CN108845553A - A kind of servo elastic vibration inhibition comprehensive test method for elongated aircraft - Google Patents
A kind of servo elastic vibration inhibition comprehensive test method for elongated aircraft Download PDFInfo
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- CN108845553A CN108845553A CN201810618582.8A CN201810618582A CN108845553A CN 108845553 A CN108845553 A CN 108845553A CN 201810618582 A CN201810618582 A CN 201810618582A CN 108845553 A CN108845553 A CN 108845553A
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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
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Abstract
The invention discloses a kind of servo elastic vibration for elongated aircraft to inhibit comprehensive test method, and implementation steps are：Step 1: obtaining the Elastic mode frequency of aircraft pitching, yaw direction by calculating or ground experiment, obtaining the Torsion mode frequency of rotating direction.Step 2: obtaining tank-type mixture under certain vibration condition, the resonance frequency and magnitude of gyro output signals by ground experiment.Step 3: obtaining the rudder face modal frequency of electric steering engine by ground experiment.Step 4: the maximum characteristic point of gain in selection closed-loop system, the closed-loop system carried out for said frequencies is tested, and is tested to the servo elastic vibration of aircraft.The present invention tests to Control System Design by the method for ground experiment, reduces in flight course under true mechanical environment, the risk of servo elastic vibration is caused due to vibration, external impact etc..
Description
Technical field
The present invention relates to a kind of ground experiment methods suitable for elongated aircraft, can consider aircraft, used survey comprehensively
The vibration frequency of combination hardware product and electric steering engine hardware product itself is directed to the design that elastic vibration inhibits to control system
Carry out comprehensive test.
Background technique
With the proposition of aircraft long-distance flight demand, generally use with high-fineness ratio without wing formula aerodynamic configuration,
To increase motor charge amount and reduce aerodynamic drag, range is promoted also by way of trajectory height is thrown, needs to improve control system
Control is realized in the gain of system.On the other hand, in order to meet the requirement that aircraft promotes response speed, sensing element and electronic rudder
The bandwidth of machine also significantly increases.
Flight control principle is the sensitive sporting flying information of used survey, calculates rudder instruction by control system, is driven by steering engine
Dynamic control surface deflection, the aerodynamic force and inertia force that control surface deflection is formed act on aircraft, change its posture and overload.If flying
Cheng Zhong, used survey also experience other high-frequency vibration signals, the instruction of high frequency rudder are formed after control system resolves, by steering engine part
Response causes the high-frequency vibration of rudder face, forms the aerodynamic force of high frequency, inertia force acts on aircraft body in turn, causes ontology
Further vibration, thus constitute Fig. 1 shown in " body construction-control " closed feedback loop.
Servo vibration is a kind of typical nonlinear closed loop feedback, servo vibration occurs in addition to due to sensing element and electronic
The bandwidth of steering engine increases, and high-frequency signal enters outside feedback loop, there are one major reason be control loop gain it is larger.If
Servo vibration occurs in flight course, will cause steering engine operating current increase, steering engine performance decline, to flight test bring compared with
Risks.
Summary of the invention
Problems solved by the invention is can to consider that aircraft, tank-type mixture hardware product and electric steering engine hardware produce comprehensively
The vibration frequency of product itself, the design inhibited to control system for elastic vibration carry out comprehensive test.
The technical solution adopted by the present invention to solve the technical problems is,
Step 1: obtaining the Elastic mode frequency and Torsion mode frequency of aircraft by calculating or ground experiment；
Step 2: by ground experiment, tank-type mixture gyro and accelerometer output signal under vibrating conditions are obtained
Resonance frequency and magnitude；
Step 3: obtaining the rudder face modal frequency of electric steering engine by ground experiment；
Step 4: the maximum characteristic point of gain in selection closed-loop system, the closed-loop system carried out for said frequencies is tested,
It tests to the control ability of the servo elastic vibration of aircraft.
Further, determine that the frequency range for needing to pay close attention to, the upper limit of frequency range are to calculate according to computer sampling frequency
The half of machine sample frequency.
Further, in the step 1, each rank modal frequency in frequency range of interest is obtained, it is logical to be included in pitching
Each rank Torsion mode frequency in road, each rank Elastic mode frequency of jaw channel and roll channel.
Further, in the step 2, the vibration test of tank-type mixture, test method be respectively along X, Y of tank-type mixture,
Z axis carries out the random vibration of certain magnitude, during vibrating each time, all records three gyros and three accelerometers are defeated
The resonance frequency occurred in signal out.
Further, in the step 3, carry out the rudder face modal test under idle condition, record the modal frequency of rudder face.
Further, in the step 4, comprising aircraft material object, tank-type mixture hardware, electronic in the closed-loop system of test
Steering engine hardware (contains rudder face).It is examined by the closed-loop system test in characteristic point, the test mode selected is closed-loop system
The middle maximum characteristic point of gain is, is the mark that examination passes through so that servo elastic vibration does not occur in closed-loop system under vibrational excitation
It is quasi-.
The beneficial effects of the invention are as follows：
(1) start with from the Analysis on Mechanism of " body construction-control ", servo elastic vibration is verified by way of ground experiment
Inhibit the effect of design.
(2) it proposes the frequency range for needing to pay close attention to, has expanded the method for being concerned only with lower mode frequency in previous design.
(3) other than traditional Elastic mode frequency, Torsion mode frequency and tank-type mixture, electric steering engine are additionally added
The frequency of itself.
Detailed description of the invention
Below in conjunction with drawings and examples, the invention will be further described.
Fig. 1 is servo vibration feedback loop schematic diagram in background technique.
Fig. 2 is the closed-loop system servo vibration test schematic diagram of the embodiment of the present invention.
Fig. 3 is the control principle block diagram of the pitch channel of the embodiment of the present invention.
Fig. 4 is the control principle block diagram of the roll channel of the embodiment of the present invention.
Specific embodiment
Hereinafter, the present invention is further elaborated in conjunction with the accompanying drawings and embodiments.
A kind of servo elastic vibration for elongated aircraft disclosed by the invention inhibits comprehensive test method, implementation steps
For：
Determine that the frequency range for needing to pay close attention to, the upper limit of frequency range are computer sampling frequency according to computer sampling frequency
The half of rate, the sample frequency of computer is 400Hz in this example, therefore pays close attention to the frequency within 200Hz.
1, by calculating or ground experiment, each rank elasticity of aircraft pitch channel, jaw channel in 200Hz is obtained
Each rank Torsion mode frequency of modal frequency and roll channel in 200Hz；
2, carry out the vibration test of tank-type mixture, test method is to be shaken at random along the X, Y, Z axis of tank-type mixture respectively
Dynamic, vibration level is determined by actual use situation, during vibrating each time, all records three gyros and three acceleration
The resonance frequency in 200Hz occurred in meter output signal；
3, carry out the rudder face modal test under idle condition, the modal frequency in 200Hz that record rudder face occurs；
4, according to the test of development closed-loop system servo vibration shown in Fig. 2, the hardware such as aircraft, tank-type mixture, steering engine, rudder face
It is time of day.
Tank-type mixture record Y, Z, axis accelerometer output, in control loop deduct Y, Z axis to weight component, trying
During testing, tank-type mixture works on power, and output in real time is due to angular speed and acceleration high-frequency signal caused by motivating.
Computer works on power, and selects the maximum characteristic point of gain in closed-loop system, binds the ginseng such as fixed speed, dynamic pressure
Number receives the angular speed and acceleration information of tank-type mixture output, resolves rudder instruction according to Fig. 3~control loop shown in Fig. 4.
Steering engine should install rudder face, and during the test, steering engine power supply works normally, and the rudder for receiving computer output refers to
It enables, it is inclined to pay corresponding rudder.
According to shown in Fig. 2, vibration excitor applies in Vehicle nose to be vibrated, frequency be test obtained Elastic mode frequency,
The resonance frequency of tank-type mixture and electric steering engine itself.
With under vibrational excitation closed-loop system do not enter self-excited vibration and determine that trystate is normal.The judgement of self-excited vibration
Foundation：
It is then self-excited vibration that steering engine response, which is observed, if divergent trend；
It remains to maintain vibrational state to be then self-excited vibration after removing vibration excitor.
Although the invention has been described by way of example and in terms of the preferred embodiments, but it is not for limiting the present invention, any this field
Technical staff without departing from the spirit and scope of the present invention, may be by the methods and technical content of the disclosure above to this hair
Bright technical solution makes possible variation and modification, therefore, anything that does not depart from the technical scheme of the invention, and according to the present invention
Technical spirit any simple modifications, equivalents, and modifications to the above embodiments, belong to technical solution of the present invention
Protection scope.
Claims (8)
1. a kind of servo elastic vibration for elongated aircraft inhibits comprehensive test method, characterized in that include the following steps：
Step 1: obtaining the Elastic mode frequency and Torsion mode frequency of aircraft by calculating or ground experiment；
Step 2: by ground experiment, the resonance of tank-type mixture gyro and accelerometer output signal under vibrating conditions is obtained
Frequency and magnitude；
Step 3: obtaining the rudder face modal frequency of electric steering engine by ground experiment；
Step 4: the maximum characteristic point of gain in selection closed-loop system, the closed-loop system carried out for said frequencies is tested, to winged
The control ability of the servo elastic vibration of row device is tested.
2. a kind of servo elastic vibration for elongated aircraft according to claim 1 inhibits comprehensive test method,
It is characterized in：A certain range of Elastic mode frequency is paid close attention to, the upper limit of the Elastic mode frequency range is computer sampling frequency
Half.
3. a kind of servo elastic vibration for elongated aircraft according to claim 2 inhibits comprehensive test method,
It is characterized in：Elastic mode frequency in the step 1, each rank of pitch channel, jaw channel in the frequency range including concern
Each rank Torsion mode frequency of Elastic mode frequency and roll channel.
4. a kind of servo elastic vibration for elongated aircraft according to claim 2 inhibits comprehensive test method,
It is characterized in：The vibration test of tank-type mixture in the step 2, test method are to be vibrated respectively along X, Y, Z axis, vibratory output
Grade is determined by use condition, and the resonance occurred in three gyros and three accelerometer output signals is recorded during vibration
Frequency.
5. a kind of servo elastic vibration for elongated aircraft according to claim 2 inhibits comprehensive test method,
It is characterized in：In test in the step 3, the rudder face modal frequency under idle condition is recorded.
6. a kind of servo elastic vibration for elongated aircraft according to claim 2 inhibits comprehensive test method,
It is characterized in：Closed-loop system test in the step 4, comprising aircraft material object, tank-type mixture hardware, electronic in closed-loop system
Steering engine hardware.
7. a kind of servo elastic vibration for elongated aircraft according to claim 2 inhibits comprehensive test method,
It is characterized in：Closed-loop system test in the step 4, control system real-time working, selection select gain in closed-loop system maximum
Characteristic point be test mode.
8. a kind of servo elastic vibration for elongated aircraft according to claim 2 inhibits comprehensive test method,
It is characterized in：In the step 4 closed-loop system test, under vibrational excitation closed-loop system there is not servo elastic vibration
To examine the standard passed through.
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| CN201810618582.8A CN108845553B (en) | 2018-06-15 | 2018-06-15 | Servo elastic vibration suppression comprehensive inspection method for slender aircraft |
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Cited By (1)
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| CN108845553B (en) | 2021-03-09 |
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