CN108639313B - High-precision rod force control method of airplane driving side rod system - Google Patents
High-precision rod force control method of airplane driving side rod system Download PDFInfo
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Abstract
The invention discloses a high-precision rod force control method of an airplane active side rod system, which is characterized in that aiming at an active working mode of an airplane active side rod, an impedance control strategy based on torque is adopted, a rod force control method based on expert PID and feedforward is designed, and the rod force control precision is ensured. The active side rod respectively adopts a high-precision rod force sensor and a rod force observer based on a current and friction model to perform rod force closed-loop feedback under a steady state and a dynamic state, so that the precision of a force feedback signal is ensured.
Description
Technical Field
The invention relates to an aircraft control system, in particular to an active mode control method suitable for active side rods of civil aircrafts and military aircrafts, relates to high-precision rod force control, and belongs to the field of force feedback control.
Background
Compared with a passive side lever, the active side lever has the advantages of reducing the whole service life cost, providing safety force feedback, realizing programmable upgrading of functions, not influencing the observation of a cockpit display and the like; and, it reduces mechanical complexity and system weight compared to conventional mid-rods. The active side rod belongs to a force-displacement side rod, and forms a closed loop with a flight control system, and the closed loop can be communicated with a flight control computer in real time. After the active side lever is adopted, when the aircraft is in a manual flight state, a pilot can accurately judge the flight state of the aircraft through the handle force; when the aircraft is in an automatic driving flight state, the movement of the side lever along with the flight control instruction can give a visual prompt about the flight state to the pilot; therefore, the active side rod can improve the handling characteristics and flight quality of the airplane, and the active side rod technology becomes a research hotspot all over the world. If the rod force of the active side rod of the airplane can reflect the flight state of the airplane in real time, when the airplane is in an active mode and a pilot operates the side rod at different angles and speeds, the side rod has feedback force with corresponding magnitude. In the prior invention or paper, the rod force of the driving side rod in a static state is only controlled, and a rod force control method of the driving side rod in motion is not analyzed; or the motion state of the active side lever can not be distinguished by using the same control structure. If the active side rod is in an acceleration or deceleration state, the rod force sensor always has larger measurement error, and the invention not only can improve the rod force control precision of the active side rod in static and dynamic states, but also can improve the reliability of the active side rod system.
Disclosure of Invention
The invention aims to solve the technical problem of providing a high-precision rod force control method for an airplane driving side rod aiming at the defects in the background technology.
The invention adopts the following technical scheme for solving the technical problems:
a high-precision rod force control method of an airplane active side rod system comprises a monitoring module and a side rod module;
the monitoring module is used for sending an instruction to the side lever module and controlling and storing and displaying real-time state information of the side lever module;
the side rod module comprises an active side rod, a first micro control unit and a second micro control unit;
the driving side rod comprises a driving side rod handle, a rod force sensor, a driving side rod body, a first shaft, a second shaft, a first bearing and a second bearing;
the first shaft and the second shaft adopt the form of an inner frame and an outer frame, the first shaft is an inner frame shaft, the second shaft is an outer frame shaft, and the first shaft can slide in an upper sliding chute and a lower sliding chute of the second shaft;
one end of the first shaft is in key connection with an output hole of the hole output right-angle reversing speed reducer, and the other end of the first shaft is borne by a first bearing; one end of the second shaft is connected with an output shaft of the shaft output right-angle reversing speed reducer through a key, and the other end of the second shaft is borne by a second bearing;
the lower end of the rod body of the driving side rod is fixedly connected with the first shaft, the upper end of the rod body of the driving side rod is fixedly connected with the bottom of the rod force sensor, and the top of the rod force sensor is fixedly connected with the handle of the driving side rod;
the rod force sensor adopts a two-dimensional resistance strain gauge type rod force sensor and respectively corresponds to a force on a first shaft and a force on a second shaft;
the handle is provided with a change-over switch for changing over the working modes of the side lever module, and the working modes comprise an active mode, a follow-up mode, a balancing mode and a passive mode;
the first micro control unit comprises a first rotary transformer, a first right-angle reversing speed reducer, a first torque motor, a first micro controller, a first PWM motor driving module, a first handle force modulation signal circuit and a first rotary transformer signal modulation circuit;
the rotor of the first rotary transformer is connected with a rotating shaft of the first torque motor, the stator of the first rotary transformer is connected with a shell of the first torque motor, and the output end of the first rotary transformer is connected with the input end of a signal modulation circuit of the first rotary transformer and used for measuring the rotating angle of the output shaft of the first torque motor and transmitting the rotating angle to the first microcontroller;
the first right-angle reversing speed reducer is fixed on the driving side rod case through a flange plate, an output hole is connected with one end of the first shaft, and an input hole is connected with one end of an output shaft of the first torque motor;
the input end of the first handle force modulation signal circuit is electrically connected with the rod force sensor circuit;
the output end of the first PWM motor driving module is electrically connected with the first torque motor;
the first microcontroller is respectively electrically connected with the output end of the first handle force modulation signal circuit, the input end of the first PWM motor driving module, the output end of the first rotary transformer signal modulation circuit, the rod force sensor and the monitoring module, and is used for outputting PWM waves to the first PWM motor driving module according to the obtained rod force output signal of the rod force sensor on the first shaft and the corner signal of the first rotary transformer signal modulation circuit, controlling the operation of the first torque motor, simultaneously carrying out serial port communication with the monitoring module through a serial port function carried by the first microcontroller and transmitting the state information of the side rod module to the monitoring module;
the second micro control unit comprises a second rotary transformer, a second right-angle reversing speed reducer, a second torque motor, a second microcontroller, a second PWM motor driving module, a second handle force modulation signal circuit and a second rotary transformer signal modulation circuit;
the rotor of the second rotary transformer is connected with a rotating shaft of the second torque motor, the stator of the second rotary transformer is connected with a shell of the second torque motor, and the output end of the second rotary transformer is connected with the input end of a signal modulation circuit of the second rotary transformer and used for measuring the rotating angle of the output shaft of the second torque motor and transmitting the rotating angle to the second microcontroller;
the second right-angle reversing speed reducer is fixed on the driving side rod case through a flange plate, an output shaft is connected with one end of a second shaft, and an input hole is connected with one end of an output shaft of a second torque motor;
the input end of the second handle force modulation signal circuit is electrically connected with the lever force sensor circuit;
the output end of the second PWM motor driving module is electrically connected with the second torque motor;
the second microcontroller is respectively electrically connected with the output end of the second handle force modulation signal circuit, the input end of the second PWM motor driving module, the output end of the second rotary transformer signal modulation circuit, the rod force sensor and the monitoring module, and is used for outputting PWM waves to the second PWM motor driving module according to the obtained rod force output signal of the rod force sensor on the second shaft and the corner signal of the second rotary transformer signal modulation circuit, controlling the operation of the second torque motor, simultaneously carrying out serial port communication with the monitoring module through a serial port function carried by the second microcontroller and transmitting the state information of the side rod module to the monitoring module;
the first axis in the high-precision rod force control method comprises the following specific control steps:
step A.1), establishing a rod force impedance model of a first shaft of an airplane active side rod system:
in the formula: f is the expected lever force of the driving side lever first shaft; x is the corner of the driving side lever;
the rotation speed of the driving side rod; n isrOverload the aircraft in the normal direction;
is the aircraft pitch angle acceleration; b is the damping coefficient of the driving side rod; k is the rigidity coefficient of the driving side rod;
the feedback coefficient of the normal overload of the airplane to the force of the driving side lever is obtained;
the feedback coefficient of the acceleration of the pitching angle of the airplane to the force of the driving side lever is obtained; f. of0The static friction force of the driving side rod; ftBalancing rod force for the driving side rod; fsThe starting rod force of the driving side rod; fmThe brake lever force of the active side lever;
step A.2), taking the rotation angle and the rotation speed information of the driving side rod as input signals of a rod force impedance model of the first shaft, and calculating the expected rod force of the first shaft according to the rod force impedance model;
step A.3), obtaining the actual rod force in a rod force feedback mode:
suppose the control period of the airplane active side rod system is Tc，
When the active side rod is in a steady state, namely the difference between the rotating speed of the active side rod in the current control period and the rotating speed of the active side rod in the previous control period is less than or equal to a preset rotating speed threshold value, a high-precision rod force sensor is adopted to measure the actual rod force, and rod force closed-loop feedback is carried out;
the method comprises the following steps that under the dynamic state of a driving side rod, namely when the difference between the rotating speed of the driving side rod in the current control period and the rotating speed of the driving side rod in the previous control period is larger than a preset rotating speed threshold value, a rod force observer based on a current and friction model is adopted to measure the actual rod force, and rod force closed-loop feedback is carried out;
step A.4), the deviation between the expected rod force and the actual rod force is sent to a force control ring, and the expected current is output after the adjustment of the force control ring;
the regulator of the force control loop adopts a control method of an expert PID method and feedforward compensation: the feedforward compensation is used for realizing the coarse adjustment of the rod force control, and the expert PID method is used for realizing the fine adjustment of the rod force control;
step A.5), taking the expected current output by the force control loop as the expected input of a current loop, adjusting the expected input by the current loop, and outputting a first torque motor to control the PWM duty ratio;
the first microcontroller outputs the first torque motor control PWM wave signal to the first PWM motor driving module to control the operation of the first torque motor.
As a further optimization scheme of the high-precision rod force control method of the airplane driving side rod system, the feedforward compensation in the step A.4) comprises the following specific steps:
multiplying the output of the rod force impedance model by a rod force coefficient, and sending the product to a current loop regulator to obtain an expected current for coarse adjustment; wherein the rod force coefficient is obtained by the following method:
b.1), collecting armature current of a first torque motor and output torque data of a first speed reducer;
step B.2), obtaining a torque coefficient through first-order linear fitting;
and B.3) dividing the torque coefficient by the length of the driving side rod to obtain a rod force coefficient.
As a further optimization scheme of the high-precision rod force control method of the airplane active side rod system, the expert PID control method in the step A.4) comprises the following specific steps:
let e (k), e (k-1) and e (k-2) represent the rod force control error values at the current sampling time, the previous time and the two previous times, respectively, so that:
the digital incremental PID formula is as follows:
Δi(k)＝kpΔe(k)+kie(k)+kd[Δe(k)-Δe(k-1)]
wherein k ispIs a proportionality coefficient, ki＝kpTc/TiAs an integral coefficient, TiAs integration time constant, kd＝kpTd/TcIs a differential coefficient, TdIs a differential time constant, TcFor controlling the period, m1、m2Respectively representing the control threshold, k1、k2、kp、ki、kdRespectively are control parameters;
step C.1), when | e (k) | ≧ m1And (3) adopting open-loop control:
i(k)＝i(k-1)
step C.2), when e (k) delta e (k) is more than or equal to 0, if | e (k) | more than or equal to m2The control is carried out by the following method:
i(k)＝i(k-1)+k1{kpΔe(k)+kie(k)+kd[Δe(k)-Δe(k-1)]}
step C.3), when | e (k) | ≦ m2When the method is used, the following method is adopted for control:
i(k)＝i(k-1)+kpΔe(k)+kie(k)+kd[Δe(k)-Δe(k-1)]
step c.4), when e (k) Δ e (k) < 0, Δ e (k) Δ e (k-1) > 0, or e (k) ═ 0, control is performed by:
i(k)＝i(k-1)
step C.5), when e (k) Δ e (k) < 0, Δ e (k) Δ e (k-1) < 0:
if | e (k) | ≧ m2The control mode is as follows: i (k) ═ i (k-1) + k1kpe(k)；
If | e (k) | < m2The control mode is as follows: i (k) ═ i (k-1) + k2kpe(k)；
Step C.6), when | e (k) | < epsilon, the control mode is as follows: i (k) ═ i (k-1) + kie(k)。
As a further optimization scheme of the high-precision rod force control method of the airplane driving side rod system, in the step A.3), the output of the rod force observer is formed by current and a fitted friction torque curve, and the output of the rod force observer is made to be
Let the rod force coefficient be K, the rod force arm be L, and the friction torque be
Then:
compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. the rod force control precision of the driving side rod in a static state is improved;
2. the rod damping of the driving side rod can be adjusted according to the rotating speed of the driving side rod;
3. the rod force control precision of the driving side rod during acceleration and deceleration is improved;
4. the reliability of the active side rod is improved, and the failure of the active side rod caused by the fault of the rod force sensor is prevented.
Drawings
FIG. 1 is a mechanical schematic diagram of the driving side lever of the present invention;
FIG. 2 is a schematic diagram of an arbitrary shaft of the active side rod of the airplane according to the present invention;
FIG. 3 is a block diagram of active mode control of the active side lever first shaft of the present invention;
FIG. 4 is a graphical representation of the lever force curve of the primary side lever primary shaft of the present invention.
In the figure, 1-a driving side lever handle, 2-a lever force sensor, 3-a driving side lever primary shaft, 4-a driving side lever secondary shaft, 5-a driving side lever body, 6-a planetary reducer, 7-a torque motor and 8-a rotary transformer.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the invention discloses a high-precision pole force control method of an airplane active side pole system, which comprises a monitoring module and a side pole module, wherein the monitoring module is connected with the side pole module through a connection module;
the monitoring module is used for sending an instruction to the side lever module and controlling and storing and displaying real-time state information of the side lever module;
the side rod module comprises an active side rod, a first micro control unit and a second micro control unit;
the two-degree-of-freedom mechanical structure of the driving side rod is shown in figure 1 and comprises a driving side rod handle, a rod force sensor, a driving side rod body, a first shaft, a second shaft, a first bearing and a second bearing;
the first shaft and the second shaft adopt the form of an inner frame and an outer frame, the first shaft is an inner frame shaft, the second shaft is an outer frame shaft, and the first shaft can slide in an upper sliding chute and a lower sliding chute of the second shaft;
one end of the first shaft is in key connection with an output hole of the hole output right-angle reversing speed reducer, and the other end of the first shaft is borne by a first bearing; one end of the second shaft is connected with an output shaft of the shaft output right-angle reversing speed reducer through a key, and the other end of the second shaft is borne by a second bearing;
the lower end of the rod body of the driving side rod is fixedly connected with the first shaft, the upper end of the rod body of the driving side rod is fixedly connected with the bottom of the rod force sensor, and the top of the rod force sensor is fixedly connected with the handle of the driving side rod;
the rod force sensor adopts a 2-dimensional resistance strain gauge type rod force sensor and respectively corresponds to a force on a first shaft and a force on a second shaft;
the handle is provided with a change-over switch for changing over the working modes of the side lever module, and the working modes comprise an active mode, a follow-up mode, a balancing mode and a passive mode;
the first micro control unit comprises a first rotary transformer, a first right-angle reversing speed reducer, a first torque motor, a first micro controller, a first PWM motor driving module, a first handle force modulation signal circuit and a first rotary transformer signal modulation circuit;
the rotor of the first rotary transformer is connected with a rotating shaft of the first torque motor, the stator of the first rotary transformer is connected with a shell of the first torque motor, and the output end of the first rotary transformer is connected with the input end of a signal modulation circuit of the first rotary transformer and used for measuring the rotating angle of the output shaft of the first torque motor and transmitting the rotating angle to the first microcontroller;
the first right-angle reversing speed reducer is fixed on the driving side rod case through a flange plate, an output hole is connected with one end of the first shaft, and an input hole is connected with one end of an output shaft of the first torque motor;
the input end of the first handle force modulation signal circuit is electrically connected with the rod force sensor circuit;
the output end of the first PWM motor driving module is electrically connected with the first torque motor;
the first microcontroller is respectively electrically connected with the output end of the first handle force modulation signal circuit, the input end of the first PWM motor driving module, the output end of the first rotary transformer signal modulation circuit, the rod force sensor and the monitoring module, and is used for outputting PWM waves to the first PWM motor driving module according to the obtained rod force output signal of the rod force sensor on the first shaft and the corner signal of the first rotary transformer signal modulation circuit, controlling the operation of the first torque motor, simultaneously carrying out serial port communication with the monitoring module through a serial port function carried by the first microcontroller and transmitting the state information of the side rod module to the monitoring module;
the second micro control unit comprises a second rotary transformer, a second right-angle reversing speed reducer, a second torque motor, a second microcontroller, a second PWM motor driving module, a second handle force modulation signal circuit and a second rotary transformer signal modulation circuit;
the rotor of the second rotary transformer is connected with a rotating shaft of the second torque motor, the stator of the second rotary transformer is connected with a shell of the second torque motor, and the output end of the second rotary transformer is connected with the input end of a signal modulation circuit of the second rotary transformer and used for measuring the rotating angle of the output shaft of the second torque motor and transmitting the rotating angle to the second microcontroller;
the second right-angle reversing speed reducer is fixed on the driving side rod case through a flange plate, an output shaft is connected with one end of a second shaft, and an input hole is connected with one end of an output shaft of a second torque motor;
the input end of the second handle force modulation signal circuit is electrically connected with the lever force sensor circuit;
the output end of the second PWM motor driving module is electrically connected with the second torque motor;
the second microcontroller is respectively electrically connected with the output end of the second handle force modulation signal circuit, the input end of the second PWM motor driving module, the output end of the second rotary transformer signal modulation circuit, the rod force sensor and the monitoring module, and is used for outputting PWM waves to the second PWM motor driving module according to the obtained rod force output signal of the rod force sensor on the second shaft and the corner signal of the second rotary transformer signal modulation circuit, controlling the operation of the second torque motor, simultaneously carrying out serial port communication with the monitoring module through a serial port function carried by the second microcontroller and transmitting the state information of the side rod module to the monitoring module.
Taking a first axis as an example, analyzing an airplane driving side lever system, and realizing high-precision lever force control of the driving side lever according to the following method:
step A.1), establishing a rod force impedance model of the airplane active side rod system:
in the formula: f is the expected lever force of the driving side lever first shaft; x is the corner of the driving side lever;
the rotation speed of the driving side rod; n isrOverload the aircraft in the normal direction;
is the aircraft pitch angle acceleration; b is the damping coefficient of the driving side rod; k is the rigidity coefficient of the driving side rod;
the feedback coefficient of the normal overload of the airplane to the force of the driving side lever is obtained;
the feedback coefficient of the acceleration of the pitching angle of the airplane to the force of the driving side lever is obtained; f. of0The static friction force of the driving side rod; ftBalancing rod force for the driving side rod; fsThe starting rod force of the driving side rod; fmThe brake lever force of the active side lever.
Step a.2), the high-precision bar force control block diagram of the active side bar according to the present invention is shown in fig. 3, and first, the desired bar force of the first shaft is calculated according to the bar force impedance model by using the rotation angle and the rotation speed information of the active side bar as the input signals of the bar force impedance model of the first shaft.
Step A.3), obtaining the actual rod force by a feedback rod force mode, and in order to ensure the precision of a force feedback signal, respectively adopting different feedback rod force measurement modes under a steady state and a dynamic state:
when the active side rod is in a steady state, namely the difference between the rotating speed of the active side rod in the current control period and the rotating speed of the active side rod in the previous control period is less than or equal to a preset rotating speed threshold value, a high-precision rod force sensor is adopted to measure the actual rod force, and rod force closed-loop feedback is carried out;
and under the dynamic condition of the active side rod, namely when the difference between the rotating speed of the active side rod in the current control period and the rotating speed of the active side rod in the previous control period is greater than a preset rotating speed threshold value, measuring the actual rod force by adopting a rod force observer based on a current and friction model, and carrying out rod force closed-loop feedback.
And step A.4), the deviation of the expected rod force and the actual rod force is sent into a force control ring, and the expected current is output after the adjustment of the force control ring. In order to ensure the stability of the force of the driving side lever, the regulator of the force control ring adopts a control method of an expert PID method and feedforward compensation: the rough adjustment of the rod force control is realized through feedforward compensation, and the fine adjustment of the rod force control is realized through an expert PID method.
And step A.5), taking the expected current output by the force control loop as the expected input of a current loop, regulating the current loop, and outputting a first torque motor to control the PWM duty ratio. The first microcontroller outputs the first torque motor control PWM wave signal to the first PWM motor driving module to control the operation of the first torque motor.
In order to ensure the stability of the rod force of the driving side rod, the regulator of the force control ring adopts a control method of expert PID plus feedforward; the rough adjustment of the rod force control is realized through a feedforward link, and the fine adjustment of the rod force control is realized through an expert PID method.
The feedforward compensation is to multiply the rod force coefficient by the output of the rod force impedance model and then send the product to the current loop regulator to obtain the expected current for coarse adjustment.
The bar force coefficient is obtained by the following method:
b.1), collecting armature current of a first torque motor and output torque data of a first speed reducer;
step B.2), obtaining a torque coefficient through first-order linear fitting;
and step B.3), the ratio of the torque coefficient to the lever arm is the lever force coefficient.
The expert PID control method of the force control loop regulator has the following implementation mode:
let e (k), e (k-1) and e (k-2) represent the rod force control error values at the current sampling time, the previous time and the two previous times, respectively, so that:
the digital incremental PID formula is as follows:
Δi(k)＝kpΔe(k)+kie(k)+kd[Δe(k)-Δe(k-1)]
wherein k ispIs a proportionality coefficient, ki＝kpTc/TiAs an integral coefficient, TiAs integration time constant, kd＝kpTd/TcIs a differential coefficient, TdIs a differential time constant, TcTo controlSystem period, m1、m2Respectively representing the control threshold, k1、k2、kp、ki、kdThe control parameters are respectively, and the specific control strategy is as follows:
step C.1), when | e (k) | ≧ m1In the meantime, the absolute value of the control error of the rod force is large, and open-loop control is adopted at the moment:
i(k)＝i(k-1)
and C.2), when e (k) delta e (k) is larger than or equal to 0, the absolute value of the rod force control error is increasing or is kept unchanged. If | e (k) | ≧ m2If the error is large, the absolute value of the error is rapidly reduced by applying a large control current. At this time:
i(k)＝i(k-1)+k1{kpΔe(k)+kie(k)+kd[Δe(k)-Δe(k-1)]}
step C.3), when | e (k) | ≦ m2In the meantime, the absolute value of the control error of the lever force is increased, but the absolute value is not large; in order to change the trend of the error to a smaller absolute value, a general control action may be performed. At this time:
i(k)＝i(k-1)+kpΔe(k)+kie(k)+kd[Δe(k)-Δe(k-1)]
and c.4), when e (k) Δ e (k) < 0, Δ e (k) Δ e (k-1) > 0 or e (k) ═ 0, the absolute value of the rod force control error at this time tends to decrease, or has decreased to zero. At this time:
i(k)＝i(k-1)
and C.5), when e (k) delta e (k) is less than 0 and delta e (k) delta e (k-1) is less than 0, the rod force control error is in an extreme value state.
If | e (k) | ≧ m2The control mode is as follows: i (k) ═ i (k-1) + k1kpe(k)；
If | e (k) | < m2The control mode is as follows: i (k) ═ i (k-1) + k2kpe(k)；
Step C.6), when | e (k) | < ε, then: i (k) ═ i (k-1) + kie(k)。
The driving side rod respectively adopts a high-precision rod force sensor and a rod force observer based on a current and friction model to carry out rod force closed-loop feedback under a steady state and a dynamic state, so that the precision of a force feedback signal is ensured.
In step A.3), the output of the rod force observer is composed of the current and the fitted friction torque curve, and the output of the rod force observer is set as
Let the rod force coefficient be K, the rod force arm be L, and the friction torque be
The rod force curve diagram is shown in FIG. 4, and the curve is defined as a positive direction towards the right, a curve I when the right push rod is pushed towards the right in the neutral position, and a curve II when the right pull rod is pulled towards the left in the neutral position; the curve (c) is formed when the left side of the neutral position pulls the rod leftwards, and the curve (c) is formed when the left side of the neutral position pushes the rod rightwards. The rod force observer output is as follows:
and for the second shaft, high-precision lever force control of the active side lever is realized according to the same method.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A high-precision rod force control method of an airplane active side rod system comprises a monitoring module and a side rod module;
the monitoring module is used for sending an instruction to the side lever module and controlling and storing and displaying real-time state information of the side lever module;
the side rod module comprises an active side rod, a first micro control unit and a second micro control unit;
the driving side rod comprises a driving side rod handle, a rod force sensor, a driving side rod body, a first shaft, a second shaft, a first bearing and a second bearing;
the first shaft and the second shaft adopt the form of an inner frame and an outer frame, the first shaft is an inner frame shaft, the second shaft is an outer frame shaft, and the first shaft can slide in an upper sliding chute and a lower sliding chute of the second shaft;
one end of the first shaft is in key connection with an output hole of the hole output right-angle reversing speed reducer, and the other end of the first shaft is borne by a first bearing; one end of the second shaft is connected with an output shaft of the shaft output right-angle reversing speed reducer through a key, and the other end of the second shaft is borne by a second bearing;
the lower end of the rod body of the driving side rod is fixedly connected with the first shaft, the upper end of the rod body of the driving side rod is fixedly connected with the bottom of the rod force sensor, and the top of the rod force sensor is fixedly connected with the handle of the driving side rod;
the rod force sensor adopts a two-dimensional resistance strain gauge type rod force sensor and respectively corresponds to a force on a first shaft and a force on a second shaft;
the handle is provided with a change-over switch for changing over the working modes of the side lever module, and the working modes comprise an active mode, a follow-up mode, a balancing mode and a passive mode;
the first micro control unit comprises a first rotary transformer, a first right-angle reversing speed reducer, a first torque motor, a first micro controller, a first PWM motor driving module, a first handle force modulation signal circuit and a first rotary transformer signal modulation circuit;
the rotor of the first rotary transformer is connected with a rotating shaft of the first torque motor, the stator of the first rotary transformer is connected with a shell of the first torque motor, and the output end of the first rotary transformer is connected with the input end of a signal modulation circuit of the first rotary transformer and used for measuring the rotating angle of the output shaft of the first torque motor and transmitting the rotating angle to the first microcontroller;
the first right-angle reversing speed reducer is fixed on the driving side rod case through a flange plate, an output hole is connected with one end of the first shaft, and an input hole is connected with one end of an output shaft of the first torque motor;
the input end of the first handle force modulation signal circuit is electrically connected with the rod force sensor circuit;
the output end of the first PWM motor driving module is electrically connected with the first torque motor;
the first microcontroller is respectively electrically connected with the output end of the first handle force modulation signal circuit, the input end of the first PWM motor driving module, the output end of the first rotary transformer signal modulation circuit, the rod force sensor and the monitoring module, and is used for outputting PWM waves to the first PWM motor driving module according to the obtained rod force output signal of the rod force sensor on the first shaft and the corner signal of the first rotary transformer signal modulation circuit, controlling the operation of the first torque motor, simultaneously carrying out serial port communication with the monitoring module through a serial port function carried by the first microcontroller and transmitting the state information of the side rod module to the monitoring module;
the second micro control unit comprises a second rotary transformer, a second right-angle reversing speed reducer, a second torque motor, a second microcontroller, a second PWM motor driving module, a second handle force modulation signal circuit and a second rotary transformer signal modulation circuit;
the rotor of the second rotary transformer is connected with a rotating shaft of the second torque motor, the stator of the second rotary transformer is connected with a shell of the second torque motor, and the output end of the second rotary transformer is connected with the input end of a signal modulation circuit of the second rotary transformer and used for measuring the rotating angle of the output shaft of the second torque motor and transmitting the rotating angle to the second microcontroller;
the second right-angle reversing speed reducer is fixed on the driving side rod case through a flange plate, an output shaft is connected with one end of a second shaft, and an input hole is connected with one end of an output shaft of a second torque motor;
the input end of the second handle force modulation signal circuit is electrically connected with the lever force sensor circuit;
the output end of the second PWM motor driving module is electrically connected with the second torque motor;
the second microcontroller is respectively electrically connected with the output end of the second handle force modulation signal circuit, the input end of the second PWM motor driving module, the output end of the second rotary transformer signal modulation circuit, the rod force sensor and the monitoring module, and is used for outputting PWM waves to the second PWM motor driving module according to the obtained rod force output signal of the rod force sensor on the second shaft and the corner signal of the second rotary transformer signal modulation circuit, controlling the operation of the second torque motor, simultaneously carrying out serial port communication with the monitoring module through a serial port function carried by the second microcontroller and transmitting the state information of the side rod module to the monitoring module;
the method is characterized in that the specific control steps of the first shaft in the high-precision rod force control method are as follows:
step A.1), establishing a rod force impedance model of a first shaft of an airplane active side rod system:
in the formula: f is the expected lever force of the driving side lever first shaft; x is the corner of the driving side lever;
the rotation speed of the driving side rod; n isrOverload the aircraft in the normal direction;
is the aircraft pitch angle acceleration; b is the damping coefficient of the driving side rod; k is the rigidity coefficient of the driving side rod;
as an aircraftThe feedback coefficient of normal overload on the force of the driving side lever;
the feedback coefficient of the acceleration of the pitching angle of the airplane to the force of the driving side lever is obtained; f. of0The static friction force of the driving side rod; ftBalancing rod force for the driving side rod; fsThe starting rod force of the driving side rod; fmThe brake lever force of the active side lever;
step A.2), taking the rotation angle and the rotation speed information of the driving side rod as input signals of a rod force impedance model of the first shaft, and calculating the expected rod force of the first shaft according to the rod force impedance model;
step A.3), obtaining the actual rod force in a rod force feedback mode:
suppose the control period of the airplane active side rod system is Tc，
When the active side rod is in a steady state, namely the difference between the rotating speed of the active side rod in the current control period and the rotating speed of the active side rod in the previous control period is less than or equal to a preset rotating speed threshold value, a high-precision rod force sensor is adopted to measure the actual rod force, and rod force closed-loop feedback is carried out;
the method comprises the following steps that under the dynamic state of a driving side rod, namely when the difference between the rotating speed of the driving side rod in the current control period and the rotating speed of the driving side rod in the previous control period is larger than a preset rotating speed threshold value, a rod force observer based on a current and friction model is adopted to measure the actual rod force, and rod force closed-loop feedback is carried out;
step A.4), the deviation between the expected rod force and the actual rod force is sent to a force control ring, and the expected current is output after the adjustment of the force control ring;
the regulator of the force control loop adopts a control method of an expert PID method and feedforward compensation: the feedforward compensation is used for realizing the coarse adjustment of the rod force control, and the expert PID method is used for realizing the fine adjustment of the rod force control;
step A.5), taking the expected current output by the force control loop as the expected input of a current loop, adjusting the expected input by the current loop, and outputting a first torque motor to control the PWM duty ratio;
the first microcontroller outputs the first torque motor control PWM wave signal to the first PWM motor driving module to control the operation of the first torque motor.
2. The method for controlling the high-precision rod force of the airplane active side rod system according to claim 1, wherein the feedforward compensation in the step A.4) comprises the following specific steps:
multiplying the output of the rod force impedance model by a rod force coefficient, and sending the product to a current loop regulator to obtain an expected current for coarse adjustment; wherein the rod force coefficient is obtained by the following method:
b.1), collecting armature current of a first torque motor and output torque data of a first speed reducer;
step B.2), obtaining a torque coefficient through first-order linear fitting;
and B.3) dividing the torque coefficient by the length of the driving side rod to obtain a rod force coefficient.
3. The high-precision rod force control method for the airplane active side rod system according to claim 1, wherein the expert PID control method in the step A.4) comprises the following specific steps:
let e (k), e (k-1) and e (k-2) represent the rod force control error values at the current sampling time, the previous time and the two previous times, respectively, so that:
the digital incremental PID formula is as follows:
Δi(k)＝kpΔe(k)+kie(k)+kd[Δe(k)-Δe(k-1)]
wherein i (k) represents the current at time k, kpIs a proportionality coefficient, ki＝kpTc/TiAs an integral coefficient, TiAs integration time constant, kd＝kpTd/TcIs a differential coefficient, TdIs a differential time constant, TcFor controlling the period, m1、m2Respectively, the control threshold values are indicated,and m is1Greater than m2，k1、k2、kp、ki、kdRespectively are control parameters;
step C.1), when | e (k) | ≧ m1And (3) adopting open-loop control:
i (k) -i (k-1), where i (k-1) is the current at time k-1;
step C.2), when e (k) delta e (k) is more than 0, if | e (k) | ≧ m2The control is carried out by the following method:
i(k)＝i(k-1)+k1{kpΔe(k)+kie(k)+kd[Δe(k)-Δe(k-1)]}
step C.3), when | e (k) | ≦ m2When the method is used, the following method is adopted for control:
i(k)＝i(k-1)+kpΔe(k)+kie(k)+kd[Δe(k)-Δe(k-1)]
step c.4), when e (k) Δ e (k) < 0, Δ e (k) Δ e (k-1) > 0, or e (k) ═ 0, control is performed by:
i(k)＝i(k-1)
step C.5), when e (k) Δ e (k) < 0, Δ e (k) Δ e (k-1) < 0:
if | e (k) | ≧ m2The control mode is as follows: i (k) ═ i (k-1) + k1kpe(k)；
If | e (k) | < m2The control mode is as follows: i (k) ═ i (k-1) + k2kpe(k)；
Step C.6), when | e (k) | < epsilon, the control mode is as follows: i (k) ═ i (k-1) + kie (k), wherein ε < m2。
4. A method for controlling the force of an aircraft active sidestick system with high accuracy in accordance with claim 1 wherein in step a.3) said force observer output is comprised of current and a fitted friction torque curve, such that the force observer output is
The force coefficient of the rod is K, the force arm of the rod is L, namely the vertical distance from the action line of the force to the rotating shaft, and the friction torque is
I is current, and x is the corner of the driving side lever;
for the active side lever rotational speed, then:
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