different from a real airplane greatly and the simulation model is difficult to correct, the test data is analyzed, the test model is built, and then the pneumatic servo elasticity analysis is carried out through a mixed model of the test and the simulation.
The technical scheme of the invention is as follows: a pneumatic servo elastic hybrid modeling method is characterized by comprising the following steps:
(1) selecting N test points as structural freedom degrees, establishing a structural model, performing a full-aircraft ground resonance test, and measuring modal frequency omega and modal vibration mode phihModal damping ChhModal mass Mhh；
(2) According to the measured modal mass MhhCalculating modal stiffness K from sum modal frequency omegahh；
Khh＝ω2Mhh
(3) Establishing a control surface mode phi on the structural freedom degree according to a test modelc；
(4) According to mode shape phihAnd modal mass MhhCalculating mass M in structural degrees of freedomg；
Figure GDA0002204464110000021
(5) According to mode shape phihAnd control plane mode phicAnd mass MgSolving the coupling mass M between the modal shape and the control surface modehc；
Figure GDA0002204464110000022
(6) Establishing a structural motion equation:
Figure GDA0002204464110000023
xi and delta in the formula respectively represent generalized structure displacement and control surface deflection;
(7) calculating unsteady aerodynamic force by using a flow field solver according to modal data obtained by the test, and identifying a generalized aerodynamic force matrix Qh(s)；
Figure GDA0002204464110000024
In the formula Qh＝[QhhQhc]，An＝[AhhnAhcn]，
n＝0,1,2E＝[EhEc]L is the reference length, V is the air flow velocity, and s is the Laplace variable;
(8) generalized aerodynamic matrix Q with fittingh(s) obtaining a generalized aerodynamic force fa：
Figure GDA0002204464110000025
In the formula q∞Representing the incoming flow pressure, q is the generalized displacement, q ═ ξ δ]TIncluding generalized structure displacement ξ and control surface deflection δ;
(9) taking the aerodynamic state variable:
Figure GDA0002204464110000031
Figure GDA0002204464110000032
conversion to time-domain space:
the time domain generalized aerodynamic force can be written as:
Figure GDA0002204464110000034
(10) establishing an aeroelastic motion equation:
Figure GDA0002204464110000035
(11) the aeroelastic equation is written in state space form:
Figure GDA0002204464110000036
in the formula
Figure GDA0002204464110000037
(12) According to a frequency response function of the steering engine measured in a test, obtaining a steering engine state equation:
Figure GDA0002204464110000038
(13) due to xact＝uaeThe equation of state of the controlled object can be expressed by the following formula:
in the formula
Figure GDA0002204464110000041
Figure GDA0002204464110000042
Cp＝[CaeDae]Dp＝0；
(14) Considering the control system state equation, it can be obtained from the simulation model:
Figure GDA0002204464110000043
(15) establishing an open-loop transfer function of a controlled object and a control system:
Figure GDA0002204464110000044
Figure GDA0002204464110000045
Co＝[DcCpCc]，Do＝DcDp；
(16) converting the state space equation into a frequency response function:
H(s)＝Co(sI-Ao)-1Bo+Do
and drawing a Bode diagram and a Nyquist diagram, and performing stability analysis and stability margin analysis.
The invention has the beneficial effects that: a structural model is established through test data, and an aeroelastic motion model and a control model are established through calculation, so that the degree of freedom of the model is objectively reduced, and the calculation efficiency is improved.
Detailed Description
(1) Selecting N test points as structural freedom degrees, establishing a structural model, performing a full-aircraft ground resonance test, and measuring modal frequency omega and modal vibration mode phihModal damping ChhDie, and a method of manufacturing the sameMass of state Mhh。
(2) According to the measured modal mass MhhCalculating modal stiffness K from sum modal frequency omegahh。
Khh＝ω2Mhh
(3) Establishing a control surface mode phi on the structural freedom degree according to a test modelc。
(4) According to mass MgSum mode shape ΦhAnd modal quality matrix MhhThe relationship between:
Figure GDA0002204464110000051
it is possible to obtain:
Figure GDA0002204464110000052
thus, the following coupling quality matrix between the mode shape and the control surface mode can be obtained:
Figure GDA0002204464110000053
(5) according to modal data obtained by the test, solving the generalized aerodynamic force, and fitting a generalized aerodynamic force matrix:
Qh(p)＝A0+A1p+A2p2+D(Ip-R)-1Ep
in the formula Qh＝[QhhQhc]，An＝[AhhnAhcn]，n＝0,1,2，E＝[EhEc]Where L is the reference length, V is the air flow velocity, dimensionless laplace variable p ═ sL/V, and s is the laplace variable, the generalized aerodynamic matrix can therefore be written as:
Figure GDA0002204464110000054
then, the generalized aerodynamic force can be written as:
Figure GDA0002204464110000055
in the formula q∞Representing the incoming flow pressure, q is a generalized displacement and comprises a generalized structure displacement xi and a control surface deflection delta, and q is [ xi delta ]]T。
Taking the aerodynamic state variable:
Figure GDA0002204464110000056
Figure GDA0002204464110000057
conversion to time-domain space:
Figure GDA0002204464110000061
the aerodynamic force can then be written as:
(6) the aero-servo-elastic equations of motion can be written as:
Figure GDA0002204464110000063
Figure GDA0002204464110000065
the aero-servo-elastic equation can then be written in the form of a state space:
Figure GDA0002204464110000066
in the formula
Figure GDA0002204464110000067
(7) According to a frequency response function of the steering engine measured in a test, obtaining a steering engine state equation:
Figure GDA0002204464110000068
(8) due to xact＝uaeThe state equation of the controlled object (plant) can be expressed by the following formula:
Figure GDA0002204464110000069
in the formula
Figure GDA00022044641100000610
Figure GDA00022044641100000611
Cp＝[CaeDae]，Dp＝0；
(9) Considering the state equation of the control system, the state equation can be obtained by a simulation model or can be measured by experiments:
Figure GDA0002204464110000071
(10) establishing an open-loop transfer function of a controlled object and a control system
In the formula
Figure GDA0002204464110000073
Co＝[DcCpCc]，Do＝DcDp
(11) Converting the state space equation into a frequency response function:
H(s)＝Co(sI-Ao)-1Bo+Do
bode plots and Nyquist plots were plotted. Stability analysis and stability margin analysis can be performed.

Claims (1)

1. A pneumatic servo elastic hybrid modeling method is characterized by comprising the following steps:
(1) selecting N test points as structural freedom degrees, establishing a structural model, performing a full-aircraft ground resonance test, and measuring modal frequency omega and modal vibration mode phihModal damping ChhModal mass Mhh；
(2) According to the measured modal mass MhhCalculating modal stiffness K from sum modal frequency omegahh；
Khh＝ω2Mhh
(3) Establishing a control surface mode phi on the structural freedom degree according to a test modelc；
(4) According to mode shape phihAnd modal mass MhhCalculating mass M in structural degrees of freedomg；
Figure FDA0002241146080000011
(5) According to mode shape phihAnd control plane mode phicAnd mass MgSolving the coupling mass M between the modal shape and the control surface modehc；
(6) Establishing a structural motion equation:
xi and delta in the formula respectively represent generalized structure displacement and control surface deflection;
(7) calculating unsteady aerodynamic force by using a flow field solver according to modal data obtained by the test, and identifying a generalized aerodynamic force matrix Qh(s)；
Figure FDA0002241146080000014
In the formula Qh＝[QhhQhc]，An＝[AhhnAhcn],n＝0,1,2，
E＝[EhEc]L is the reference length, V is the air flow velocity, and s is the Laplace variable;
(8) generalized aerodynamic matrix Q with fittingh(s) obtaining a generalized aerodynamic force fa：
Figure FDA0002241146080000021
In the formula q∞Representing the incoming flow pressure, q is the generalized displacement, q ═ ξ δ]TIncluding generalized structure displacement ξ and control surface deflection δ;
(9) taking the aerodynamic state variable:
Figure FDA0002241146080000022
conversion to time-domain space:
Figure FDA0002241146080000023
the time domain generalized aerodynamic force can be written as:
Figure FDA0002241146080000024
(10) establishing an aeroelastic motion equation:
Figure FDA0002241146080000025
(11) the aeroelastic equation is written in state space form:
in the formula
Figure FDA0002241146080000027
(12) According to a frequency response function of the steering engine measured in a test, obtaining a steering engine state equation:
Figure FDA0002241146080000031
(13) due to xact＝uaeThe equation of state of the controlled object can be expressed by the following formula:
Figure FDA0002241146080000032
in the formula
Figure FDA0002241146080000033
Figure FDA0002241146080000034
Figure FDA0002241146080000035
Cp＝[CaeDae]，Dp＝0；
(14) Considering the control system state equation, it can be obtained from the simulation model:
Figure FDA0002241146080000036
(15) establishing an open-loop transfer function of a controlled object and a control system:
Figure FDA0002241146080000037
Figure FDA0002241146080000038
Co＝[DcCpCc]，
Do＝DcDp；
(16) converting the state space equation into a frequency response function:
H(s)＝Co(sI-Ao)-1Bo+Do
and drawing a Bode diagram and a Nyquist diagram, and performing stability analysis and stability margin analysis.
CN201611161879.3A 2016-12-15 2016-12-15 Pneumatic servo elastic hybrid modeling method Active CN106773782B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611161879.3A CN106773782B (en) 2016-12-15 2016-12-15 Pneumatic servo elastic hybrid modeling method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611161879.3A CN106773782B (en) 2016-12-15 2016-12-15 Pneumatic servo elastic hybrid modeling method

Publications (2)

Publication Number Publication Date
CN106773782A CN106773782A (en) 2017-05-31
CN106773782B true CN106773782B (en) 2020-01-14

Family

ID=58891445

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611161879.3A Active CN106773782B (en) 2016-12-15 2016-12-15 Pneumatic servo elastic hybrid modeling method

Country Status (1)

Country Link
CN (1) CN106773782B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108256264B (en) * 2018-02-08 2020-03-31 北京航空航天大学 Pneumatic servo elastic stability prediction method based on ground frequency response test
CN109856989A (en) * 2018-11-26 2019-06-07 广东工业大学 A kind of pneumatic force servo system emulation modelling method
CN110287505B (en) * 2019-03-20 2020-12-25 北京机电工程研究所 Aircraft stability analysis method

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102419238A (en) * 2011-08-15 2012-04-18 中国航空工业集团公司西安飞机设计研究所 Device for measuring mass moment of inertia of flutter model
CN102566440A (en) * 2011-12-29 2012-07-11 成都飞机工业（集团）有限责任公司 Testing method for unmanned plane flight-control structure modal coupling
US8393206B1 (en) * 2010-02-09 2013-03-12 Ping-Chih Chen Dry wind tunnel system
CN103530485A (en) * 2013-11-05 2014-01-22 中国航空工业集团公司西安飞机设计研究所 Full-aircraft beam frame type reduction stiffness combination modeling method
CN103558842A (en) * 2013-11-05 2014-02-05 中国航空工业集团公司西安飞机设计研究所 Virtual open-loop frequency scanning method for airplane ground servo elasticity test
CN105843073A (en) * 2016-03-23 2016-08-10 北京航空航天大学 Method for analyzing wing structure aero-elasticity stability based on aerodynamic force uncertain order reduction
CN105929692A (en) * 2016-05-16 2016-09-07 中国航空工业集团公司西安飞机设计研究所 Elastic flying wing layout airplane gust alleviating controller parameter optimization method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8393206B1 (en) * 2010-02-09 2013-03-12 Ping-Chih Chen Dry wind tunnel system
CN102419238A (en) * 2011-08-15 2012-04-18 中国航空工业集团公司西安飞机设计研究所 Device for measuring mass moment of inertia of flutter model
CN102566440A (en) * 2011-12-29 2012-07-11 成都飞机工业（集团）有限责任公司 Testing method for unmanned plane flight-control structure modal coupling
CN103530485A (en) * 2013-11-05 2014-01-22 中国航空工业集团公司西安飞机设计研究所 Full-aircraft beam frame type reduction stiffness combination modeling method
CN103558842A (en) * 2013-11-05 2014-02-05 中国航空工业集团公司西安飞机设计研究所 Virtual open-loop frequency scanning method for airplane ground servo elasticity test
CN105843073A (en) * 2016-03-23 2016-08-10 北京航空航天大学 Method for analyzing wing structure aero-elasticity stability based on aerodynamic force uncertain order reduction
CN105929692A (en) * 2016-05-16 2016-09-07 中国航空工业集团公司西安飞机设计研究所 Elastic flying wing layout airplane gust alleviating controller parameter optimization method

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
弹性飞行器气动伺服弹性稳定性分析与控制;乔洋 等;《应用力学学报》;20160430;第33卷(第2期);第287-290页 *
考虑参数摄动的飞行器气动伺服弹性鲁棒稳定性分析研究;惠俊鹏 等;《导弹与航天运载技术》;20151231;第1-5页 *

Also Published As

Publication number Publication date
CN106773782A (en) 2017-05-31

Similar Documents

Publication Publication Date Title
CN106773782B (en) Pneumatic servo elastic hybrid modeling method
CN102866637B (en) Quadratic order-reduction based method for simulating unsteady aerodynamic force of aerofoil with operation surface
CN103063401B (en) Preparation method of steel truss arch bridge wind tunnel test model
CN103577648A (en) Method for determining wing structure load when transportation aircraft drops goods
CN110162826B (en) Analysis method for thermoelasticity dynamic response of thin-wall structure
CN106874617B (en) Efficient helicopter maneuvering flight quality grade evaluation method
CN110287505B (en) Aircraft stability analysis method
Xie et al. Static aeroelastic analysis including geometric nonlinearities based on reduced order model
CN104573269B (en) A kind of cable-membrane analysis Wind-resistant design method based on close coupling overall technology
CN109840349B (en) Fixed-wing aircraft gust response modeling analysis method
CN115127768B (en) Aircraft longitudinal motion simulation wind tunnel test method based on control surface controllable model
CN107085435A (en) Hypersonic aircraft attitude harmony control method based on coupling analysis
CN107976908B (en) Aircraft coupling dynamic stability characteristic analysis method
Takarics et al. Flight control oriented bottom-up nonlinear modeling of aeroelastic vehicles
CN106444885B (en) A kind of active flutter surppression controller constitutes and its analogy method
CN104091003B (en) Finite element modeling method of large-deformation responses of flexible shell structures during basic movement
Zhao et al. Structural and aeroelastic design, analysis, and experiments of inflatable airborne wings
Fagley et al. Experimental Investigation of the Aeroelastic Behavior a NACA0018 Cyber-Physical FlexibleWing
CN115659748A (en) CFD technology-based aircraft attitude control law design method
Zhu et al. Flexible modeling of parafoil delivery system in wind environments
CN106777438B (en) Space multi-body motion simulation analysis method of typical rotating part of helicopter
CN103577649A (en) Method for determining goods cabin floor load when transportation aircraft drops goods
Abraham et al. In-flight estimation of helicopter gross weight and mass center location
Lofthouse et al. Static and dynamic simulations of a generic UCAV geometry using the kestrel flow solver
Wang et al. Static aeroelastic analysis of flexible aircraft with large deformations

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant