CN109708883A - A kind of electrically driven (operated) duty testing device of empennage of helicopter and control method - Google Patents
A kind of electrically driven (operated) duty testing device of empennage of helicopter and control method Download PDFInfo
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- CN109708883A CN109708883A CN201910165374.1A CN201910165374A CN109708883A CN 109708883 A CN109708883 A CN 109708883A CN 201910165374 A CN201910165374 A CN 201910165374A CN 109708883 A CN109708883 A CN 109708883A
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Abstract
The invention discloses a kind of electrically driven (operated) duty testing device of empennage of helicopter and control methods, use motor reducer all-in-one machine as tested machine, load integrated device by axial-radial and servo motor realizes that pressure and torque load are tested respectively；Axial-radial loads integrated device and integrates n independent load cylinders, and axially loaded plate passes through load plate pulley and spring and load cabinet assembly.The present invention can simulate the actual service conditions of empennage of helicopter motor, to increase experimental reliability, while reduce energy consumption, and improve automation control performance.
Description
Technical field
The present invention relates to motor reducer experimental technique fields, and in particular to a kind of electrically driven (operated) operating condition examination of empennage of helicopter
Experiment device and control method.
Background technique
Helicopter is always military essential weaponry, and with the development of modern military technology, helicopter
Transmission system, which starts to be made the transition by traditional fuel engines offer power to by electric energy, provides power.Meanwhile people's livelihood needs are not
Disconnected to increase the development for promoting aviation industry, the fields such as civil helicopter, unmanned plane application prospect is extensive, especially in police work
Dynamic, fire-fighting fire extinguishing, forest protection, emergency relief etc. play a key effect.Empennage of helicopter electric drive, which can increase, goes straight up to
Machine operating flexibility and raising machine efficiency and reliability, relative to traditional mechanical tail-rotor, electronic tail-rotor revolving speed be can be set
Independently of the speed of main paddle, it is possible to reduce flight resistance of the tail-rotor revolving speed in helicopter flight forward improves whole efficiency.
Currently, domestic there are many retarder or motor experimental bench of type, mostly use retarder/motor-it is axially loaded-diameter
Axially and radially load the mode of separation to what load-torque loaded, thus increase test error, uncertainty and device at
This.Meanwhile step-like manner being mostly used to adjust load, it is unable to satisfy the test of real work situation.
Summary of the invention
The present invention is in view of the deficienciess of the prior art, propose a kind of electrically driven (operated) duty testing device of empennage of helicopter
And control method, to increase experimental reliability, drops simultaneously to simulate the actual service conditions of empennage of helicopter motor
Low energy consumption, and improve automation control performance.
The present invention adopts the following technical scheme that in order to solve the technical problem
A kind of the characteristics of empennage of helicopter of the present invention electrically driven (operated) duty testing device is in motor reducer all-in-one machine
It is connected by the way that first shaft coupling is arranged with encoder on output shaft, the encoder is loaded by multi-diameter shaft and the axial-radial
Integrated device is connected；The axial-radial load integrated device is connected by second shaft coupling with angular transducer；The angle
Sensor is connected by axis with torque sensor；The torque sensor passes through the output shaft phase of third shaft coupling and servo motor
Even；
The axial-radial load integrated device is that bracket is provided with " L " type on pedestal to load cabinet, described
The multi-diameter shaft is provided on the axial direction of " L " type load cabinet；The circumferentially array on the axis direction of the multi-diameter shaft
Arrangement is provided with n axially loaded cylinders；The telescopic rod of the axially loaded cylinder is directed toward axial add along the load cabinet
Support plate, and n axial compressive force sensor is provided between the axially loaded cylinder and axially loaded plate；It is described axially loaded
Plate is setting on the transverse plate of " L " type load bottom of box, and by being provided in the bottom of the axially loaded plate
Two parallel grooves being arranged on load plate pulley and the transverse plate match, and the two sides of the load plate pulley are provided with
Sliding slot spring；The sliding slot spring acts on the side wall of the transverse plate with the fixation axially loaded plate；In the axial direction
The middle position of load plate is provided with through-hole for being set with the multi-diameter shaft；And the outer ring of the through-hole is provided with and the ladder
Two stair-stepping annulus that axis shape matches；Using the outer layer large circle of described two stair-stepping annulus as the axial direction
The load end face of load plate；Angular contact ball bearing, and the angle are provided between the axially loaded plate and the multi-diameter shaft
The outer ring of contact ball bearing is in contact with the load end face；In the upper surface of the angular contact ball bearing, radial pressure is set
Plate is provided with radial pressure sensor in the lower surface of the radial pressure plate, runs through at the top of the axially loaded plate and sets
It is equipped with radial loaded cylinder, and the telescopic rod of the radial loaded cylinder can contact the radial pressure plate when stretching out.
The characteristics of control method of duty testing device of the present invention is to carry out as follows:
Step 1 drives the motor reducer all-in-one machine to rotate and the encoder is driven to rotate using driver, thus
The actuating signal of encoder is acquired using data acquisition device and is sent to tested machine controller；
Step 2 uses certainly the motor reducer all-in-one machine according to the actuating signal by the tested machine controller
Robust control is adapted to, and obtains control signal and is sent to the driver, to make motor reducer one using the driver
Body machine reaches test speed；
Multi-diameter shaft in step 3, axial-radial load integrated device is rotated coaxially with the encoder, and in pressure
Under the control of loading control method, so that the pressure signal in the axial-radial one loading device reaches needed for test；
Step 4, the angular transducer and torque sensor are rotated coaxially with axial-radial load integrated device, from
And the angle signal of the angular transducer and the torque signal of torque sensor are acquired using data acquisition device, and pass to
PLC module；
Step 5, the PLC module obtain current signal after carrying out simulation trial to angle signal and torque signal, and pass
It is defeated by fuzzy controller；
Step 6, the fuzzy controller obtain control signal after carrying out fuzzy operation to current signal, and are transferred to
The servo motor, so that the servo motor reaches the required torque of test.
The characteristics of control method of the present invention, lies also in, and the control method of the pressure-loaded control is by following step
It is rapid to carry out:
Step 3.1, the axial compressive force sensor detect the axial direction between the axially loaded cylinder and axially loaded plate
Pressure signal, the radial pressure sensor detect the letter of the radial pressure between the angular contact ball bearing and radial loaded plate
Number, and pressure signal is converted to by digital signal by A/D converter respectively；
On the one hand digital signal is passed through the data acquisition device to PLC module by step 3.2, the A/D converter；Separately
On the one hand digital signal is fed back into fuzzy controller；
Step 3.3, the PLC module carry out simulation trial to digital signal and obtain displacement signal, and are transferred to fuzzy
Controller；
The digital signal that step 3.4, the fuzzy controller feed back institute's displacement signal and the A/D converter
It carries out analogy operation to obtain after controlling signal, the control signal is converted to by displacement control signal by D/A converter, and pass
It is defeated by servo amplifier；
Step 3.5, the servo amplifier pass to servo valve after amplifying displacement control signal, so that driving is corresponding
Axially loaded cylinder and the operation of radial loaded cylinder, so that the pressure signal in axial-radial load integrated device reaches examination
Needed for testing.
Compared with prior art, advantageous effects of the invention are embodied in:
1, experimental rig of the present invention is to pass through axis for the Special test platform of empennage of helicopter electric drive working condition tests design
Tested motor axial-radial and torque are loaded respectively to radial loaded integrated device and load device, successfully reflects and goes straight up to
Stress condition in tail wing motor operation course, so as to really reflect motor axial-radial under actual service conditions
Stress and torque loads situation are more advantageous to the electrically driven (operated) research of helicopter.
2, axially loaded, the helicopter simulating tail in part can be achieved by the adjusting of control system in the multiple load cylinders of the present invention
Gyration airflow, eddy airstream and other uncertain airflow influences that paddle is subject to when working；It is passed by fuzzy controller and pressure
The pressure signal of sensor carries out analogy operation, eliminates surplus energy, has reached the pressure of required load；Control can be realized in conjunction with fuzzy logic
System part and global axially loaded, the Automatic Control entirely tested.
3, axial-radial load integrated device of the present invention reduces experimental rig quantity, avoids experimental rig axial length
Error caused by too long increases；Stress concentration problem when helicopter tail rotor work is reflected simultaneously, simulates true operating condition,
Authentic data is provided for test；Load plate pulley and sliding slot spring provide micromotion space for axially loaded plate, avoid load
The problem of energy consumption is high needed for untrue and load is loaded caused by plate and cabinet consolidation.
4, the present invention is to load integrated device, load torque linear change device and control method, mould by axial-radial
Working condition when quasi- helicopter tail rotor is by different type airflow influence, mainly has studied whole efficiency, the function of helicopter tail rotor
Rate, motor control precision and working condition；Practical device and control method are provided for all kinds of motors, retarder test, from
Various aspects reduce test error, it is ensured that all data it is accurate.
Detailed description of the invention
Fig. 1 is experimental rig overall structure figure of the invention；
Fig. 2 is that axial-radial of the invention loads integrated device cross-sectional view；
Fig. 3 is control flow total figure of the invention；
Fig. 4 is that axial-radial of the invention loads integrated device control principle drawing.
Figure label: 1 driving motor；2 first shaft couplings；3 encoders；4 multi-diameter shafts；5 axial-radials load integrated device；
6 second shaft couplings；7 angular transducers；8 axis；9 torque sensors；10 third shaft couplings；11 servo motors；12 tested machine supports；
13 encoder brackets；14 integrated device brackets；15 angular transducer brackets；16 torque sensor brackets；17 servo motor brackets；
18 pedestals；19 " L " types load cabinet；20 axially loaded cylinders；21 flanges；22 axial compressive force sensors；23 radial loaded cylinders；
24 axially loaded plates；25 radial pressure plates；26 angular contact ball bearings；27 sliding slot springs；28 load plate pulleys.
Specific embodiment
In the present embodiment, as shown in Figure 1, a kind of electrically driven (operated) duty testing device of empennage of helicopter is in motor reducer
It is connected by the way that first shaft coupling 2 is arranged with encoder 3 on the output shaft of all-in-one machine 1, encoder 3 passes through multi-diameter shaft 4 and axial diameter
It is connected to load integrated device 5；Axial-radial load integrated device 5 is connected by second shaft coupling 6 with angular transducer 7；Angle
Degree sensor 7 is connected by axis 8 with torque sensor 9；Torque sensor 9 is defeated by third shaft coupling 10 and servo motor 11
Shaft is connected；Here loading integrated device by axial-radial reduces experimental rig quantity, and it is axially long to avoid experimental rig
Error caused by length is spent to increase；Stress concentration problem when helicopter tail rotor work is reflected simultaneously, simulates true operation feelings
Condition provides authentic data for test；
Motor reducer all-in-one machine 1 is mounted on tested machine support 12；Encoder 3 is mounted on encoder bracket 13；Axis
The installation of cabinet 19 is loaded on the support 14 by " L " type to radial loaded integrated device 5；Angular transducer 7 is mounted on angle biography
On sensor bracket 15；Torque sensor 9 is mounted on torque sensor bracket 16；Servo motor 11 is mounted on servo motor bracket
On 17；All brackets include tested machine support 12, encoder bracket 13, integrated device bracket 14, angular transducer bracket 15, turn round
Square sensor stand 16, servo motor bracket 17 are all installed on pedestal 18 by removable positioning bolt.
As shown in Fig. 2, axial-radial load integrated device 5 is that bracket 14 is provided with the load of " L " type on pedestal 18
Cabinet 19 is provided with multi-diameter shaft 4 on the axial direction of " L " type load cabinet 19；On the axis direction of multi-diameter shaft 4 circumferentially
Array arrangement is provided with n axially loaded cylinders 20；The telescopic rod of n axially loaded cylinders 20 is directed toward axis along load cabinet 19
To load plate 24, and n axial compressive force sensor 22 is provided between axially loaded cylinder 20 and axially loaded plate 24；It is axial
Load plate 24 is setting on the transverse plate of " L " type load 19 bottom of cabinet, and by being arranged in the bottom of axially loaded plate 24
There are two parallel grooves being arranged on load plate pulley 28 and transverse plate to match, and the two sides of load plate pulley 28 are provided with cunning
Slot spring 27；Sliding slot spring 27 acts on the side wall of transverse plate with fixed axial load plate 24；In axially loaded plate 24
Meta position, which installs, is equipped with through-hole for being set with multi-diameter shaft 4；And the outer ring of through-hole is provided with two ranks to match with 4 shape of multi-diameter shaft
The annulus of scalariform；Using the outer layer large circle of two stair-stepping annulus as the load end face of axially loaded plate 24；Axially adding
Angular contact ball bearing 26 is provided between support plate 24 and multi-diameter shaft 4, and the outer ring of angular contact ball bearing 26 connects with load end face
Touching；Radial pressure plate 25 is set in the upper surface of angular contact ball bearing 26, the lower surface of radial pressure plate 25 is provided with radial direction
Pressure sensor is provided through radial loaded cylinder 23 at the top of axially loaded plate 24, and radial loaded cylinder 23 is stretched
Contracting bar can contact radial pressure plate 25 when stretching out；
In specific implementation, local axially loaded, simulation can be achieved by the adjusting of control system for n axially loaded cylinders 20
Gyration airflow, eddy airstream and other uncertain airflow influences that helicopter tail rotor is subject to when working；Load plate pulley 28 and cunning
Slot spring 27 be axially loaded plate 24 micromotion space is provided, avoid load plate and cabinet consolidation caused by load it is untrue and
The problem of energy consumption is high needed for load.
As shown in figure 3, a kind of control method of the electrically driven (operated) duty testing device of empennage of helicopter be as follows into
Row:
Step 1 is rotated using driver driving motor retarder all-in-one machine 1 and encoder 3 is driven to rotate, to utilize number
The actuating signal of encoder 3 is acquired according to acquisition device and is sent to tested machine controller；
Step 2 uses ADAPTIVE ROBUST control to motor reducer all-in-one machine 1 according to actuating signal by tested machine controller
System, and obtain control signal and be sent to driver, to make motor reducer all-in-one machine 1 reach test speed using driver；
Multi-diameter shaft 4 in step 3, axial-radial load integrated device 5 is rotated coaxially with encoder 3, and in pressure-loaded
Under the control of control method, so that the pressure signal in axial-radial one loading device 5 reaches needed for test；
Wherein, as shown in figure 4, the pressure-loaded control method of axial-radial load integrated device includes:
Step 3.1, axial compressive force sensor 22 detect the axial pressure between axially loaded cylinder 20 and axially loaded plate 25
Force signal, radial pressure sensor detects the radial pressure signal between angular contact ball bearing 26 and radial loaded plate 25, and divides
Pressure signal is not converted to by digital signal by A/D converter；
On the one hand digital signal is passed through data acquisition device to PLC module by step 3.2, A/D converter；On the other hand will
Digital signal feeds back to fuzzy controller；
Step 3.3, PLC module carry out simulation trial to digital signal and obtain displacement signal, and are transferred to fuzzy-adaptation PID control
Device；
The digital signal of displacement signal and A/D converter feedback is carried out analogy operation by step 3.4, fuzzy controller
After obtaining control signal, displacement control signal is converted to for signal is controlled by D/A converter, and be transferred to servo amplifier；
Step 3.5, servo amplifier pass to servo valve after amplifying displacement control signal, so that driving is corresponding axial
It loads cylinder 20 and radial loaded cylinder 23 is run, so that the pressure signal in axial-radial load integrated device 5 reaches test
It is required；
Step 4, angular transducer 7 and torque sensor 9 are rotated coaxially with axial-radial load integrated device 5, thus sharp
With the angle signal of data acquisition device acquisition angles sensor 7 and the torque signal of torque sensor 9, and pass to PLC mould
Block；
Step 5, PLC module obtain current signal after carrying out simulation trial to angle signal and torque signal, and are transferred to
Fuzzy controller；
Step 6, fuzzy controller obtain control signal after carrying out fuzzy operation to current signal, and are transferred to servo
Motor 11, so that servo motor 11 reaches the required torque of test.
N axially loaded cylinders are mutually indepedent, and the various combination of cylinder operation can be realized by pressure-loaded control method,
The case where can needing to control the pressure size of different location cylinder according to test, be used to helicopter simulating tail-rotor stress；It is above-mentioned to watch
It takes motor and provides torque loads for test, can need to realize the linear change of torque according to test, be used to helicopter simulating tail-rotor
The case where by torque loads；When above-mentioned pressure-loaded and torque load, pass through the variation of angular transducer and code device signal
To study whole efficiency, power, motor control precision and the working condition of motor reducer all-in-one machine.
Claims (3)
1. a kind of electrically driven (operated) duty testing device of empennage of helicopter, it is characterized in that the output in motor reducer all-in-one machine (1)
It is connected by the way that first shaft coupling (2) are arranged with encoder (3) on axis, the encoder (3) passes through multi-diameter shaft (4) and the axial direction
Radial loaded integrated device (5) is connected；Axial-radial load integrated device (5) is passed by second shaft coupling (6) and angle
Sensor (7) is connected；The angular transducer (7) is connected by axis (8) with torque sensor (9)；The torque sensor (9) is logical
Third shaft coupling (10) is crossed to be connected with the output shaft of servo motor (11)；
Axial-radial load integrated device (5) is that bracket (14) are provided with " L " type on pedestal (18) to load cabinet
(19), the multi-diameter shaft (4) are provided on the axial direction of " L " type load cabinet (19)；In the multi-diameter shaft (4)
Circumferentially array arrangement is provided with n axially loaded cylinders (20) on axis direction；The axially loaded cylinder (20) is stretched
Bar is directed toward axially loaded plate (24) along the load cabinet (19), and in the axially loaded cylinder (20) and axially loaded plate
(24) n axial compressive force sensor (22) is provided between；The axially loaded plate (24) is setting in " L " type load case
On the transverse plate of body (19) bottom, and by being provided with load plate pulley (28) and institute in the bottom of the axially loaded plate (24)
It states two parallel grooves being arranged on transverse plate to match, and the two sides of the load plate pulley (28) are provided with sliding slot spring
(27)；The sliding slot spring (27) acts on the side wall of the transverse plate with the fixation axially loaded plate (24)；Described
The middle position of axially loaded plate (24) is provided with through-hole for being set with the multi-diameter shaft (4)；And the outer ring setting of the through-hole
There are the two stair-stepping annulus to match with the multi-diameter shaft (4) shape；It is big with the outer layer of described two stair-stepping annulus
Load end face of the annulus as the axially loaded plate (24)；Between the axially loaded plate (24) and the multi-diameter shaft (4)
It is provided with angular contact ball bearing (26), and the outer ring of the angular contact ball bearing (26) is in contact with the load end face；Institute
Upper surface setting radial pressure plate (25) for stating angular contact ball bearing (26) is arranged in the lower surface of the radial pressure plate (25)
There is radial pressure sensor, is provided through radial loaded cylinder (23) at the top of the axially loaded plate (24), and described
The telescopic rod of radial loaded cylinder (23) can contact the radial pressure plate (25) when stretching out.
2. the control method of duty testing device according to claim 1, it is characterized in that carrying out as follows:
Step 1 drives the motor reducer all-in-one machine (1) to rotate and the encoder (3) is driven to rotate using driver, from
And it utilizes the actuating signal of data acquisition device acquisition encoder (3) and is sent to tested machine controller；
Step 2, by the tested machine controller according to the actuating signal to the motor reducer all-in-one machine (1) using adaptive
Robust control is answered, and obtains control signal and is sent to the driver, to keep motor reducer integrated using the driver
Machine (1) reaches test speed；
Multi-diameter shaft (4) in step 3, axial-radial load integrated device (5) is rotated coaxially with the encoder (3), and
Under the control of pressure-loaded control method, so that the pressure signal in the axial-radial one loading device (5) reaches examination
Needed for testing；
Coaxial turn of step 4, the angular transducer (7) and torque sensor (9) and the axial-radial load integrated device (5)
It is dynamic, so that the torque for the angle signal and torque sensor (9) for acquiring the angular transducer (7) using data acquisition device is believed
Number, and pass to PLC module；
Step 5, the PLC module obtain current signal after carrying out simulation trial to angle signal and torque signal, and are transferred to
Fuzzy controller；
Step 6, the fuzzy controller obtain control signal after carrying out fuzzy operation to current signal, and are transferred to described
Servo motor (11), so that the servo motor (11) reaches the required torque of test.
3. control method according to claim 2, characterized in that the control method of the pressure-loaded control is by as follows
Step carries out:
Step 3.1, the axial compressive force sensor (22) detect the axially loaded cylinder (20) and axially loaded plate (25) it
Between axial compressive force signal, the radial pressure sensor detect the angular contact ball bearing (26) and radial loaded plate (25) it
Between radial pressure signal, and pressure signal is converted to by digital signal by A/D converter respectively；
On the one hand digital signal is passed through the data acquisition device to PLC module by step 3.2, the A/D converter；Another party
Digital signal is fed back to fuzzy controller by face；
Step 3.3, the PLC module carry out simulation trial to digital signal and obtain displacement signal, and are transferred to fuzzy-adaptation PID control
Device；
Step 3.4, the fuzzy controller carry out the digital signal of institute's displacement signal and A/D converter feedback
After analogy operation obtains control signal, the control signal is converted to by displacement control signal by D/A converter, and be transferred to
Servo amplifier；
Step 3.5, the servo amplifier pass to servo valve after amplifying displacement control signal, so that driving is corresponding axial
Cylinder (20) and radial loaded cylinder (23) operation are loaded, so that the pressure letter in axial-radial load integrated device (5)
Number reach needed for test.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910165374.1A CN109708883A (en) | 2019-03-05 | 2019-03-05 | A kind of electrically driven (operated) duty testing device of empennage of helicopter and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910165374.1A CN109708883A (en) | 2019-03-05 | 2019-03-05 | A kind of electrically driven (operated) duty testing device of empennage of helicopter and control method |
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| Publication Number | Publication Date |
|---|---|
| CN109708883A true CN109708883A (en) | 2019-05-03 |
Family
ID=66266246
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910165374.1A Withdrawn CN109708883A (en) | 2019-03-05 | 2019-03-05 | A kind of electrically driven (operated) duty testing device of empennage of helicopter and control method |
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| CN (1) | CN109708883A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109941457A (en) * | 2019-05-06 | 2019-06-28 | 合肥工业大学 | A kind of electrically driven (operated) duty testing device of empennage of helicopter and control method |
| CN111307451A (en) * | 2020-02-28 | 2020-06-19 | 江苏大学 | Precision-loaded RV reducer performance detection device and method |
| CN111717414A (en) * | 2020-06-23 | 2020-09-29 | 北京理工伺服科技有限公司 | Pneumatic load simulating device of steering engine |
| CN114955001A (en) * | 2022-06-17 | 2022-08-30 | 重庆大学 | Helicopter tail transmission system simulation experiment system |
| CN116754208A (en) * | 2023-08-16 | 2023-09-15 | 天津航天瑞莱科技有限公司 | Fatigue test device for static blade adjusting mechanism assembly of compressor |
-
2019
- 2019-03-05 CN CN201910165374.1A patent/CN109708883A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109941457A (en) * | 2019-05-06 | 2019-06-28 | 合肥工业大学 | A kind of electrically driven (operated) duty testing device of empennage of helicopter and control method |
| CN111307451A (en) * | 2020-02-28 | 2020-06-19 | 江苏大学 | Precision-loaded RV reducer performance detection device and method |
| CN111717414A (en) * | 2020-06-23 | 2020-09-29 | 北京理工伺服科技有限公司 | Pneumatic load simulating device of steering engine |
| CN111717414B (en) * | 2020-06-23 | 2023-12-22 | 北京理工伺服科技有限公司 | Pneumatic simulation load device of steering engine |
| CN114955001A (en) * | 2022-06-17 | 2022-08-30 | 重庆大学 | Helicopter tail transmission system simulation experiment system |
| CN116754208A (en) * | 2023-08-16 | 2023-09-15 | 天津航天瑞莱科技有限公司 | Fatigue test device for static blade adjusting mechanism assembly of compressor |
| CN116754208B (en) * | 2023-08-16 | 2023-11-07 | 天津航天瑞莱科技有限公司 | Fatigue test device for static blade adjusting mechanism assembly of compressor |
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Application publication date: 20190503 |
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