CN112484955A - Wind tunnel simulation method for aircraft roll control - Google Patents
Wind tunnel simulation method for aircraft roll control Download PDFInfo
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Abstract
The invention discloses a wind tunnel simulation method for roll control of an aircraft. The experimental mechanism used by the method comprises a torque actuator for driving the mandrel to generate the roll control torque, a rotary encoder for measuring the rotation angle of the mandrel, a balance for measuring the roll torque of the aircraft model, and an optional speed reduction motor for torque amplification. The method comprises the following steps: determining the rotational inertia of the aircraft model; determining a rolling torque target control function; determining a rolling torque execution control strategy; determining rolling moment execution control parameters; and (5) implementing a wind tunnel experiment. When the rolling torque target control function and the aircraft model are not changed, the first four steps can be performed only once, and the fifth step only needs to be repeatedly performed when the wind tunnel operates every time. The method generates rolling torque through the torque actuator, simulates the control effect of a real object steering engine, and further simulates rolling control of the aircraft during real flight.
Description
Technical Field
The invention belongs to the technical field of wind tunnel dynamic tests, and particularly relates to a wind tunnel simulation method for aircraft roll control.
Background
At present, a virtual flight experiment method is generally adopted for aircraft rolling control simulation in a wind tunnel, the virtual flight experiment method fixes the translational motion freedom degree of an aircraft model, releases part or all of the pitching, rolling and yawing freedom degrees of the aircraft model, and controls the motion process of the aircraft model in a flow field by using a real object steering engine of the aircraft. The virtual flight experiment method is closer to real flight, but generally an aircraft model with the size of 1:1 must be adopted, many aircraft models are limited by the size of a wind tunnel, virtual flight experiments cannot be carried out, and many developed aircrafts do not have finished product physical steering engines, and cannot carry out virtual flight experiments under the condition that the steering engines with similar performance are not used for replacing the aircraft.
Currently, there is a need to develop a wind tunnel simulation method for aircraft roll control.
Disclosure of Invention
The invention aims to provide a wind tunnel simulation method for roll control of an aircraft.
The invention relates to a wind tunnel simulation method for aircraft roll control, which is characterized in that key execution components and sensors of an experimental mechanism used in the simulation method comprise a torque actuator for driving a mandrel to generate roll torque, a rotary encoder for measuring the rotation angle of the mandrel, a balance for measuring the roll torque applied to an aircraft model by the mandrel, and a gear motor for amplifying the roll torque;
the simulation method comprises the following steps:
a. determining the moment of inertia I of an aircraft modelm；
According to the dynamics similarity criterion, the rotational inertia I of the aircraft modelmThe following relationship should be satisfied:
wherein q is flow field dynamic pressure, V is incoming flow velocity, lambda is model scaling ratio, and I is rolling rotational inertia; subscript s denotes flight, m denotes wind tunnel simulation;
b. determining a roll torque target control function g-func (M)aQ, α, γ, ω, …), the roll torque that the spindle applies to the aircraft model;
c. determining a rolling torque execution control strategy; the control strategy regards the roll torque applied to the aircraft model by the mandrel as the actual output of the system, the value of the roll torque applied to the aircraft model by the mandrel is equal to the negative value-f of the measured value f of the roll torque balance, the value of the roll torque target control function g is regarded as a given value, and the control target of the system is that g + f tends to 0;
d. determining rolling moment execution control parameters; controlling the mandrel to rotate, differentially measuring the rotating speed of the mandrel by a rotary encoder, taking the rotating speed as an execution input parameter of feedforward control, and measuring the output torque of the torque actuator at different rotating speeds; the external force drives the aircraft model to perform rolling motion, the output torque is used as an execution input torque parameter of the torque actuator to obtain the change process of a balance measurement value, and the execution input parameter and the execution input torque parameter are determined by adopting any PID parameter setting method;
e. implementing a wind tunnel experiment; applying an execution control strategy and execution control parameters to a control system of a rolling dynamic experiment mechanism, starting a wind tunnel, adjusting to dynamic pressure with similar dynamic requirements, and carrying out experiments;
and e, when the rolling torque target control function and the aircraft model are not changed, the steps a to d are only carried out once, and then the wind tunnel only needs to be repeatedly executed for each operation.
Further, the torque actuator has rotational speed feedback.
Further, the rotary inertia I of the aircraft modelmFor high-speed wind tunnel experiment, Mach number M needs to be keptaThe consistency is achieved; for a particular Mach number MaDynamic pressure q of wind tunnel flow fieldmIs adjustable, and the rotary inertia I of the aircraft model is adjusted when the aircraft model is designedmAt a certain dynamic pressure q of a specific Mach numbermThis is true.
Furthermore, the roll torque target control function g is a result of converting the control torque corresponding to the yaw angle of the aircraft roll rudder from the flight condition to the wind tunnel condition according to a dynamic similarity principle; the conversion formula is as follows:
during wind tunnel simulation, the maximum rotation rate of a simulation steering engine is as follows:
obtaining a current roll rudder deflection angle according to the simulation steering engine, obtaining the control moment of the aircraft according to the roll rudder deflection angle, and converting the control moment into the wind tunnel simulation control moment according to a dynamics similarity principle:
the wind tunnel simulation control torque is used as the target roll torque, i.e. g ═ Mxr)m；
Wherein q is flow field dynamic pressure, V is incoming flow velocity, lambda is model scaling, and omega is roll angular velocity; the subscript s denotes flight and m denotes wind tunnel simulation.
Furthermore, the yaw angle of the rolling rudder is formed by generating an instruction by a rolling control law and executing the instruction by a simulation steering engine.
Furthermore, the torque execution control strategy refers to a strategy that a torque actuator generates target roll torque, and does not include a control law to be simulated; the moment execution system selects PID according to a control strategy, adopts two links of proportion P and integral I, and is assisted by feedforward to improve the control precision.
The wind tunnel simulation method for the rolling control of the aircraft generates the rolling torque through the torque actuator and simulates the control effect of a real object steering engine, so that the rolling control of the aircraft during real flight is simulated, and the rolling control simulation of the aircraft is realized.
The wind tunnel simulation method for aircraft roll control is not limited by the size of a wind tunnel and whether a real object steering engine exists or not, is suitable for any form of roll dynamic experiment mechanism, can be used for replacing virtual flight experiments, and has universality.
Drawings
FIG. 1 is a schematic structural diagram of a roll dynamic experimental mechanism I used in the wind tunnel simulation method for roll control of an aircraft according to the present invention;
FIG. 2 is a diagram of the aircraft control laws employed in the present embodiment;
FIG. 3 is a schematic structural diagram of a roll dynamic experimental mechanism II used in the wind tunnel simulation method for aircraft roll control according to the present invention.
In the figure, 1, a torque actuator 2, a rotary encoder 3, a balance 4, a speed reducing motor 5 and a mandrel.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
The key execution components and sensors of the experimental mechanism used by the wind tunnel simulation method for aircraft roll control comprise a torque actuator for driving a mandrel to generate roll torque, a rotary encoder for measuring the rotation angle of the mandrel, a balance for measuring the roll torque applied to an aircraft model by the mandrel, and a selected speed reduction motor for amplifying the roll torque;
the simulation method comprises the following steps:
a. determining the moment of inertia I of an aircraft modelm；
According to the dynamics similarity criterion, the rotational inertia I of the aircraft modelmThe following relationship should be satisfied:
wherein q is flow field dynamic pressure, V is incoming flow velocity, lambda is model scaling ratio, and I is rolling rotational inertia; subscript s denotes flight, m denotes wind tunnel simulation;
b. determining a roll torque target control function g-func (M)aQ, α, γ, ω, …), the roll torque that the spindle applies to the aircraft model;
c. determining a rolling torque execution control strategy; the control strategy regards the roll torque applied to the aircraft model by the mandrel as the actual output of the system, the value of the roll torque applied to the aircraft model by the mandrel is equal to the negative value-f of the measured value f of the roll torque balance, the value of the roll torque target control function g is regarded as a given value, and the control target of the system is that g + f tends to 0;
d. determining rolling moment execution control parameters; controlling the mandrel to rotate, differentially measuring the rotating speed of the mandrel by a rotary encoder, taking the rotating speed as an execution input parameter of feedforward control, and measuring the output torque of the torque actuator at different rotating speeds; the external force drives the aircraft model to perform rolling motion, the output torque is used as an execution input torque parameter of the torque actuator to obtain the change process of a balance measurement value, and the execution input parameter and the execution input torque parameter are determined by adopting any PID parameter setting method;
e. implementing a wind tunnel experiment; applying an execution control strategy and execution control parameters to a control system of a rolling dynamic experiment mechanism, starting a wind tunnel, adjusting to dynamic pressure with similar dynamic requirements, and carrying out experiments;
and e, when the rolling torque target control function and the aircraft model are not changed, the steps a to d are only carried out once, and then the wind tunnel only needs to be repeatedly executed for each operation.
Further, the torque actuator has rotational speed feedback.
Further, the rotary inertia I of the aircraft modelmFor high-speed wind tunnel experiment, Mach number M needs to be keptaThe consistency is achieved; for a particular Mach number MaDynamic pressure q of wind tunnel flow fieldmIs adjustable, and the rotary inertia I of the aircraft model is adjusted when the aircraft model is designedmAt a certain dynamic pressure q of a specific Mach numbermThis is true.
Furthermore, the roll torque target control function g is a result of converting the control torque corresponding to the yaw angle of the aircraft roll rudder from the flight condition to the wind tunnel condition according to a dynamic similarity principle; the conversion formula is as follows:
during wind tunnel simulation, the maximum rotation rate of a simulation steering engine is as follows:
obtaining a current roll rudder deflection angle according to the simulation steering engine, obtaining the control moment of the aircraft according to the roll rudder deflection angle, and converting the control moment into the wind tunnel simulation control moment according to a dynamics similarity principle:
the wind tunnel simulation control torque is used as the target roll torque, i.e. g ═ Mxr)m；
Wherein q is flow field dynamic pressure, V is incoming flow velocity, lambda is model scaling, and omega is roll angular velocity; the subscript s denotes flight and m denotes wind tunnel simulation.
Furthermore, the yaw angle of the rolling rudder is formed by generating an instruction by a rolling control law and executing the instruction by a simulation steering engine.
Furthermore, the torque execution control strategy refers to a strategy that a torque actuator generates target roll torque, and does not include a control law to be simulated; the moment execution system selects PID according to a control strategy, adopts two links of proportion P and integral I, and is assisted by feedforward to improve the control precision.
Example 1
As shown in fig. 1, the rolling dynamic experiment mechanism i used in this embodiment is a T-shaped rod structure, and includes a tail support rod horizontally disposed, a mandrel 5 is installed on a central axis of the tail support rod, a front end of the mandrel 5 extends out of the tail support rod and is fixedly connected to a balance 3, and an aircraft model is fixedly connected to the balance 3; the rear end of the mandrel 5 extends out of the tail support rod, torque actuators 1 are symmetrically arranged above and below the rear end of the mandrel 5, and a rotary encoder 2 is sleeved at the rear end of the mandrel 5.
The embodiment simulates the rolling attitude control of an aircraft with the height of 2.5km, the Mach number of 0.6 and the attack angle of 30 degrees, and the specific process is as follows:
a. determining the moment of inertia I of an aircraft modelm；
Rolling moment of inertia I of certain aircrafts＝904kgm^2，Flying height of 2.5km and flying speed V at Mach number of 0.6s198.3m/s, dynamic pressure qs19125 Pa; knowing the Mach number M of a wind tunnelaAir flow velocity V of 0.6 hourm197.1m/s, dynamic pressure qm20000Pa, the model scaling ratio is 1:29, then the moment of inertia of the aircraft model:
according to the moment of inertia I of the aircraft modelmAnd designing an aircraft model and finishing machining.
b. Determining a roll torque target control function
The aircraft control law shown in FIG. 2 is adopted to control the rolling attitude of the aircraft, the rolling angle gamma uses the measurement result of the rotary encoder 2, the rolling angle speed omega selects the difference of the rotary encoder 2 after comparing the speed feedback of the torque actuator 1 and the signal-to-noise ratio of the difference of the rotary encoder 2, and other parameters use the original data of the aircraft; the control law generates a rudder deflection angle command, and the expression of the rudder deflection angle command is expressed as:
Rdr_cmd＝func(Ma,q,α,γ,ω) (4)
wherein, Mach number MaDynamic pressure q 0.6m20000Pa, the angle of attack α 30 °, a constant amount in this example.
The maximum rotation speed of the physical steering engine is 300 degrees/s, and then the maximum rotation speed of the simulation steering engine is as follows:
the control period delta t of the wind tunnel simulation program is 0.0002s, a rudder deflection angle command Rdr _ cmd is generated for the control law, and in each control period, the following C language pseudo code is used for determining the actual current rudder deflection angle Rdr _ cur
if(Rdr_cmd<Rdr_cur-(ωrd max)m·Δt)
Rdr_cur＝Rdr_cur-(ωrd max)m·Δt
else if(Rdr_cmd>Rdr_cur+(ωrd max)m·Δt)
Rdr_cur＝Rdr_cur+(ωrd max)m·Δt
else
Rdr_cur＝Rdr_cmd
According to the actual current rudder deflection angle and other parameters, the control torque of the aircraft can be obtained, and the control torque is converted into wind tunnel simulation control torque, namely target roll torque, by using a formula (3).
The process of calculating the target rolling torque in the step is the process of evaluating the target control function g of the rolling torque.
c. Determining rolling torque execution control strategy
The embodiment adopts a feedforward and PID control strategy, wherein the PID control strategy only comprises two links of proportion P and integral I. The sum of the control amount given by the feedforward and the control amount given by the PID is output to the torque actuator 1. The feed forward gives the control quantity directly from the rotational speed ω of the spindle 5. The PID control strategy gives a control quantity according to a given quantity and a feedback quantity, wherein the given quantity is the value of the target roll torque control function g, the feedback quantity is the negative value-f of the measured value of the balance 3, and the feedback quantity is the output quantity of the system. The goal of the control is that the output quantity-f follows a given quantity g, or is described as the error quantity err-g + f tending to 0. The unit of the control quantity is Nm, when the torque actuator 1 is controlled, the control quantity is divided by a mechanical torque amplification factor 14 and a torque actuator coefficient of 0.423Nm/V, and the control quantity is converted into voltage and output to the torque actuator 1, wherein the drive torque is converted into drive torque of the mandrel 5. The unit of the error amount is also Nm.
d. Determining rolling moment execution control parameters;
d1. determining feedforward control parameters
Applying a control quantity to the torque actuator 1 to rotate the mandrel 5, adjusting the control quantity to enable the rotating speed of the mandrel 5 to reach-22.44, -20.20, -17.05, -13.91, -10.77, -7.63, -4.49, -0.90, 0.90, 3.14, 6.28, 9.42, 12.57, 15.71, 18.85 and 22.440 rad/s respectively, wherein the rotating speed error is within +/-10 percent, and recording the corresponding rotating speed omegaiAnd a control quantity ffi. When the control is implemented, the control is performed according to any mandrel rotation speed omega (omega)<22.44rad/s), feed forwardThe control quantity ff being equal to ffiWith respect to ωiAnd (6) linear interpolation.
d2. Determining PID control parameters
And closing an integration link, starting from 0.1, gradually increasing the proportional coefficient Kp until approximately constant amplitude oscillation is generated when Kp is equal to 2.1, wherein the oscillation period is 0.015 s. The final Kp was taken to be about 45% of 2.1, resulting in 0.945, and the integration time constant Ti was taken to be 0.015s, about 83%, resulting in 0.013 s.
The target roll torque is set to be 0, then the ground mechanism is operated by using the parameters, and the trial operation method is to manually stir the model roll, verify and control the oscillation condition, and if the oscillation exceeds the permission, increase the integral time constant Ti or reduce the proportionality coefficient Kp. In this embodiment, the oscillation is acceptable, so the above parameters are used finally, and thus the PID parameter Kp is 0.945 and Ti is 0.013 s. In addition, the roll torque applied when the model is manually stirred can be analogized with the pneumatic roll torque applied when the wind tunnel experiment is carried out, and related data can be used for controlling effect analysis.
e. Carrying out wind tunnel tests
e1. Starting the wind tunnel;
e2. operating the attack angle mechanism, and changing the attack angle of the aircraft model towards the target value;
e3. starting a simulation control process when the attack angle of the aircraft model reaches a target value;
e4. measuring and recording the parameter change processes of the aircraft model, such as the roll angle and the like;
e5. stopping the simulation control process;
e6. operating the attack angle mechanism, and changing the attack angle of the aircraft model towards zero value;
e7. and when the absolute value of the attack angle of the aircraft model is smaller than the safe shutdown threshold value, closing the wind tunnel.
Example 2
As shown in fig. 3, the roll dynamics experimental mechanism ii used in embodiment 2 has substantially the same structure as the roll dynamics experimental mechanism i, and the main difference is that a speed reduction motor 4 for amplifying the roll torque is mounted on the torque actuator 1.
Although the embodiments of the present invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, but it can be applied to various fields suitable for the present invention. Additional modifications and refinements of the present invention will readily occur to those skilled in the art without departing from the principles of the present invention, and therefore the present invention is not limited to the specific details and illustrations shown and described herein without departing from the general concept defined by the claims and their equivalents.
Claims (6)
1. The wind tunnel simulation method for aircraft roll control is characterized in that key execution components and sensors of an experimental mechanism used in the simulation method comprise a torque actuator for driving a mandrel to generate roll torque, a rotary encoder for measuring the rotation angle of the mandrel, a balance for measuring the roll torque applied to an aircraft model by the mandrel, and a speed reduction motor for amplifying the roll torque;
the simulation method comprises the following steps:
a. determining the moment of inertia I of an aircraft modelm；
According to the dynamics similarity criterion, the rotational inertia I of the aircraft modelmThe following relationship should be satisfied:
wherein q is flow field dynamic pressure, V is incoming flow velocity, lambda is model scaling ratio, and I is rolling rotational inertia; subscript s denotes flight, m denotes wind tunnel simulation;
b. determining a roll torque target control function g-func (M)aQ, α, γ, ω, …), the roll torque that the spindle applies to the aircraft model;
c. determining a rolling torque execution control strategy; the control strategy regards the roll torque applied to the aircraft model by the mandrel as the actual output of the system, the value of the roll torque applied to the aircraft model by the mandrel is equal to the negative value-f of the measured value f of the roll torque balance, the value of the roll torque target control function g is regarded as a given value, and the control target of the system is that g + f tends to 0;
d. determining rolling moment execution control parameters; controlling the mandrel to rotate, differentially measuring the rotating speed of the mandrel by a rotary encoder, taking the rotating speed as an execution input parameter of feedforward control, and measuring the output torque of the torque actuator at different rotating speeds; the external force drives the aircraft model to perform rolling motion, the output torque is used as an execution input torque parameter of the torque actuator to obtain the change process of a balance measurement value, and the execution input parameter and the execution input torque parameter are determined by adopting any PID parameter setting method;
e. implementing a wind tunnel experiment; applying an execution control strategy and execution control parameters to a control system of a rolling dynamic experiment mechanism, starting a wind tunnel, adjusting to dynamic pressure with similar dynamic requirements, and carrying out experiments;
and e, when the rolling torque target control function and the aircraft model are not changed, the steps a to d are only carried out once, and then the wind tunnel only needs to be repeatedly executed for each operation.
2. The wind tunnel simulation method for aircraft roll control of claim 1, wherein said torque actuator has rotational speed feedback.
3. The wind tunnel simulation method for aircraft roll control according to claim 1, wherein the model rotational inertia of the aircraft is ImFor high-speed wind tunnel experiment, Mach number M needs to be keptaThe consistency is achieved; for a particular Mach number MaDynamic pressure q of wind tunnel flow fieldmIs adjustable, and the rotary inertia I of the aircraft model is adjusted when the aircraft model is designedmAt a certain dynamic pressure q of a specific Mach numbermThis is true.
4. The wind tunnel simulation method for aircraft roll control according to claim 1, wherein the roll torque target control function g is a result of converting a control torque corresponding to an aircraft roll rudder deflection angle from a flight condition to a wind tunnel condition according to a dynamic similarity principle; the conversion formula is as follows:
during wind tunnel simulation, the maximum rotation rate of a simulation steering engine is as follows:
obtaining a current roll rudder deflection angle according to the simulation steering engine, obtaining the control moment of the aircraft according to the roll rudder deflection angle, and converting the control moment into the wind tunnel simulation control moment according to a dynamics similarity principle:
the wind tunnel simulation control torque is used as the target roll torque, i.e. g ═ Mxr)m；
Wherein q is flow field dynamic pressure, V is incoming flow velocity, lambda is model scaling, and omega is roll angular velocity; the subscript s denotes flight and m denotes wind tunnel simulation.
5. The wind tunnel simulation method for aircraft roll control according to claim 4, wherein the yaw angle of the aircraft is formed by generating instructions according to a roll control law and executing the instructions by a simulation steering engine.
6. The wind tunnel simulation method for aircraft roll control according to claim 1, wherein the torque execution control strategy is a strategy in which a torque actuator generates a target roll torque, and does not include a control law to be simulated; the moment execution system selects PID according to a control strategy, adopts two links of proportion P and integral I, and is assisted by feedforward to improve the control precision.
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