CN112213060B - Rotor wing overall vibration mode excitation method for rotor wing aeroelastic stability test - Google Patents
Rotor wing overall vibration mode excitation method for rotor wing aeroelastic stability test Download PDFInfo
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- CN112213060B CN112213060B CN202011028621.2A CN202011028621A CN112213060B CN 112213060 B CN112213060 B CN 112213060B CN 202011028621 A CN202011028621 A CN 202011028621A CN 112213060 B CN112213060 B CN 112213060B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/022—Vibration control arrangements, e.g. for generating random vibrations
Abstract
The invention belongs to the technical field of helicopter rotor wing tests, and particularly relates to a rotor wing overall vibration mode excitation method for a rotor wing aeroelastic stability test. Three exciters are used to apply coordinated excitation to the stationary ring of the automatic tilter. The collaborative incentive includes: three-cylinder collective excitation and three-cylinder nutation type excitation. The measurement of the rotor set type integral vibration mode and the periodic type integral vibration mode is realized respectively, the response signal only contains one frequency component, and the precision of modal identification data processing is greatly improved.
Description
Technical Field
The invention belongs to the technical field of helicopter rotor wing tests, and particularly relates to a rotor wing overall vibration mode excitation method for rotor wing aeroelastic stability tests.
Background
At present, in the helicopter industry, the most common and effective excitation method for the periodic pitch-varying excitation of the automatic tilter is to utilize an excitable hydraulic actuating cylinder to perform steady-state sinusoidal excitation on a stationary ring of the automatic tilter, excitation force is transmitted to a blade through the non-rotating ring → the rotating ring → a pitch-varying pull rod of the automatic tilter to cause periodic variation of the pitch angle of the blade, so that the flapping motion of the blade is excited, and then the swing motion of the blade is excited by the coriolis force caused by the flapping motion.
The traditional excitation mode of the automatic tilter is single-cylinder excitation, namely the automatic tilter is excited through a hydraulic actuator cylinder, the pitch change of a blade simultaneously comprises three frequency components, namely omega-omega, omega and omega + omega, and under the excitation mode, the integrated type and periodic type rotor wing integral vibration modes exist simultaneously, so that the obtained result actually comprises various integral vibration modes in the rotor wing. In addition, the signal analysis difficulty is greatly increased due to the response of 3 frequency components in the signal.
Disclosure of Invention
Aiming at the problems in the background art, the invention aims to provide a rotor wing overall vibration type nutation type excitation method for rotor wing aeroelastic stability test, which effectively improves the blade modal identification precision.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a rotor wing overall vibration mode excitation method for rotor wing aeroelastic stability test adopts three vibration exciters to apply cooperative excitation to an automatic inclinator stationary ring.
Further, the collaborative incentive includes: three-cylinder collective pitch excitation and three-cylinder nutation type excitation.
Further, the three-cylinder collective pitch excitation is as follows: the three vibration exciters have the same amplitude and the same phase.
Further, the three-cylinder nutation type excitation includes: a forward mode vibration mode and a backward mode vibration mode;
further, the three exciter excitation signals are determined by:
firstly, calculating a transfer matrix T for excitation displacement signals of three vibration exciters in a non-rotating coordinate system and transverse periodic variable distances, longitudinal periodic variable distances and total distances of blades in the rotating coordinate system by adopting a transfer matrix identification method;
second, according to the input rotary wing rotation frequency omega and the natural frequency omega of the rotary wing ζ Generating variations in the transverse cyclic variation, longitudinal cyclic variation and collective variation of the rotor corresponding to the cyclic integral mode of vibration of the rotorA rule;
and thirdly, performing control signal conversion point by point according to the transmission matrix identified in the step 1 and the periodic variable pitch and total pitch change rule of the rotor wing generated in the step 2 to obtain excitation signals of the three vibration exciters.
Further, in the first step, the relation among the vibration exciter displacement, the transfer matrix and the pitch is as follows:
wherein Δ L a,n 、ΔL b,n 、ΔL c,n Respectively represents the displacement change amount of the nth group of 3 vibration exciters, theta s,n 、θ c,n 、θ 0.7,n Respectively representing the longitudinal cyclic variation, the transverse cyclic variation and the total pitch of the n group of rotors obtained by acquisition.
Further, when the natural frequency ω of the rotor is ζ When the frequency is less than the rotation speed frequency omega,
the periodic variable pitch and the total pitch change rule of the rotor corresponding to the total pitch type vibration mode are as follows:
The periodic variable pitch and total pitch change rule of the rotor corresponding to the retreating type vibration mode is as follows:
The periodic variable pitch and total pitch change rule of the rotor corresponding to the forward type vibration mode is as follows:
In the formula, omega is the excitation frequency of the vibration exciter;
total distance in periodic integral vibration mode excitation of rotorθ 0.7 The variation law is constant.
Further, the rotor natural frequency ω ζ When the rotation speed frequency is higher than omega:
the periodic variable pitch and the total pitch change rule of the rotor corresponding to the total pitch type vibration mode are as follows:
The periodic variable pitch and total pitch change rule of the rotor corresponding to the retreating type vibration mode is as follows:
The periodic variable pitch and total pitch change rule of the rotor corresponding to the forward type vibration mode is as follows:
Wherein, omega is the excitation frequency of the vibration exciter;
total distance theta in periodic integral mode excitation of rotor 0.7 The variation law is constant.
The invention has the beneficial effects that: a rotor wing integral vibration type nutation type excitation method for rotor wing aeroelastic stability test is characterized in that rotor wing set type integral vibration type mode and periodic integral vibration type mode measurement are respectively realized, a response signal only contains one frequency component, and the accuracy of mode identification data processing is greatly improved.
Drawings
FIG. 1 is a schematic diagram of a periodic variable-pitch single-cylinder excitation principle of an automatic inclinator;
FIG. 2 is a schematic diagram of a periodic variable pitch three-cylinder excitation principle of an automatic inclinator;
FIG. 3 shows the result of the calculation of the displacement of the actuator cylinder for a given pitch variation law.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention discloses a rotor wing integral vibration type nutation type excitation method for rotor wing aeroelastic stability test. Three vibration exciters are adopted to apply cooperative excitation to the stationary ring of the automatic inclinator. As shown in fig. 2.
1. Three-cylinder total distance excitation
The three-cylinder collective excitation mode is easy to understand, the excitation amplitude and the phase of three exciters acting on the automatic inclinator are the same, and are equivalent to collective excitation, therefore, all states of each blade in the rotating process are the same, the amplitude and the phase of the response are the same, the response signal only contains omega frequency components, and the integral vibration mode of the rotor caused by each blade is an aggregate type.
2. Three-cylinder seal type excitation
The main purpose of performing nutation-type excitation is to measure the periodic-type overall vibration pattern of the rotor, in particular the lag-type. There are two main types of periodic integral vibration modes,
forward mode vibration, the phase between each blade decreases progressively in the direction of rotation of the rotor
Retreating type vibration mode in which the phase between each blade increases progressively in the direction of rotation of the rotor
1) Principle of nutation type excitation
When a fixed cyclic pitch is applied, the automatic inclinator is actually rotated by an angle around the spherical hinge, and the automatic inclinator disk is inclined by an angle in a certain direction, namely the automatic inclinator disk is changed from a plane to an inclined plane, so that the automatic inclinator disk is necessarily formed into a highest point and a lowest point after being inclined.
Δθ＝χsinψ+(-η)cosψ
Wherein the content of the first and second substances,
χ, the back chamfer of the automatic recliner, is equivalent to the application of longitudinal cyclic pitch
Eta, side chamfer of automatic inclinator, corresponding to application of transverse cyclic pitch
Thus, Δ θ is in azimuth
Has a maximum value
And these values are all constant and do not change.
When the nutation type excitation is carried out, the frequency of transverse periodic variable pitch excitation and the frequency of longitudinal periodic variable pitch excitation are enabled to be the same as omega, the amplitude of the excitation is also the same, but the phase difference is 90 degrees, so that the automatic inclinator disk generates an inclination angle, the size of the inclination angle is unchanged, but the highest point position rotates at the frequency of omega, and the formed motion is called nutation.
First case
When in use
Then
At this time, the automatic tilter disk rotates in the reverse direction, the direction in which the automatic tilter disk rotates is opposite to the direction in which the rotor rotates, and the excitation frequency of the pitch is only one and is (ω + Ω), so that the blade pitch is always a retreating type overall mode.
Second case
When in use
Then the
At this moment, the automatic tilter disc is rotated in the forward direction, the rotating direction of the automatic tilter disc is the same as the rotating direction of the rotor, the excitation frequency of the pitch is only one, and is (omega-omega), and two situations can occur at this moment:
when (omega-omega) <0, namely the rotation speed of the automatic tilter disk is slower than that of the rotor wing, a retreating type integral vibration mode is formed between the blades
When the speed is higher than 0, namely the rotation speed of the automatic inclinator disk is faster than that of the rotor wing, the blades form a forward integral vibration mode
For conventional rotor systems, there is typically only a first order lag frequency (ω) 1ζ <Ω), the modes above and below the speed frequency are implemented in two cases:
case where the natural frequency is less than the rotational speed frequency
(1) First order shimmy back mode (omega) 1ζ <Ω), and ω = Ω - ω, revolution in the forward direction 1ζ
(2) First order shimmy advancing type (omega) 1ζ <Ω), turns around in the forward direction, and ω = Ω + ω 1ζ
Case where the natural frequency is greater than the rotational speed frequency
(1) First-order backward type (omega) 1β >Ω), reverse revolution, and ω = ω 1β -Ω
(2) First order waving advancing type (omega) 1β >Ω), turns around in the forward direction, and ω = ω 1β +Ω
And in other modes with natural frequency higher than the rotating speed frequency, the test method is the same as that of the first-order swing.
2) Method for realizing nutation type excitation
The invention provides a rotor wing integral vibration type nutation type excitation method for rotor wing aeroelastic stability test. The excitation method adopts three vibration exciters to apply cooperative excitation to the stationary ring of the automatic inclinator, and firstly adopts a transfer matrix identification method to identify the transfer matrix T between the excitation signals of the three vibration exciters in a non-rotating coordinate system and the transverse periodic variable distance, the longitudinal periodic variable distance and the total distance of the paddle in a rotating coordinate system. And then respectively aiming at the periodic integral vibration mode, the blade shimmy retreating mode and the blade shimmy advancing mode of the rotor concerned in the rotor aeroelastic stability test, providing a blade pitch change rule under a rotating coordinate system corresponding to the 2 periodic integral vibration modes of the rotor, obtaining control instructions of 3 exciters under a fixed coordinate system corresponding to the 3 integral vibration modes of the rotor by utilizing an inverse matrix of the identified transmission matrix T, and finally synchronously applying the control instructions to the 3 exciters for cooperative excitation through a controller so that the rotor blade moves according to the given vibration modes.
Step 1: transfer matrix identification
Adopting a transfer matrix identification method to excite displacement signals of three vibration exciters under a non-rotating coordinate system<ΔL a ,ΔL b ,ΔL c >The transverse periodic variable pitch, the longitudinal periodic variable pitch and the total pitch of the blade under a rotating coordinate system<θ s ,θ c ,θ 0.7 >And identifying the transfer matrix between the two to obtain a matrix T. The excitation displacement signal is obtained by calibration. The relations among the vibration exciter displacement, the transfer matrix, the transverse periodic variable pitch, the longitudinal periodic variable pitch and the total pitch are as follows:
wherein Δ L a,n 、ΔL b,n 、ΔL c,n Respectively represents the displacement change amount of the nth group of 3 vibration exciters, theta s,n 、θ c,n 、θ 0.7,n Respectively representing the longitudinal cyclic variation, the transverse cyclic variation and the total pitch of the nth group of rotors obtained by acquisition.
And 2, step: rotor wing periodic pitch change and total pitch change rule signal generation
Rotor rotation frequency omega and rotor natural frequency omega according to input ζ (such as 1-order shimmy modal frequency and 1-order flapping modal frequency) to generate a rotor wing transverse periodic variable pitch, longitudinal periodic variable pitch and total pitch change rule corresponding to the periodic integral vibration mode of the rotor wing.
Natural frequency omega ζ Less than the rotation speed frequency Ω:
when (omega) ζ <Omega), the periodic variation of the rotor corresponding to the total distance type vibration mode and the change rule of the total distance are as follows:
In the formula, ω is the excitation frequency of the actuator cylinder of the vibration exciter.
When (omega) ζ <Omega), the periodic variable pitch and the total pitch change rule of the rotor corresponding to the retreating type vibration mode are as follows:
When (omega) ζ <Omega), the periodic variable pitch and the total pitch change rule of the rotor corresponding to the advancing type vibration mode are as follows:
Natural frequency omega ζ Greater than the rotation speed frequency Ω:
when (omega) ζ >Omega), the periodic variation of the rotor corresponding to the total distance type vibration mode and the change rule of the total distance are as follows:
When (omega) ζ >Omega), the retreating mode corresponds toThe periodic pitch change and total pitch change rule of the rotor wing are as follows:
When (omega) ζ >Omega), the periodic variable pitch and the total pitch change rule of the rotor corresponding to the advancing type vibration mode are as follows:
Total distance theta in periodic integral mode excitation of rotor 0.7 The variation law is constant.
And 3, step 3: three exciter control signal generation
According to the transfer matrix T identified in the step 1 and the rotor cyclic pitch and total pitch sinusoidal excitation signals generated in the step 2<θ s ,θ c ,θ 0.7 >Calculating displacement sine signals of three vibration exciters<ΔL a ,ΔL b ,ΔL c >。
And 4, step 4: applying exciter excitation
And (4) performing cooperative control on the 3 vibration exciters through a vibration exciter controller according to the control instruction of the vibration exciters obtained in the step (3) to synchronously excite the vibration exciters.
3) Implementation example of nutation type excitation
As shown in fig. 3, a recursive least square algorithm is adopted to identify the transfer matrix between the displacement of the 3 exciters and the transverse periodic variable pitch, the longitudinal periodic variable pitch and the total pitch of the rotor wing, and the transfer matrix T is obtained
The signals of longitudinal cyclic variable distance, transverse cyclic variable distance and total distance of the retreating type vibration type rotor wing are generated as follows,
substituting rotor cyclic pitch signals into the following transfer matrix
Control signals of 3 actuating cylinders of the vibration exciter are obtained as follows:
an actuating cylinder A: Δ L a ＝2.3324cos(2πt-30.9638)
An actuating cylinder B: Δ L b ＝2.1922cos(2πt-159.9995)
An actuating cylinder C: Δ L a ＝2.377cos(2πt+82.7494)。
The foregoing is merely a detailed description of the embodiments of the present invention, and some of the conventional techniques are not detailed. The scope of the present invention is not limited thereto, and any changes or substitutions that can be easily made by those skilled in the art within the technical scope of the present invention will be covered by the scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A rotor wing integral vibration mode excitation method for rotor wing aeroelastic stability test is characterized in that: applying cooperative excitation to the fixed ring of the automatic inclinator by adopting three vibration exciters; the excitation signals of the three exciters are determined by the following steps:
step one, calculating a transfer matrix T according to excitation displacement signals of three vibration exciters in a non-rotating coordinate system and transverse periodic variable distances, longitudinal periodic variable distances and total distances of blades in a rotating coordinate system; the excitation displacement signal is obtained by calibration;
second step, rotor rotation frequency omega and rotor natural frequency according to test requirement
Generating rotor wing transverse periodic variation, longitudinal periodic variation and total variation corresponding to periodic integral vibration modeThe change rule of the distance;
thirdly, calculating excitation signals of the three vibration exciters according to the transmission matrix identified in the first step, and the periodic variable pitch and total pitch change rule of the rotor wing generated in the second step; the rotor cyclic pitch comprises: the rotor wing has transverse cyclic variable pitch and longitudinal cyclic variable pitch.
2. The rotor wing overall vibration mode excitation method for the rotor wing aeroelastic stability test according to claim 1, characterized in that: the collaborative incentive includes: three-cylinder collective excitation and three-cylinder nutation type excitation.
3. The rotor wing overall vibration mode excitation method for the rotor wing aeroelastic stability test according to claim 2, characterized in that: the three-cylinder collective pitch shock excitation is as follows: the three vibration exciters have the same amplitude and the same phase.
4. The rotor wing overall vibration mode excitation method for the rotor wing aeroelastic stability test according to claim 2, characterized in that: the three-cylinder nutation type excitation includes: forward mode vibration mode and backward mode vibration mode.
5. The rotor wing overall vibration mode excitation method for the rotor wing aeroelastic stability test according to claim 1, characterized in that: in the first step, the relationship among the excitation displacement signal, the transfer matrix T, the transverse cyclic variation of the blade, the longitudinal cyclic variation and the collective pitch is as follows:
wherein Δ L a,n 、ΔL b,n 、ΔL c,n Respectively representing the displacement change amount of the nth group of 3 vibration exciters, theta s,n 、θ c,n 、θ 0.7,n Respectively representing the longitudinal cyclic variation, the transverse cyclic variation and the total pitch of the n group of rotors obtained by acquisition.
6. Root of herbaceous plantsThe rotor wing overall vibration mode excitation method for rotor wing aeroelastic stability test according to claim 5 is characterized in that: when the natural frequency of the rotor
When the frequency is less than the frequency omega of the rotating speed,
the periodic pitch change and the total pitch change rule of the rotor corresponding to the total pitch type vibration mode are as follows:
The periodic variable pitch and total pitch change rule of the rotor corresponding to the retreating type vibration mode is as follows:
The periodic pitch change and total pitch change rule of the rotor corresponding to the forward type vibration mode is as follows:
In the formula, omega is the excitation frequency of the vibration exciter;
total distance theta in periodic integral mode excitation of rotor 0.7 The variation law is constant.
7. The rotor wing overall vibration mode excitation method for rotor wing aeroelastic stability test according to claim 5, characterized in that:
natural frequency of rotor
When the rotation speed frequency is higher than omega:
the periodic pitch change and the total pitch change rule of the rotor corresponding to the total pitch type vibration mode are as follows:
The periodic variable pitch and total pitch change rule of the rotor corresponding to the retreating type vibration mode is as follows:
The periodic variable pitch and total pitch change rule of the rotor corresponding to the forward type vibration mode is as follows:
Wherein, omega is the excitation frequency of the vibration exciter;
total distance theta in periodic integral vibration mode excitation of rotor 0.7 The variation law is constant.
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