CN107272420B - High-frequency noise active suppression method applied to electric steering engine - Google Patents
High-frequency noise active suppression method applied to electric steering engine Download PDFInfo
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- CN107272420B CN107272420B CN201710667436.XA CN201710667436A CN107272420B CN 107272420 B CN107272420 B CN 107272420B CN 201710667436 A CN201710667436 A CN 201710667436A CN 107272420 B CN107272420 B CN 107272420B
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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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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Abstract
The invention discloses a high-frequency noise active suppression method applied to an electric steering engine, which comprises the following processes: the method comprises the steps of acquiring vibration information in the flying process in real time by using an aircraft vibration sensor, carrying out FFT (fast Fourier transform) conversion on the vibration information to obtain the frequency and amplitude of high-frequency noise, adding a notch filter to a deviation signal generated after an electric steering engine position instruction and electric steering engine current feedback calculation in an electric steering engine control system, filtering the deviation signal, wherein the central filtering frequency and the filtering depth of the notch filter are the frequency and the amplitude of the high-frequency noise identified by the vibration sensor, and adaptively correcting the central frequency and the amplitude of the notch filter in real time according to the change of the frequency and the amplitude of the high-frequency noise. The invention has the advantage that the notch filter is adopted to accurately process the current high-frequency signal, thereby eliminating the influence of high-frequency noise on the electric steering engine.
Description
Technical Field
The invention relates to a control technology of an electric steering engine system of an aircraft, in particular to a high-frequency noise active suppression method applied to an electric steering engine.
Background
The electric steering engine is an actuating mechanism of an aircraft flight control system and is used for controlling a control plane to deflect according to a control instruction, generating a control moment and controlling the flight track and the attitude of the aircraft. The aircraft electric steering engine has very harsh and complex working environment and is easy to generate high-frequency jitter, a generated high-frequency noise signal can enter a control system through an instruction channel and a sensor feedback loop, so that high-frequency components are superposed on control quantity in the system, the power driving system is in saturated output, and a motor can rapidly generate heat, so that the performance of the electric steering engine is greatly reduced, and even the electric steering engine is out of work and damaged.
In order to solve the adverse effect of high-frequency noise signals on an electric steering engine control system, a notch filter is added to the control system at present to filter high-frequency noise within a certain frequency and amplitude range.
Therefore, a more effective method is needed to be provided, so that the high-frequency noise entering the control system is accurately filtered, and meanwhile, the influence on the performance of the electric steering engine is reduced as much as possible; when the system is not influenced by high-frequency noise, the filter does not work, and the performance of the electric steering engine is not influenced.
Disclosure of Invention
The invention aims to provide a high-frequency noise active suppression method applied to an electric steering engine, which can achieve the purpose of eliminating the influence of high-frequency noise on the electric steering engine by accurately acquiring the frequency and the amplitude of the high-frequency noise entering a control system and accurately processing the current high-frequency signal by adopting a notch filter.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
a high-frequency noise active suppression method applied to an electric steering engine comprises the following steps: the vibration information of the electric steering engine is collected in real time when the aircraft flies through a vibration sensor arranged on an electric steering engine control system of the aircraft. The Fast Fourier Transform (FFT) processing is carried out on the acquired vibration information through an FFT conversion module arranged in an aircraft electric steering engine control system, high-frequency noise is identified, and the frequency and amplitude of the high-frequency noise are identified. The electric steering engine control system adopts position loop and current loop double closed loop control, adds a notch filter to a deviation signal generated after the position instruction of the electric steering engine and the position feedback calculation of the electric steering engine, and carries out filtering processing on the deviation signal and then solves the deviation signal in a position loop. The center frequency and the filtering depth of the notch filter are adaptively corrected in real time according to the amplitude of the frequency of the high-frequency noise so as to accurately suppress the high-frequency noise.
Preferably, the expression of the notch filter is:
in the formula: t is1、ξ1Respectively the frequency and the damping coefficient of a second order differential link;
T2、ξ2the frequency and the damping coefficient of the second-order inertia element are respectively.
Preferably, when the electric steering engine control system has high-frequency noise, T is adjusted in real time1、ξ1、T2、ξ2Four parameters, changing the center frequency and the filtering depth of the notch filter for the frequency and amplitude of the high frequency noise. When the electric steering engine control system has no high-frequency noise, the T of the notch filter1、ξ1、T2、ξ2All the parameters are set to be 0, and the notch filter does not influence the performance of the electric steering engine control system.
Compared with the prior art, the invention has the following advantages:
the frequency of the current high-frequency noise can be accurately acquired through the aircraft vibration sensor, and the frequency is set as the central filtering frequency of the notch filter, so that the high-frequency noise is accurately suppressed.
Drawings
FIG. 1 is a schematic diagram of a loop structure of an electric steering engine control system according to the present invention;
FIG. 2 is a bode diagram of a notch filter of the present invention;
FIG. 3 is a schematic diagram comparing amplitude-phase-frequency characteristic curves of front and rear electric steering engines.
Detailed Description
The present invention will now be further described by way of the following detailed description of a preferred embodiment thereof, taken in conjunction with the accompanying drawings.
As shown in fig. 1, the active high-frequency noise suppression method applied to an electric steering engine of the present invention includes the following steps: electric steering engine control system's loop structure contains: the system comprises an aircraft electric steering engine, a vibration sensor arranged on the aircraft electric steering engine, and an FFT (fast Fourier transform) module connected with the vibration sensor; the current loop controller and the servo motor are used for realizing current loop control; and a position ring controller and a transmission mechanism for realizing position ring control.
And acquiring the vibration information of the electric steering engine when the aircraft flies in real time through the vibration sensor.
And carrying out digital FFT conversion processing on the acquired vibration information through the FFT conversion module, identifying high-frequency noise, and identifying the frequency and amplitude of the high-frequency noise.
Electric steering engine control system adopts position ring and the two closed-loop control of electric current ring, inputs the deviation signal that electric steering engine position instruction generated after calculating to notch filter, and notch filter's expression is:
in the formula: t is1、ξ1Respectively the frequency and the damping coefficient of a second order differential link;
T2、ξ2respectively the frequency and the damping coefficient of a second-order inertia link; s represents an input time domain variable.
By adjusting T in real time1、ξ1、T2、ξ2Four parameters that change the center frequency and the filtering depth of the notch filter with respect to the frequency and the amplitude of the high frequency noise; filtering the deviation signal and then resolving the deviation signal in a position ring; if the system has no high frequency noise, then the T of the notch filter1、ξ1、T2、ξ2All the parameters are set to be 0, and the notch filter does not work, so that the notch filter does not influence the performance of the control system.
And the center frequency and the filtering depth of the notch filter are adaptively corrected in real time according to the amplitude of the frequency of the high-frequency noise so as to accurately suppress the high-frequency noise.
Table 1 lists the comparison data of the frequency domain performance indexes of the front rudder system and the rear rudder system of the invention obtained by adopting the frequency sweep of 0.5V instruction, and FIG. 2 is a Bode diagram of a notch filter. FIG. 3 is a comparison curve of amplitude-phase-frequency characteristics of the front and rear electric steering engines.
TABLE 1 comparison of Performance indices of electric steering engines
| Index (I) | Before the invention | After the invention |
| Resonance peak (dB) | 0.05 | 0.15 |
| Bandwidth (Hz) | 20.6 | 20.6 |
| 20Hz phase lag (°) | 64.1 | 56.2 |
It can be seen that the dynamic performance resonance peak and the bandwidth of the electric steering engine are basically maintained, the phase lag of the system is obviously reduced, the 20Hz phase lag is reduced from 64.1 degrees to 56.2 degrees, and is improved by 12.3 percent.
In conclusion, the invention acquires the vibration information in the flight process in real time by using the aircraft vibration sensor, performs FFT conversion on the vibration information to obtain the frequency and the amplitude of high-frequency noise, meanwhile, in the electric steering engine control system, adds a notch filter to a deviation signal generated after the position instruction of the electric steering engine and the current of the electric steering engine are fed back and calculated, performs filtering processing on the deviation signal, wherein the central filtering frequency and the filtering depth of the notch filter are the frequency and the amplitude of the high-frequency noise identified by the vibration sensor, and adaptively corrects the central frequency and the amplitude of the notch filter in real time according to the change of the frequency and the amplitude of the high-frequency noise.
According to the invention, the frequency and the amplitude of the current high-frequency noise can be accurately identified through the aircraft vibration sensor, the frequency is set as the central filtering frequency of the notch filter, and the filtering depth is determined, so that the high-frequency noise is accurately suppressed; when the system is not influenced by high-frequency noise, the filter does not work, and the performance of the electric steering engine is not influenced.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (1)
1. A high-frequency noise active suppression method applied to an electric steering engine is characterized by comprising the following steps: the method comprises the steps that vibration information of an electric steering engine during flying of an aircraft is collected in real time through a vibration sensor arranged on the aircraft electric steering engine of an aircraft electric steering engine control system;
carrying out digital FFT conversion processing on the acquired vibration information through an FFT conversion module arranged in an electric steering engine control system of the aircraft, identifying high-frequency noise, and identifying the frequency and amplitude of the high-frequency noise;
the electric steering engine control system adopts position loop and current loop double closed loop control, adds a notch filter to a deviation signal generated after rudder instruction and rudder feedback calculation, and carries out filtering processing on the deviation signal and then enters a position loop for calculation;
the center frequency and the filtering depth of the notch filter are adaptively corrected in real time according to the amplitude of the frequency of the high-frequency noise, so that the high-frequency noise is suppressed;
the notch filter is as follows:
in the formula: t is1、ξ1Respectively the frequency and the damping coefficient of a second order differential link;
T2、ξ2respectively the frequency and the damping coefficient of a second-order inertia link;
when the electric steering engine control system has high-frequency noise, T is adjusted in real time1、ξ1、T2、ξ2Four parameters that change the center frequency and the filtering depth of the notch filter with respect to the frequency and the amplitude of the high frequency noise;
when the electric steering engine control system has no high-frequency noise, the T of the notch filter1、ξ1、T2、ξ2And if all the parameters are set to be 0, the notch filter has no influence on the performance of the electric steering engine control system.
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| CN108631693B (en) * | 2018-04-28 | 2020-07-03 | 北京机械设备研究所 | Method and system for suppressing step response peak current of electric steering engine |
| CN108920783A (en) * | 2018-06-15 | 2018-11-30 | 上海航天控制技术研究所 | A kind of algorithm filter inhibited suitable for big magnitude elastic vibration |
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| WO2022141310A1 (en) * | 2020-12-30 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Control method for movable platform, movable platform, and storage medium |
| CN112613195A (en) * | 2021-01-08 | 2021-04-06 | 上海航天控制技术研究所 | Elastic vibration self-adaptive filtering method suitable for large temperature change environment |
| CN113093826B (en) * | 2021-03-31 | 2022-03-25 | 歌尔股份有限公司 | Control method and device of vibration motor, terminal equipment and storage medium |
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| CN114237039B (en) * | 2021-10-25 | 2024-06-18 | 中国航空工业集团公司成都飞机设计研究所 | Suppression method suitable for nonlinear structure control coupling |
| CN115421504A (en) * | 2022-09-26 | 2022-12-02 | 上海沃兰特航空技术有限责任公司 | Aircraft vibration mitigation method and device, electronic equipment and storage medium |
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