CN112078822B - Controller simulation test method, device and storage medium thereof - Google Patents
Controller simulation test method, device and storage medium thereof Download PDFInfo
- Publication number
- CN112078822B CN112078822B CN201910511954.1A CN201910511954A CN112078822B CN 112078822 B CN112078822 B CN 112078822B CN 201910511954 A CN201910511954 A CN 201910511954A CN 112078822 B CN112078822 B CN 112078822B
- Authority
- CN
- China
- Prior art keywords
- motor
- controller
- rotating speed
- pitch
- simulation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Testing Of Engines (AREA)
Abstract
The invention discloses a simulation test method, a simulation test device and a storage medium of a controller, wherein the controller is used for driving a variable pitch motor to carry out variable pitch on an airplane propeller according to the rotating speed of an airplane engine, and the method comprises the following steps: sending a simulation instruction with initial rotating speed data of an aircraft engine to the controller, and collecting instant voltage and instant current of the variable pitch motor; calculating to obtain a current blade angle according to a pre-established first function about the motor current and the motor voltage of the variable pitch motor and the motor rotating speed; calculating to obtain an ideal engine speed according to a pre-established second function related to the blade angle, the simulation condition and the engine speed; sending the data of the ideal engine speed to the controller as the initial speed data. The simulation and test can be carried out in a laboratory, the test flight on a real airplane is avoided, and the technical problems of high simulation test and test cost and high difficulty of the controller are solved.
Description
Technical Field
The present invention relates to the field of simulation, and in particular, to a method and an apparatus for simulation test of a controller, and a storage medium thereof.
Background
Currently, aircraft driven by propellers are gradually starting to adopt variable-pitch propellers, by which the blade angle (blade angle is the angle between the chord line of the propeller and the plane of rotation of the propeller) is changed. The variable pitch propeller is changed along with the change of the radius, the change rule of the variable pitch propeller is the most main factor influencing the working performance of the propeller, and the variable pitch of the propeller is completed by adopting a controller.
Therefore, the controller is a key device for changing the pitch of the propeller of the airplane, the reliability of the controller directly influences the flight safety of the airplane, and the controller is very important for simulation and test of the controller.
Therefore, the inventor finds that at least the following problems exist in the prior art, the simulation test of the controller needs to be carried out on the airplane, and the technical problems of high simulation and test cost and great difficulty still exist.
Disclosure of Invention
The application provides a controller simulation test method, and aims to realize pitch change simulation and performance test of a propeller by a controller at different aircraft engine rotating speeds by using the controller simulation test method.
The application provides a simulation test method for a controller, wherein the controller is used for driving a variable-pitch motor to perform variable pitch on an airplane propeller according to the rotating speed of an airplane engine, and the method comprises the following steps:
sending a simulation instruction with initial rotating speed data preset by an aircraft engine to the controller, so that the controller receives the simulation instruction and drives a variable pitch motor to perform first pitch control on an aircraft propeller according to the initial rotating speed data;
acquiring the instant voltage and the instant current of the pitch-variable motor in the pitch-variable process of the controller;
calculating an instant motor rotating speed according to the instant voltage and the instant current through a pre-established first function, wherein the first function is a relation function about the motor current, the motor voltage and the motor rotating speed;
calculating according to the instant motor rotating speed and a preset mode to obtain a current blade angle;
calculating an ideal engine speed through a pre-established second function according to the current blade angle and a preset simulation condition, wherein the second function is a relation function of the blade angle, the simulation condition and the engine speed, and the simulation condition is different condition parameters of the airplane during flying;
and sending the ideal engine rotating speed to the controller so that the controller drives a variable-pitch motor to perform secondary pitch control on the propeller of the airplane according to the ideal engine rotating speed.
Optionally, the method further comprises:
collecting motor current and motor rotating speed corresponding to different motor voltages of the variable pitch motor under different loads;
and fitting and establishing the first function of the motor current, the motor voltage and the motor speed of the variable pitch motor according to the different motor voltages, the motor currents corresponding to the different motor voltages and the data of the motor speed.
Optionally, the method further comprises: fitting the data on the blade angle, the simulated conditions, and the engine speed to the corresponding simulated conditions and blade angle in the optimized empirical data to establish the second function for blade angle, simulated conditions, and engine speed.
Optionally, the simulated conditions include altitude, and/or airspeed, and/or throttle displacement.
The application also provides another simulation test method for the controller, wherein the controller is used for driving the variable-pitch motor to perform variable-pitch on the propeller of the airplane according to the rotating speed of the engine of the airplane, and the method comprises the following steps:
receiving a simulation instruction which is sent by a simulation device and has preset initial rotating speed data of an aircraft engine;
driving a variable pitch motor to carry out first-time pitch changing on an airplane propeller according to the initial rotating speed data so that a simulation device acquires the instant voltage and the instant current of the variable pitch motor in the controller pitch changing process, calculating the instant motor rotating speed through a pre-established first function according to the instant voltage and the instant current, wherein the first function is a relation function of the motor current, the motor voltage and the motor rotating speed, calculating the current blade angle according to the instant motor rotating speed in a preset mode, calculating the ideal engine rotating speed through a pre-established second function according to the current blade angle and a preset simulation condition, wherein the second function is a relation function of the blade angle, the simulation condition and the starting rotating speed, the simulation condition is different condition parameters during airplane flying, and sending the data of the ideal engine rotating speed to the controller;
and driving a variable-pitch motor to perform secondary pitch control on the airplane propeller according to the ideal engine rotating speed.
The application also provides a controller simulation test system, which comprises a simulation device and a controller;
the simulation device comprises a parameter simulator and a signal acquisition simulator, wherein the parameter simulator is electrically connected with the signal acquisition simulator, and the signal acquisition simulator is electrically connected with the controller;
the signal acquisition simulator is used for sending a simulation instruction with initial rotating speed data preset by an aircraft engine to the controller, so that the controller receives the simulation instruction and drives a variable pitch motor to perform first pitch variation on an aircraft propeller according to the initial rotating speed data;
the signal acquisition simulator is also used for acquiring the instant voltage and the instant current of the variable-pitch motor in the variable-pitch process of the controller, and calculating the instant motor rotating speed according to the instant voltage and the instant current through a pre-established first function, wherein the first function is a relation function about the motor current, the motor voltage and the motor rotating speed, and the current blade angle is calculated according to the instant motor rotating speed in a preset mode;
the parameter simulator is used for calculating an ideal engine speed through a pre-established second function according to the current blade angle and a preset simulation condition, wherein the second function is a relation function of the blade angle, the simulation condition and the engine speed, and the simulation condition is different condition parameters of the airplane during flying;
the signal acquisition simulator is also used for sending the ideal engine rotating speed to the controller, so that the controller drives a variable-pitch motor to perform secondary pitch control on the airplane propeller according to the ideal engine rotating speed.
Optionally, the signal acquisition simulator comprises a current acquisition circuit, a voltage acquisition circuit, a rotation speed signal output circuit, a load control circuit and an RS22 interface, which are respectively electrically connected with the FPGA control circuit;
the current acquisition circuit and the voltage acquisition circuit are respectively and electrically connected with a variable pitch motor controlled by the controller;
the load control circuit and the rotating speed signal output circuit are respectively electrically connected with the controller;
the RS22 interface is electrically and mechanically connected with the parameter simulator.
Optionally, the present application provides a controller simulation test apparatus, including:
the transmission module is used for transmitting a simulation instruction with initial rotating speed data preset by an aircraft engine to the controller so that the controller receives the simulation instruction and drives a variable pitch motor to perform first-time pitch variation on an aircraft propeller according to the initial rotating speed data;
the acquisition module is used for acquiring the instant voltage and the instant current of the pitch-variable motor in the pitch-variable process of the controller;
the calculation module is used for calculating an instant motor rotating speed according to the instant voltage and the instant current through a pre-established first function, wherein the first function is a relation function about the motor current, the motor voltage and the motor rotating speed; calculating according to the instant motor rotating speed and a preset mode to obtain a current blade angle; calculating an ideal engine speed through a pre-established second function according to the current blade angle and a preset simulation condition, wherein the second function is a relation function of the blade angle, the simulation condition and the engine speed, and the simulation condition is different condition parameters of the airplane during flying;
the sending module is further used for sending the ideal engine rotating speed to the controller, so that the controller drives a variable-pitch motor to perform secondary pitch control on the airplane propeller according to the ideal engine rotating speed.
Optionally, the collecting module is further configured to collect motor currents and motor speeds corresponding to different motor voltages of the pitch motor under different loads;
and the fitting module is used for fitting and establishing the motor current and the motor voltage of the variable pitch motor and the first function of the motor rotating speed according to the different motor voltages, the motor currents corresponding to the different motor voltages and the data fitting of the motor rotating speed.
The application also provides a controller simulation test device, the device includes: a processor and a memory;
the memory stores an application program executable by the processor for causing the processor to execute the steps of the controller simulation test method.
The present application also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the controller simulation test method described herein.
As can be seen from the above, based on the above embodiments, the simulation method of the present application can simulate the pitch variation condition of the flight propeller controlled and adjusted by the controller after the controller receives the rotation speed of the aircraft engine in different environments, and solves the technical problems that the simulation test of the controller can only be actually simulated by being installed on the aircraft, which is high in cost and difficulty.
Drawings
FIG. 1 is a diagram illustrating a flow 100 of a controller simulation test method according to an embodiment;
FIG. 2 is a diagram illustrating a flow 200 of a controller simulation test method according to one embodiment;
FIG. 3 is a schematic diagram of a first architecture of a controller simulation test system according to an embodiment;
FIG. 4 is a diagram illustrating a second architecture of the controller emulation test system in accordance with an embodiment;
FIG. 5 is a schematic diagram of an application interface of a simulation test system of a controller according to one embodiment;
FIG. 6 is a block diagram of an exemplary embodiment of a controller emulation test device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples.
Fig. 1 is a schematic diagram of a controller simulation test method flow 100 according to an embodiment. In one embodiment, as shown in fig. 1, the present application provides a method for simulation testing of a controller for pitch control of an aircraft propeller by driving a pitch motor according to an aircraft engine speed, the method comprising:
s101, sending a simulation instruction with initial rotating speed data preset by an aircraft engine to the controller, so that the controller receives the simulation instruction and drives a variable pitch motor to perform first pitch control on an aircraft propeller according to the initial rotating speed data;
the application scenario in this step may be an aircraft propeller engine that drives a variable pitch by using a variable pitch motor, and the controller controls the variable pitch by controlling the current, voltage, and rotational speed of the variable pitch motor, thereby changing the blade angle. For the controller, different rotating speeds correspond to different blade angles, the controller receives rotating speed data of the aircraft engine to control the forward and reverse rotation of the variable pitch motor, and then the pitch of the propeller is changed to obtain the blade angle corresponding to the rotating speed.
It should be noted that the variable pitch motor is a motor for varying the pitch of the propeller of the airplane, and the engine of the airplane is an engine for driving the propeller to rotate to drive the airplane to fly.
The method comprises the steps that initial rotating speed data are sent to a controller, and the controller starts to adjust the variable-pitch motor according to the initial rotating speed data.
S102, acquiring the instant voltage and the instant current of the pitch-variable motor in the pitch-variable process of the controller;
the step is to collect the instant voltage and the instant current of the variable pitch motor in the process of the step.
S103, calculating an instant motor rotating speed according to the instant voltage and the instant current through a pre-established first function, wherein the first function is a relation function about the motor current, the motor voltage and the motor rotating speed;
in the step, the current blade angle is calculated according to a first function established among the motor current and the motor voltage of the pitch-variable motor and the motor rotating speed through the instant voltage and the instant current, and a specific generation method of the first function will be described in detail in the following embodiments, where a specific usage of the first function is described in detail. Based on the first function, a corresponding instant rotating speed can be correspondingly calculated according to the collected instant voltage and the instant current.
S104, calculating according to the instant motor rotating speed and a preset mode to obtain a current blade angle;
in the present step, a calculation is providedAnd (4) front blade angle. For example, the predetermined mode may be calculated by a specific formula Δ θ = Δ t × n, where n is the instant rotation speed, Δ t is the time interval between two acquisitions, Δ θ is the angular increment between two acquisitions, and when the initial angle is θ 0 Then the current blade angle θ = θ 0 + Δ θ. The above is the calculation process of the current blade angle.
S105, calculating an ideal engine rotating speed through a pre-established second function according to the current blade angle and a preset simulation condition, wherein the second function is a relation function of the blade angle, the simulation condition and the engine rotating speed, and the simulation condition is different condition parameters when the airplane flies;
in this step, a method for generating an ideal engine speed is provided, and an ideal engine speed can be calculated according to the current blade angle calculated in the previous step and a preset simulation condition (i.e., a parameter value of the simulation condition) and a second function, wherein a method for pre-establishing the second function will be further described later, and will not be described herein again.
And S106, sending the ideal engine rotating speed to the controller, so that the controller drives a variable-pitch motor to perform variable-pitch on the airplane propeller again according to the ideal engine rotating speed.
And finally, sending the data of the ideal engine rotating speed as new initial rotating speed data back to the controller, and finishing a closed-loop control process at the moment. The controller simulation test method is a dynamic control method, and finally completes one cycle.
In this embodiment, the simulation instruction is first sent to the controller, so that the controller performs pitch control on the pitch-controlled motor according to the initial rotational speed data sent at the same time after receiving the simulation instruction. At the moment, the instant voltage and the instant current of the pitch varying motor are collected in the pitch varying process, and the instant rotating speed is calculated through the first function corresponding to the pitch varying motor. The first function is a function of the motor current and the motor voltage of the pitch motor, and the motor speed. Then according to the formula Δ θ = Δ t × n, where n is the instant rotation speed and Δ t is twiceThe time interval of acquisition, Δ t, is a predetermined value. In addition, it can be understood that the instant voltage and the instant current are both constant values in the two acquisitions, so that the corresponding instant rotating speed is also a constant value, delta theta is the angle increment of the two acquisitions, and when the initial angle is theta 0 Then the current blade angle θ = θ 0 And + delta theta, namely the calculation process of the current blade angle. Thereafter, the desired engine speed is calculated based on a second function that is a function of blade angle versus simulated conditions and engine speed. And sending the calculated data of the ideal engine speed as initial speed data to the controller, and then continuously executing the process by the controller. That is, the above process can be continuously and repeatedly cycled to form a dynamic pitch changing process, and finally the blade angle of the pitch changing motor and the rotating speed of the aircraft engine tend to be stable. The controller operates in this way during the flight of the actual aircraft, i.e., a process in which the controller simulates a test. In addition, the performance of the controller can be evaluated according to the data of the whole process, for example, the process of changing the pitch is expected to be as fast as possible, so that the time between the blade angle and the rotating speed of the airplane engine, which finally tends to be stable through the controller, can be shortened by adjusting various links (such as the parameters of the controller or the parameters of the propeller) according to the subsequent time. Of course, adjustments may be required depending on specific design requirements.
In addition, the data of time use, instant current and instant voltage of the variable pitch motor, instant rotating speed and the like are all recorded as test results, and the test results can be used as the test results of the performance of the controller.
Fig. 2 is a schematic diagram of a controller simulation test method flow 200 according to an embodiment. As shown in fig. 2, in an embodiment, the method further comprises:
s201, collecting motor currents and motor rotating speeds corresponding to different motor voltages of the pitch-variable motor under different loads;
when different motor voltages are applied to the variable-pitch motor, different loads applied are simulated through the loading resistor, and finally the motor current is collected and the motor rotating speed is measured.
S202, fitting and establishing the first function related to the motor current, the motor voltage and the motor rotating speed of the variable pitch motor according to the different motor voltages, the motor currents corresponding to the different motor voltages and the data of the motor rotating speed.
In this step, a specific method for constructing the first function is provided, and under each different load resistance value, different motor voltages are applied, and then the corresponding motor voltages and motor currents can be collected and measured, and a curve is fitted according to the correspondence to generate the first function, and least square fitting can be adopted, and the highest fitting order is three orders.
In this embodiment, a specific fitting method of the first function is provided, in which different load conditions are simulated according to setting resistors loaded with different resistances, and then when different motor voltages are applied, the motor voltages and the motor currents are collected and measured. And generating a first function by fitting a curve according to the corresponding relation, wherein a relatively classical minimum multiplication fitting can be adopted, and the highest fitting order is third order.
In an embodiment, the method further comprises:
fitting the data on the blade angle, the simulated conditions, and the engine speed to the corresponding simulated conditions and blade angle in the optimized empirical data to establish the second function for blade angle, simulated conditions, and engine speed.
In this embodiment, the second function of the simulated conditions and blade angle, as well as the engine speed, is established by optimized empirical data in the engine manual. The method of curve fitting, namely least square fitting, can also be adopted, and the highest fitting order is third order.
In one embodiment, the simulated conditions include altitude, and/or airspeed, and/or throttle displacement.
In the present embodiment, the contents specifically included in the simulation conditions are provided.
The application also provides another simulation test method for the controller, wherein the controller is used for driving the variable-pitch motor to perform variable-pitch on the propeller of the airplane according to the rotating speed of the engine of the airplane, and the method comprises the following steps:
receiving a simulation instruction which is sent by a simulation device and has preset initial rotating speed data of an aircraft engine;
driving a variable-pitch motor to carry out first-time pitch changing on an airplane propeller according to the initial rotating speed data so as to enable a simulation device to acquire instant voltage and instant current of the variable-pitch motor in the controller pitch changing process, calculating the instant voltage and the instant current through a pre-established first function according to the instant voltage and the instant current to obtain the instant motor rotating speed, wherein the first function is a relation function of the motor current, the motor voltage and the motor rotating speed, calculating the current blade angle according to the instant motor rotating speed in a preset mode, calculating the ideal engine rotating speed according to the current blade angle and a preset simulation condition through a pre-established second function, wherein the second function is a relation function of the blade angle, the simulation condition and the starting rotating speed, the simulation condition is different condition parameters during airplane flying, sending the data of the ideal engine rotating speed to the controller, and driving the variable-pitch motor to carry out second-time pitch changing on the airplane propeller according to the ideal engine rotating speed.
The present embodiment is the above simulation method performed by the controller for the processing unit.
Fig. 3 is a schematic diagram of a first architecture of a controller simulation test system according to an embodiment. As shown in fig. 3, in an embodiment, the present application further provides a controller simulation test system, which includes a simulation apparatus and a controller;
the simulation device comprises a parameter simulator and a signal acquisition simulator, wherein the parameter simulator is electrically connected with the signal acquisition simulator, and the signal acquisition simulator is electrically connected with the controller;
the signal acquisition simulator is used for sending a simulation instruction with initial rotating speed data preset by an aircraft engine to the controller, so that the controller receives the simulation instruction and drives a variable pitch motor to perform first pitch variation on an aircraft propeller according to the initial rotating speed data;
the signal acquisition simulator is also used for acquiring the instant voltage and the instant current of the variable-pitch motor in the variable-pitch process of the controller, and calculating the instant motor rotating speed according to the instant voltage and the instant current through a pre-established first function, wherein the first function is a relation function about the motor current, the motor voltage and the motor rotating speed, and the current blade angle is calculated according to the instant motor rotating speed in a preset mode;
the parameter simulator is used for calculating an ideal engine speed through a pre-established second function according to the current blade angle and a preset simulation condition, wherein the second function is a relation function of the blade angle, the simulation condition and the engine speed, and the simulation condition is different condition parameters of the airplane during flying;
the signal acquisition simulator is also used for sending the ideal engine rotating speed to the controller, so that the controller drives a variable-pitch motor to perform secondary pitch control on the airplane propeller according to the ideal engine rotating speed.
Fig. 4 is a schematic diagram of a second architecture of the controller simulation test system according to an embodiment, and fig. 5 is a schematic diagram of an application interface of the controller simulation test system according to an embodiment. As shown in fig. 4 and 5, in an embodiment, the signal acquisition simulator includes a current acquisition circuit, a voltage acquisition circuit, a rotation speed signal output circuit, a load control circuit, and an RS22 interface, which are respectively electrically connected to the FPGA control circuit;
the current acquisition circuit and the voltage acquisition circuit are respectively and electrically connected with a variable pitch motor controlled by the controller;
the load control circuit and the rotating speed signal output circuit are respectively electrically connected with the controller;
the RS22 interface is electrically and mechanically connected with the parameter simulator.
In the embodiment, the rotating speed signal output circuit is used for sending a simulation instruction with initial rotating speed data preset by an aircraft engine to the controller, so that the controller receives the simulation instruction and drives the variable-pitch motor to perform first-time pitch changing on the aircraft propeller according to the initial rotating speed data;
the voltage acquisition circuit and the current acquisition circuit are respectively used for acquiring the instant voltage and the instant current of the pitch-variable motor in the pitch-variable process of the controller;
the FPGA control circuit is used for calculating to obtain the current blade angle according to a pre-established first function about the motor current and the motor voltage of the variable pitch motor and the motor rotating speed through the instant voltage and the instant current;
finally, the rotation speed signal output circuit is also used for sending the data of the ideal engine rotation speed to the controller as the initial rotation speed data.
In addition, the voltage acquisition circuit and the current acquisition circuit are respectively used for acquiring motor currents corresponding to different motor voltages of the pitch motor under different loads and motor voltages and motor currents in the step of motor rotating speed;
the FPGA control circuit is further used for fitting and establishing the motor current and the motor voltage of the variable-pitch motor and the first function of the motor rotating speed according to the different motor voltages, the motor currents corresponding to the different motor voltages and the data fitting of the motor rotating speed.
Fig. 6 is a schematic structural diagram of a controller simulation test apparatus according to an embodiment, as shown in fig. 6, in an embodiment, the present application further provides a controller simulation test apparatus, including:
the system comprises a sending module 101, a controller and a control module, wherein the sending module is used for sending a simulation instruction with initial rotating speed data preset by an aircraft engine to the controller so that the controller receives the simulation instruction and drives a variable pitch motor to perform first-time pitch variation on an aircraft propeller according to the initial rotating speed data;
the acquisition module 102 is used for acquiring the instant voltage and the instant current of the pitch varying motor in the pitch varying process of the controller;
the calculation module 103 is configured to calculate an instant motor speed according to the instant voltage and the instant current through a pre-established first function, where the first function is a relation function between the motor current and the motor voltage, and between the motor current and the motor voltage; calculating according to the instant motor rotating speed and a preset mode to obtain a current blade angle; calculating an ideal engine speed through a pre-established second function according to the current blade angle and a preset simulation condition, wherein the second function is a relation function of the blade angle, the simulation condition and the engine speed, and the simulation condition is different condition parameters of the airplane during flying;
the sending module 104 is further configured to send the ideal engine speed to the controller, so that the controller drives a variable pitch motor to perform a re-pitch operation on the aircraft propeller according to the ideal engine speed.
In an embodiment, the collecting module 102 is further configured to collect motor currents and motor rotation speeds corresponding to different motor voltages of the pitch varying motor under different loads;
a fitting module 105, configured to fit and establish the first function regarding the motor current and the motor voltage of the variable pitch motor and the motor speed according to the different motor voltages and the motor currents corresponding to the different motor voltages and the data of the motor speed.
The application also provides a controller simulation test device, the device includes: a processor and a memory;
the memory stores an application program executable by the processor for causing the processor to execute the steps of the controller simulation test method.
The present application also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the controller simulation test method described herein.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (11)
1. A simulation test method for a controller for driving a pitch motor to pitch an aircraft propeller according to the speed of an aircraft engine, the method comprising:
sending a simulation instruction with initial rotating speed data preset by an aircraft engine to the controller, so that the controller receives the simulation instruction and drives a variable pitch motor to perform first pitch control on an aircraft propeller according to the initial rotating speed data;
acquiring the instant voltage and the instant current of the pitch-variable motor in the pitch-variable process of the controller;
calculating an instant motor rotating speed according to the instant voltage and the instant current through a pre-established first function, wherein the first function is a relation function about the motor current, the motor voltage and the motor rotating speed;
calculating according to the instant motor rotating speed and a preset mode to obtain a current blade angle;
calculating an ideal engine speed through a pre-established second function according to the current blade angle and a preset simulation condition, wherein the second function is a relation function of the blade angle, the simulation condition and the engine speed, and the simulation condition is different condition parameters of the airplane during flying;
and sending the ideal engine rotating speed to the controller so that the controller drives a variable-pitch motor to perform secondary pitch control on the propeller of the airplane according to the ideal engine rotating speed.
2. The controller simulation test method of claim 1, further comprising:
collecting motor current and motor rotating speed corresponding to different motor voltages of the variable pitch motor under different loads;
and fitting and establishing the first function of the motor current, the motor voltage and the motor speed of the variable-pitch motor according to the different motor voltages, the motor currents corresponding to the different motor voltages and the data of the motor speed.
3. The controller simulation test method of claim 1, further comprising:
fitting the data on the blade angle, the simulated conditions, and the engine speed to the corresponding simulated conditions and blade angle in the optimized empirical data to establish the second function for blade angle, simulated conditions, and engine speed.
4. The controller simulation test method of claim 1, wherein the simulated conditions include altitude, and/or airspeed, and/or throttle displacement.
5. A simulation test method for a controller for driving a pitch motor to pitch an aircraft propeller according to the speed of an aircraft engine, the method comprising:
receiving a simulation instruction which is sent by a simulation device and has preset initial rotating speed data of an aircraft engine;
driving a variable-pitch motor to carry out first-time pitch changing on an airplane propeller according to the initial rotating speed data so as to enable a simulation device to acquire instant voltage and instant current of the variable-pitch motor in the pitch changing process of a controller, and calculating according to the instant voltage and the instant current and a pre-established first function to obtain instant motor rotating speed, wherein the first function is a relation function of the motor current, the motor voltage and the motor rotating speed, a current blade angle is calculated according to the instant motor rotating speed in a preset mode, an ideal engine rotating speed is calculated according to the current blade angle and a preset simulation condition and a pre-established second function, the second function is a relation function of the blade angle, the simulation condition and the starting rotating speed, the simulation condition is different condition parameters during airplane flying, and the data of the ideal engine rotating speed are sent to the controller;
and driving a variable-pitch motor to perform secondary pitch control on the airplane propeller according to the ideal engine rotating speed.
6. A controller simulation test system is characterized by comprising a simulation device and a controller;
the simulation device comprises a parameter simulator and a signal acquisition simulator, wherein the parameter simulator is electrically connected with the signal acquisition simulator, and the signal acquisition simulator is electrically connected with the controller;
the signal acquisition simulator is used for sending a simulation instruction with initial rotating speed data preset by an aircraft engine to the controller, so that the controller receives the simulation instruction and drives a variable pitch motor to perform first pitch variation on an aircraft propeller according to the initial rotating speed data;
the signal acquisition simulator is also used for acquiring the instant voltage and the instant current of the variable-pitch motor in the variable-pitch process of the controller, and calculating the instant motor rotating speed according to the instant voltage and the instant current through a pre-established first function, wherein the first function is a relation function about the motor current, the motor voltage and the motor rotating speed, and the current blade angle is calculated according to the instant motor rotating speed in a preset mode;
the parameter simulator is used for calculating an ideal engine speed through a pre-established second function according to the current blade angle and a preset simulation condition, wherein the second function is a relation function of the blade angle, the simulation condition and the engine speed, and the simulation condition is different condition parameters of the airplane during flying;
the signal acquisition simulator is also used for sending the ideal engine rotating speed to the controller, so that the controller drives a variable-pitch motor to perform secondary pitch control on the airplane propeller according to the ideal engine rotating speed.
7. The controller simulation test system according to claim 6, wherein the signal acquisition simulator comprises a current acquisition circuit, a voltage acquisition circuit, a rotating speed signal output circuit, a load control circuit and an RS22 interface which are respectively and electrically connected with the FPGA control circuit;
the current acquisition circuit and the voltage acquisition circuit are respectively and electrically connected with a variable pitch motor controlled by the controller;
the load control circuit and the rotating speed signal output circuit are respectively electrically connected with the controller;
the RS22 interface is electrically and mechanically connected with the parameter simulator.
8. A controller simulation test apparatus, the apparatus comprising:
the transmission module is used for transmitting a simulation instruction with initial rotating speed data preset by an aircraft engine to the controller so that the controller receives the simulation instruction and drives a variable pitch motor to perform first-time pitch variation on an aircraft propeller according to the initial rotating speed data;
the acquisition module is used for acquiring the instant voltage and the instant current of the pitch-variable motor in the pitch-variable process of the controller;
the calculation module is used for calculating an instant motor rotating speed according to the instant voltage and the instant current through a pre-established first function, wherein the first function is a relation function about the motor current, the motor voltage and the motor rotating speed; calculating according to the instant motor rotating speed and a preset mode to obtain a current blade angle; calculating an ideal engine speed through a pre-established second function according to the current blade angle and a preset simulation condition, wherein the second function is a relation function of the blade angle, the simulation condition and the engine speed, and the simulation condition is different condition parameters of the airplane during flying;
the sending module is further used for sending the ideal engine rotating speed to the controller, so that the controller drives a variable-pitch motor to perform secondary pitch control on the airplane propeller according to the ideal engine rotating speed.
9. The controller simulation test device of claim 8,
the acquisition module is also used for acquiring motor currents and motor rotating speeds corresponding to different motor voltages of the variable pitch motor under different loads;
and the fitting module is used for fitting and establishing the motor current and the motor voltage of the variable pitch motor and the first function of the motor rotating speed according to the different motor voltages, the motor currents corresponding to the different motor voltages and the data fitting of the motor rotating speed.
10. A controller simulation test apparatus, the apparatus comprising: a processor and a memory;
the memory has stored therein an application executable by the processor for causing the processor to perform the steps of the controller simulation test method of any one of claims 1 to 5.
11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the controller simulation test method of any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910511954.1A CN112078822B (en) | 2019-06-13 | 2019-06-13 | Controller simulation test method, device and storage medium thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910511954.1A CN112078822B (en) | 2019-06-13 | 2019-06-13 | Controller simulation test method, device and storage medium thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112078822A CN112078822A (en) | 2020-12-15 |
| CN112078822B true CN112078822B (en) | 2023-03-07 |
Family
ID=73733733
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910511954.1A Active CN112078822B (en) | 2019-06-13 | 2019-06-13 | Controller simulation test method, device and storage medium thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112078822B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115535296B (en) * | 2022-11-29 | 2023-04-14 | 北京卓翼智能科技有限公司 | Unmanned aerial vehicle motor testing method and device, electronic equipment and storage medium |
| CN115542158B (en) * | 2022-11-29 | 2023-06-23 | 北京卓翼智能科技有限公司 | Unmanned aerial vehicle motor test system |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3656745B2 (en) * | 2001-12-13 | 2005-06-08 | 株式会社安川電機 | Electric motor position control device |
| CN103257315A (en) * | 2013-04-12 | 2013-08-21 | 天津瑞源电气有限公司 | Wind generating set master control system and motor-driven pitch changing system testing device |
| CN103970035A (en) * | 2014-05-29 | 2014-08-06 | 西华大学 | Experimental facility for simulating wind turbine |
| CN106137550A (en) * | 2016-08-02 | 2016-11-23 | 黄山富田精工制造有限公司 | A kind of waist patch set composite and method thereof |
| US10520395B2 (en) * | 2016-08-17 | 2019-12-31 | Horiba Instruments Incorporated | Test stands for electric motor to be connected to front end accessory drive of internal combustion engine |
| CN109693807B (en) * | 2018-12-28 | 2021-11-09 | 西北工业大学 | Design method of self-adaptive pneumatic variable-pitch propeller |
-
2019
- 2019-06-13 CN CN201910511954.1A patent/CN112078822B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112078822A (en) | 2020-12-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112078822B (en) | Controller simulation test method, device and storage medium thereof | |
| EP4219313A1 (en) | Autothrottle control for turboprop engines | |
| CN113567083A (en) | Multi-component aerodynamic interference characteristic test simulation method for full-motion horizontal tail helicopter | |
| CN111061164A (en) | Unmanned aerial vehicle semi-physical simulation system and simulation method | |
| US11608185B2 (en) | Drive system for an aircraft | |
| CN108594839B (en) | Control method, aircraft and storage medium based on more vectoring technologies | |
| CN107122575A (en) | A kind of center of gravity of airplane automatic regulating system and adjusting method | |
| CN109703779B (en) | Control law design method for PIO research of civil telex | |
| CN111212787A (en) | Flight simulation system and method and flight simulation equipment | |
| CN109760821A (en) | A kind of unmanned aerial vehicle (UAV) control device and unmanned plane | |
| CN201399244Y (en) | Model airplane remote controller capable of displaying throttle dynamic manipulated variable | |
| CN208044318U (en) | PID balance adjustment devices in a kind of multi-rotor unmanned aerial vehicle system | |
| CN102107088B (en) | Velocity feedback control system for rotor of toy helicopter | |
| Galinski et al. | Results of the J-5 Marco dynamic similar model flight tests program | |
| CN110044615B (en) | Dynamic loading motor control system and application method thereof | |
| CN104483090A (en) | Dynamitic control and measurement method | |
| Gebauer et al. | Enhanced UAV propulsion system | |
| Altamirano et al. | Flying qualities analysis and piloted simulation testing of a lift+ cruise vehicle with propulsion failures in hover and low-speed conditions | |
| Thanapalan | Modelling of a helicopter system | |
| CN114879533A (en) | eVTOL aircraft control surface load simulation test method | |
| Hopf et al. | Unmanned aircraft experimental system: The flying lab for applied flight control and flight mechanics | |
| CN113075879B (en) | Engine control system of tilt rotor unmanned aerial vehicle | |
| US3346969A (en) | Helicopter ground resonance simulator | |
| CN109383784A (en) | Aerial platform with force aid system | |
| CN111055998A (en) | Active control method and device for airplane steering column |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |