CN112347649A - Flight control system digital simulation method based on multidisciplinary combination - Google Patents
Flight control system digital simulation method based on multidisciplinary combination Download PDFInfo
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Abstract
The invention discloses a flight control system digital simulation method based on multidisciplinary combination, which comprises the following steps: firstly, building an electric servo system model, a flight control algorithm model, a sensitive element model and an aircraft motion model; secondly, configuring a parameter mapping relation of data interaction between the models; synchronously advancing simulation time and exchanging data based on each model of multidisciplinary union, and realizing multidisciplinary union simulation of the flight control system; and fourthly, acquiring attitude and overload motion signals required by digital simulation of the flight control system. The invention comprehensively reflects the characteristics of mechanical clearance, hinge moment, static friction moment and other structural dynamics, a servo system control algorithm, motor electromagnetism, a flight control system control algorithm, aircraft motion and the like in a flight control system simulation model, improves the existing simulation method, and overcomes the defect that the existing digital simulation method does not consider the multidisciplinary coupling influence among motor electromagnetism, structural dynamics, control algorithms and the like in the flight control system and is not in accordance with the reality.
Description
Technical Field
The invention relates to the fields of motor electromagnetism, control engineering, mechanical systems, software engineering and the like, in particular to a flight control system digital simulation method based on multidisciplinary combination.
Background
The flight control system is a complex engineering system which relates to multiple subjects and multiple fields such as motor electromagnetism, control engineering, mechanical systems, software engineering and the like, the characteristics and the design method of each subject are also different, the flight control system is generally composed of a plurality of single machines with relatively independent functions, the single machines carry out data communication through interfaces and work cooperatively, and meanwhile, the flight control system tends to be integrated and integrated;
the current digital simulation method of the flight control system is to independently analyze the single machines of each subsystem to form a unified mathematical description model, and then perform digital simulation on the basis, the method has less consideration on cross-linking coupling among the single machines of the subsystems, can not truly reflect multidisciplinary coupling influence among motor electromagnetism, structural dynamics, control algorithms and the like in the flight control system, and modeling analysis of each single machine can be performed after the single machine prototype is developed, so that the development cycle of the flight control system is prolonged to a certain extent.
In summary, the digital simulation method of the flight control system cannot cover all subject fields, and in order to make up for the defects of the existing digital simulation method, all subject simulation software is combined together, the invention provides the digital simulation method of the flight control system, which combines three subjects of motor electromagnetism, structural dynamics and a control algorithm at the same time during simulation.
Disclosure of Invention
The invention aims to provide a flight control system digital simulation method based on multidisciplinary combination, which integrates the advantages of simulation software of each discipline and solves the defects existing in the current digital simulation method of the flight control system.
In order to achieve the above purpose, the invention provides a flight control system digital simulation method based on multidisciplinary combination, which comprises the following steps:
step one, building an electric servo system model, a flight control algorithm model, a sensitive element model and an aircraft motion model; the electric servo system model builds a motor electromagnetic model, an electric servo control algorithm model and a mechanical transmission structure dynamic model;
step two, configuring a parameter mapping relation of data interaction between models; the flight control algorithm model transmits a control signal to the electric servo system model, and the control signal controls the electric servo system model to work; the electric servo system model transmits a deflection angle signal to the aircraft motion model and drives the aircraft motion model to carry out differential equation calculation; the aircraft motion model transmits attitude and overload motion signals to the sensitive element model, and the sensitive element model carries out model calculation; the sensing element model transmits a rate gyro signal and an adding table signal to the flight control algorithm model so as to adjust a flight control algorithm model control signal in real time;
synchronously advancing simulation time and exchanging data based on each multidisciplinary joint model to realize multidisciplinary joint simulation of the flight control system;
and step four, acquiring attitude and overload motion signals required by digital simulation of the flight control system.
The flight control system digital simulation method based on multidisciplinary combination comprises the following steps that in the first step, when a motor electromagnetic model is built, the motor electromagnetic model is obtained according to the material properties of stator punching sheets, the winding turn number and wire diameter, the length of an iron core, the number of rotor magnetic steel and the material properties of a shaft of a motor.
The digital simulation method of the flight control system based on multidisciplinary combination comprises the following steps that in the first step, when an electric servo control algorithm model is built, corresponding control models are built according to different electric servo control algorithms; and considering a Hall signal conversion module of the motor, and calculating the Hall signal value of the motor according to the motor rotation angle.
In the above digital simulation method for the flight control system based on multidisciplinary combination, in the first step, when a mechanical transmission structure dynamic model is built, the influence of a clearance value, a friction coefficient and a load moment of mechanical transmission on the structure dynamic model is considered.
The digital simulation method of the flight control system based on multidisciplinary combination comprises the following steps that in the first step, a flight control algorithm model is built, and the flight control algorithm model comprises a pitching channel, a yawing channel and a rolling channel.
The digital simulation method of the flight control system based on multidisciplinary combination comprises the following steps that in the first step, a sensitive element model is built, wherein the sensitive element model comprises a rate gyro model and a totalizing model in pitching, yawing and rolling directions.
The digital simulation method for the flight control system based on the multidisciplinary combination comprises the step one, wherein when the aircraft motion model is built, the motion models of three channels of pitching, yawing and rolling are realized according to power coefficients.
In the second step, when the parameter mapping relation of data interaction between the models is configured, the data interaction and sharing between the models are realized by adopting the unified model interface specification.
Compared with the prior art, the invention has the technical beneficial effects that:
the digital simulation method of the flight control system provided by the invention realizes the joint simulation of the coupling of three subjects of motor electromagnetism, structure dynamics and a control algorithm, and reflects the influence of a structure dynamics model on the control algorithm of the flight control system;
the invention provides a flight control system digital simulation method based on multidisciplinary combination, which embodies the structure dynamics characteristics of mechanical clearance, hinge moment, static friction moment and the like into the combined simulation;
according to the flight control system simulation method based on multidisciplinary combination, the influence of different motor electromagnetic models on an electric servo system model can be compared by setting different motor parameters such as stator, rotor and structure size;
the flight control system simulation method based on multidisciplinary combination provided by the invention realizes the uniform interface specification of a simulation model, and can perform data interaction between different disciplinary software;
the flight control system simulation method based on multidisciplinary combination can help the flight control system to improve the performance of the control algorithm before the development of each single machine prototype and shorten the development period of the flight control system.
Drawings
The invention provides a flight control system digital simulation method based on multidisciplinary combination, which is given by the following embodiment and attached drawings.
FIG. 1 is a data flow block diagram of a digital simulation method of a flight control system based on multidisciplinary union.
FIG. 2 is a schematic diagram of a parameter mapping based on a shared memory in a multidisciplinary combination-based flight control system digital simulation method.
FIG. 3 is a schematic diagram of a multidisciplinary federation-based numerical simulation of an flight control system in Simluink.
Detailed Description
The invention further describes the digital simulation method of the flight control system based on multidisciplinary union in detail with reference to the attached drawings.
A multidisciplinary combined flight control system digital simulation method comprises the following steps:
1) building an electric servo system model, a flight control algorithm model, a sensitive element model and an aircraft motion model, wherein the electric servo system model needs to build a motor electromagnetic model, a servo control algorithm model and a mechanical transmission structure dynamic model;
2) configuring a parameter mapping relation (shown in figure 1) of data interaction between models, wherein a flight control algorithm model transmits a control signal to an electric servo system model, and the control signal controls the electric servo system model to work;
the electric servo system model transmits the deflection angle signal to the aircraft motion model, and drives the aircraft motion model to carry out differential equation calculation;
the aircraft motion model transmits attitude and overload motion signals to the sensitive element model, and the sensitive element model carries out model calculation;
the sensitive element model transmits a rate gyro signal and an adding table signal to the flight control algorithm model so as to adjust a flight control algorithm model control signal in real time;
3) synchronously advancing simulation time and exchanging data based on each model of multidisciplinary union, and realizing multidisciplinary union simulation of the flight control system;
4) and acquiring attitude and overload motion signals required by digital simulation of the flight control system.
When an electric servo control algorithm model is built, building a corresponding control model according to different electric servo control algorithms, such as building a Matlab/Simulink model according to a speed ring, a position ring and a current ring;
when an electric servo control algorithm Matlab/Simulink model is built, a Hall signal conversion module of the motor is also needed to be built, so that the Hall signal value of the motor is calculated according to the motor rotation angle;
when a motor electromagnetic model is built, obtaining the motor electromagnetic model based on Maxwell according to the material properties of stator punching sheets of the motor, the winding turns, the linear diameter, the length of an iron core, the number of rotor magnetic steel and the material properties of a shaft;
constructing a transmission mechanism structure dynamic model based on Adams, and setting information such as a clearance value, a friction coefficient, a load moment and the like of a transmission mechanism according to parameters of the three-dimensional model;
when a flight control algorithm model is built, a model based on C language is built according to algorithms of a pitching channel, a yawing channel and a rolling channel, and is packaged into a file of a dll dynamic link library;
when a sensitive element model is built, a Matlab/Simulink model is built according to a rate gyroscope and a tabulation transfer function in the pitching direction, the yawing direction and the rolling direction;
when an aircraft motion model is built, motion equations of three channels of pitching, yawing and rolling are realized according to power coefficients, and a Matlab/Simulink model is built;
when the parameter mapping relation of data interaction between models is configured, the data interaction and sharing between the models are realized by adopting a uniform model interface specification;
in this embodiment, when configuring the parameter mapping relationship of data interaction between models, a public memory space is opened up in the Windows system, and a mapping address corresponding to a parameter is specified (as shown in fig. 2);
adding a self-defined subsystem in a Matlab/Simulink model of a motor control algorithm, wherein the self-defined subsystem comprises two S-functions which are respectively responsible for inputting a servo system control signal and a corner signal from a public memory and outputting a motor control signal to the public memory (as shown in figure 3);
after the motor electromagnetic Maxwell model is subjected to single step simulation, reading a motor control signal from a public memory through a user-defined program, writing the motor control signal into a user.ctl file of the Maxwell for the next simulation step length of the Maxwell, reading an output file solution.ctl generated by the Maxwell, and outputting a motor rotating speed signal to the public memory;
in a transmission mechanism structure dynamics Adams model, reading a motor rotating speed signal in a public memory through an provided AEI interface, updating the motor rotating speed signal into the Adams model through AEI _ Update (), acquiring a corner signal in the Adams model through AEI _ Outputs () and outputting the corner signal to the public memory;
building an aircraft motion model and a sensitive element model in the same Matlab/Simulink model, and adding a self-defined Subsystem, wherein the self-defined Subsystem comprises two S-functions which are respectively responsible for inputting a corner signal and outputting a rate gyro and a meter adding signal from a public memory to the public memory (as shown in FIG. 3);
in a flight control system control algorithm C language model, reading a rate gyro and an adding table signal from a public memory through a custom program and transmitting the rate gyro and the adding table signal to input parameters of a dll file, and outputting a servo system control signal to the public memory by the dll file;
and managing the running and waiting of each simulation model through Event provided by Windows, thereby completing the multidisciplinary-based flight control system digital simulation, and obtaining the required posture and overload motion signals through Matlab/Simulink.
The digital simulation method of the flight control system provided by the invention realizes the joint simulation of coupling of three subjects of motor electromagnetism, structure dynamics and a control algorithm, embodies the structure dynamics characteristics of mechanical clearance, hinge moment, static friction moment and the like into the joint simulation, reflects the influence of a structure dynamics model on the control algorithm of the flight control system, can compare the influences of different motor electromagnetism models on an electric servo system model by setting different motor parameters such as stator, rotor, structure size and the like, realizes the uniform interface specification of the simulation model, can perform data interaction among different subject software, can help the flight control system to perform control algorithm performance improvement before various single-machine prototypes are developed, and shortens the development period of the flight control system.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (8)
1. A flight control system digital simulation method based on multidisciplinary combination is characterized by comprising the following steps:
step one, building an electric servo system model, a flight control algorithm model, a sensitive element model and an aircraft motion model; the electric servo system model builds a motor electromagnetic model, an electric servo control algorithm model and a mechanical transmission structure dynamic model;
step two, configuring a parameter mapping relation of data interaction between models; the flight control algorithm model transmits a control signal to the electric servo system model, and the control signal controls the electric servo system model to work; the electric servo system model transmits a deflection angle signal to the aircraft motion model and drives the aircraft motion model to carry out differential equation calculation; the aircraft motion model transmits attitude and overload motion signals to the sensitive element model, and the sensitive element model carries out model calculation; the sensing element model transmits a rate gyro signal and an adding table signal to the flight control algorithm model so as to adjust a flight control algorithm model control signal in real time;
synchronously advancing simulation time and exchanging data based on each multidisciplinary joint model to realize multidisciplinary joint simulation of the flight control system;
and step four, acquiring attitude and overload motion signals required by digital simulation of the flight control system.
2. The multidisciplinary-combination-based digital simulation method for the flight control system, as claimed in claim 1, wherein in the first step, when the motor electromagnetic model is built, the motor electromagnetic model is obtained according to the material properties of stator punching sheets, the winding turn number and wire diameter, the length of an iron core, the rotor magnetic steel mark and the material properties of a shaft of the motor.
3. The multidisciplinary-combination-based digital simulation method for the flight control system, as claimed in claim 1, characterized in that in the first step, when an electric servo control algorithm model is built, corresponding control models are built according to different electric servo control algorithms; and considering a Hall signal conversion module of the motor, and calculating the Hall signal value of the motor according to the motor rotation angle.
4. The multidisciplinary-combination-based digital simulation method for the flight control system, as claimed in claim 1, wherein in the first step, when a mechanical transmission structure dynamic model is built, influences of a clearance value, a friction coefficient and a load moment of mechanical transmission on the structure dynamic model are considered.
5. The multidisciplinary-combination-based digital simulation method for the flight control system, as claimed in claim 1, wherein in the first step, a flight control algorithm model is built, and the model comprises a pitch channel, a yaw channel and a roll channel.
6. The multidisciplinary-combination-based digital simulation method for the flight control system, as claimed in claim 1, wherein in the first step, a sensitive element model is built, and the sensitive element model comprises a rate gyro model and an adding table model in three directions of pitching, yawing and rolling.
7. The multidisciplinary-combination-based digital simulation method for the flight control system, as claimed in claim 1, wherein in the first step, when the aircraft motion model is built, the motion models of three channels of pitching, yawing and rolling are realized according to power coefficients.
8. The multidisciplinary-combination-based digital simulation method for the flight control system, as claimed in claim 1, wherein in the second step, when parameter mapping relations of data interaction between models are configured, data interaction and sharing between models are realized by adopting a uniform model interface specification.
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| US20050230557A1 (en) * | 2003-12-30 | 2005-10-20 | Canadian Space Agency | Zero-G emulating testbed for spacecraft control system |
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Application publication date: 20210209 |