CN113670566B - Pulse force measurement method based on wind tunnel magnetic suspension balance - Google Patents
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Abstract
The invention discloses a pulse force measurement method based on a wind tunnel magnetic suspension balance. Wherein controlling the electromagnetic force is calculated based on: (1) calculating an interference factor; (2) calculating an interference estimation value; (3) calculating a control output value; (4) calculating a control current; (5) calculating and controlling the electromagnetic force. The method optimizes the control law design of the wind tunnel magnetic levitation balance electric control system, further improves the force measurement precision of the magnetic levitation balance, meets the frequency response and precision requirements of pulse force measurement, and breaks through the bottleneck that only quasi-static force can be measured based on the existing magnetic levitation balance electric control scheme.
Description
Technical Field
The invention relates to a wind tunnel test pneumatic load measurement method, in particular to a pulse force measurement method based on a wind tunnel magnetic suspension balance, and belongs to the technical field of wind tunnel test measurement.
Background
The wind tunnel balance is a sensor for measuring aerodynamic force born by a model in a wind tunnel test and is a core sensor for the wind tunnel test. Currently, most wind tunnel tests employ strain balances, but the design level is close to the theoretical limit: the contradiction of rigidity/sensitivity and the coupling characteristic of each force measuring component make the traditional strain balance difficult to continuously improve the precision, and dynamic tests and micro-measurement tests cannot be carried out. A magnetic levitation balance may be used as a solution to overcome the above-mentioned problems. The magnetic suspension balance measures the pneumatic load of the wind tunnel model through an electromagnetic control technology, the measurement sensitivity is independent of the rigidity, the contradiction between the rigidity and the sensitivity is thoroughly solved, and the high-frequency measurement capability is brought; meanwhile, all force measuring components are completely decoupled theoretically, and micro and fine measurement can be realized. In the future, the magnetic suspension balance plays a very important role in the aspects of national defense of novel weapon models, development of novel concept aircrafts and the like.
The magnetic suspension balance can be structurally divided into three modules: balance shell, electrical system and auxiliary connection strutting arrangement, theory of operation is as follows: when the balance shell is subjected to external load, the balance shell is suspended under the control of electromagnetic force provided by the electric control system and keeps the relative position stable, and the stress of the balance shell can be calculated by mapping the magnitude of the control electromagnetic force output by the electric control system. The force measuring principle determines that the accuracy of the electromagnetic force output and control by the electric control system is a determining factor of the balance force measuring accuracy. The magnetic suspension balance electric control system mainly comprises an electromagnet, a power amplifier, a displacement sensor and a controller, wherein the relative motion displacement information generated by a balance shell is acquired by the displacement sensor, the controller calculates a current control signal based on position feedback and a control law, the current control signal acts on the electromagnet through the power amplifier, and the electromagnet outputs a control electromagnetic force to enable the relative displacement of the balance shell to be kept stable. The design of the control law is a key link for improving the accuracy of the electromagnetic force output and control by the electric control system.
Different from quasi-static force measurement, high-frequency pulse force measurement puts higher demands on the accuracy of electromagnetic force control output by an electric control system. Firstly, the pulse power frequency is high and can reach more than 1kHz at most, and considering the mass of a controlled balance shell, the high control frequency response of an electric control system is required to be ensured to meet the high-frequency force tracking requirement; secondly, the pulsating force is generally in the form of 'large constant static force+small dynamic aerodynamic force', and the small dynamic force required to be accurately measured is covered by the large constant force and is difficult to be accurately measured, so that the force measuring precision must be improved on the premise of ensuring that the measuring range is enough to cover the 'large constant static force'.
In conclusion, the magnetic suspension balance can solve the problems of contradiction of rigidity/sensitivity and coupling of force measuring components of the traditional strain balance, and can realize dynamic force measurement and micro force measurement in principle. Meanwhile, compared with quasi-static force measurement, high-frequency pulse force measurement has higher requirements on the accuracy of controlling electromagnetic force output by an electric control system.
Disclosure of Invention
The invention aims to overcome the defects and provide a pulse force measurement method based on a wind tunnel magnetic levitation balance, which optimizes the control law design of an electric control system, further improves the force measurement precision of the magnetic levitation balance, meets the frequency response and precision requirements of pulse force measurement, and breaks through the bottleneck that only quasi-static force can be measured based on the existing electric control scheme.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a pulse force measuring method based on a wind tunnel magnetic suspension balance comprises the following steps:
(1) According to the force measurement requirement of the wind tunnel test, determining relevant control parameters of the magnetic suspension balance electric control system; the related control parameters comprise electromagnet bias current I 0 Interference observer gain K, scaling factor K p Integral coefficient T i Control period T and differential coefficient T d ；
(2) Applying a static standard load to the magnetic levitation balance, obtaining a control electromagnetic force under the action of the standard load according to the related control parameters and the balance inherent characteristic parameters determined in the step (1), and fitting according to the standard load and the control electromagnetic force corresponding to the standard load to obtain a load-control electromagnetic force function;
(3) Obtaining real-time control electromagnetic force of the magnetic levitation balance under the action of the pulsating force to be measured according to the related control parameters and the balance inherent characteristic parameters determined in the step (1), and further calculating to obtain the value of the pulsating force to be measured according to the load-control electromagnetic force function obtained in the step (2);
the balance inherent characteristic parameters comprise balance shell mass m and electromagnet current stiffness k i Electromagnet displacement stiffness k x Electromagnet air gap delta, power amplifier gain G p And preset balance housing displacement x d (k)。
Further, in the step (2) and the step (3), the method for obtaining the control electromagnetic force under the action of the standard load or the pulsating force to be measured according to the related control parameter and the balance inherent characteristic parameter determined in the step (1) comprises the following steps:
(21) Based on the relevant control parameters, the interference factor z (k-1) of the previous control period, the control output u (k-1) of the previous control period, and the interference estimate of the previous control periodCalculating an interference factor z (k) of the current control period;
(22) Calculating the disturbance estimated value of the current control period according to the relevant control parameters and the balance inherent characteristic parameters, namely the disturbance factor z (k) of the current control period, the displacement x (k) of the balance shell of the current control period and the displacement x (k-1) of the balance shell of the previous control period, which are obtained in the step (21)The balance shell displacement in the current control period is the pulse force of the balance shell under standard load or to be measured, and the electromagnetic force M is controlled in the current control period c (k) Displacement caused by the combined action of the two;
(23) According to the related control parameters and the balance inherent characteristic parameters, the displacement x (k) of the balance shell of the current control period under the action of the standard load or the pulsating force to be measured, the displacement x (k-1) of the balance shell of the previous control period under the action of the standard load or the pulsating force to be measured, and the interference estimated value of the current control period obtained in the step (22)Calculating a control output value u (k) of the current control period;
(24) Calculating a current control period control current I (k) according to the balance inherent characteristic parameter and the current control period control output value u (k) obtained in the step (23);
(25) Calculating the control electromagnetic force M of the current period according to the related control parameters and the balance inherent characteristic parameters, the displacement x (k) of the balance shell of the current control period under the action of the standard load or the pulse force to be measured, and the control current I (k) of the current control period obtained in the step (24) c (k)；
(26) Returning to the step (21) for iterative calculation to obtain real-time control electromagnetic force under the action of standard load or pulsating force to be detected;
the positive direction of displacement of the balance shell under the action of standard load or pulsating force to be measured is defined as the control electromagnetic force positive direction consistent.
Further, the steps are as follows(21) In which, based on the interference observer gain K, the interference factor z (K-1) of the last control period, the control output u (K-1) of the last control period, and the interference estimate of the last control periodCalculating an interference factor z (k) of the current control period;
in the step (22), the period T, the balance shell mass m and the electromagnet current stiffness K are controlled according to the interference observer gain K i Calculating the disturbance factor z (k) of the current control period, the displacement x (k) of the balance shell of the current control period and the displacement x (k-1) of the balance shell of the previous control period obtained in the step (21)
In the step (23), according to the proportionality coefficient K p Control period T, integral coefficient T i Differential coefficient T d Preset balance housing displacement x d (k) Displacement x (k) of balance shell of current control period under the action of standard load or pulse force to be measured, displacement x (k-1) of balance shell of previous control period under the action of standard load or pulse force to be measured, and interference estimated value of current control period obtained in step (22)Calculating a control output value u (k) of the current control period;
in the step (24), according to the gain G of the power amplifier p The current control period control output value u (k) obtained in the step (23) is calculated, and the current control period control current I (k) is calculated;
in the step (25), according to the electromagnet bias current I 0 Electromagnet current stiffness k i Electromagnet air gap delta, electromagnet displacement stiffness k x Calculating the control electricity of the current period by the displacement x (k) of the balance shell of the current control period under the action of standard load or pulse force to be measured and the control current I (k) of the current control period obtained in the step (24)Magnetic force M c (k)。
Further, in the step (21), the interference factor z (k) of the current control period is calculated as,
further, in the step (22), an interference estimation value of the current control periodThe calculation formula of (c) is as follows,
further, in the step (23), the calculation formula of the current control period control output value u (k) is,wherein e (k) =x d (k) -x (k) is the current control period balance housing displacement error, e (k-1) =x d (k-1) -x (k-1) is the last control period balance housing displacement error; x is x d (k-1)＝x d (k)。
Further, in the step (24), the control current I (k) in the current control period is calculated as I (k) =g p u(k)。
Further, in the step (25), the electromagnetic force M is controlled in the current period c (k) The calculation formula of (1) is M c (k)＝F(I 0 ,δ)+k i I(k)-k x x (k); wherein F (I) 0 Delta) is the static working force of the electric control system and is biased by electromagnet 0 And the electromagnet air gap delta.
Further, in the step (1), according to the resolution requirement of the wind tunnel test force measurement, setting the electromagnet bias current I 0 The method comprises the steps of carrying out a first treatment on the surface of the Setting a proportionality coefficient K according to the response frequency requirement of wind tunnel test force measurement p Integral coefficient T i Control period T, or differential coefficient T d . Specifically, by reducing the bias current I 0 The measuring range is reduced, and meanwhile, the measuring resolution is improved;by reducing the control period T or adjusting K p 、T i 、T d To improve the frequency response. The higher the frequency response, the higher the measurable signal frequency, but high frequency noise is thereby introduced, resulting in a decrease in measurement accuracy.
Compared with the prior art, the invention has the following beneficial effects:
(1) According to the pulse force measurement method based on the wind tunnel magnetic suspension balance, static calibration is firstly carried out to obtain a load-control electromagnetic force function, then pulse force to be measured is obtained based on a static calibration balance formula and control electromagnetic force calculation, high-frequency (1 kHz) pulse force measurement is realized for the first time, and the problem of insufficient frequency response of the current strain balance is solved;
(2) According to the pulse force measurement method based on the wind tunnel magnetic suspension balance, real-time measurement of control electromagnetic force is realized through iteration of related parameters, and the method has high response speed and high accuracy;
(3) According to the pulse force measurement method based on the wind tunnel magnetic levitation balance, through designing a control electromagnetic force algorithm, the wind tunnel magnetic levitation balance can improve force measurement resolution, so that measurement accuracy is improved, and micro quantity resolution is carried out;
(4) The pulse force measurement method based on the wind tunnel magnetic suspension balance can directly modify the related control parameters of the magnetic suspension balance electric control system according to the force measurement requirement of the wind tunnel test, so as to change the measuring range, the frequency response characteristic and the resolution, has wide application range, and particularly has wide application prospect in the wind tunnel test aerodynamic force measurement test.
Drawings
FIG. 1 is a flow chart of a pulse force measurement method based on a wind tunnel magnetic levitation balance;
FIG. 2 is a schematic diagram of parameter definition based on an electric control system of a magnetic levitation balance in the prior art in a pulse force measurement method based on a wind tunnel magnetic levitation balance;
fig. 3 is a flowchart of controlling electromagnetic force calculation in a pulse force measurement method based on a wind tunnel magnetic suspension balance.
Detailed Description
The features and advantages of the present invention will become more apparent and clear from the following detailed description of the invention.
The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The invention discloses a pulse force measurement method based on a wind tunnel magnetic suspension balance. The method optimizes the control law design of the electric control system, further improves the force measurement precision of the magnetic levitation balance, meets the requirements of pulse force measurement frequency response and precision, and breaks through the bottleneck that only quasi-static force can be measured based on the existing electric control scheme. The method comprises the steps of firstly carrying out control parameter initialization setting, secondly carrying out static calibration, and carrying out dynamic force measurement based on a static calibration result. The flow chart of the method is shown in fig. 1, and specifically comprises 3 steps:
step 1: according to the force measurement requirement of the wind tunnel test, determining relevant control parameters of the magnetic suspension balance electric control system, specifically comprising: electromagnet bias current I 0 Interference observer gain K, scaling factor K p Integral coefficient T i Control period T and differential coefficient T d ；
Step 2: and (5) performing static calibration of the balance. Specifically, a group of standard loads M is applied to the magnetic levitation balance s (i) I=1, 2, …, n, based on the related control parameters described in step 1, the control electromagnetic force M at each standard load is calculated in combination with the balance intrinsic characteristic parameters c (i) I=1, 2, …, n, based on M s And M c Fitting out a load-control electromagnetic force function relation, namely a balance formula:
M a ＝f(M c )
m in the formula a Is the load to be measured;
step 3: and (3) measuring the force actually and dynamically. Based on the step 1 under the action of external pulsating force to be measuredThe related control parameters are combined with the balance inherent characteristic parameters to calculate and control the electromagnetic force M in real time c And further calculating the actual pulsating force of the balance based on the load-control electromagnetic force function relation in the step 2.
The intrinsic characteristic parameters of the balance comprise the balance shell mass m, an electromagnet air gap delta and a power amplifier gain G p Electromagnet current stiffness k i Electromagnet displacement stiffness k x And balance preset housing displacement x d (k)。
The electromagnetic force control in the step 2 and the step 3 is provided by a magnetic levitation balance electric control system, and the magnetic levitation balance comprises a balance shell, an electric control system and an auxiliary connection supporting device. The principle schematic diagram of the magnetic suspension balance electric control system is shown in fig. 2, and the magnetic suspension balance electric control system mainly comprises an electromagnet, a power amplifier, a displacement sensor and a controller, wherein the relative motion displacement information generated by a balance shell is acquired by the displacement sensor, the controller calculates a current control signal based on position feedback and a control law, the current control signal acts on the electromagnet through the power amplifier, and the electromagnet outputs a control electromagnetic force to enable the relative displacement of the balance shell to be kept stable. The calculation flow of the control electromagnetic force is shown in fig. 3, and specifically comprises 6 steps, and is described as follows:
a. calculating an interference factor:
where z (K) is the interference factor in the current control period, z (K-1) is the interference factor in the last control period, K is the interference observer gain, u (K-1) is the control output of the last control period,is the interference estimate for the last control period.
b. Calculating an interference estimation value:
in the method, in the process of the invention,is the disturbance estimation of the current control period, z (K) is the disturbance factor of the current control period, K is the disturbance observer gain, m is the balance shell mass, K i Is the electromagnet current stiffness, x (k) is the balance housing displacement of the current control period, x (k-1) is the balance housing displacement of the last control period, and T is the control period.
c. Calculating a control output value:
where u (k) is the current control period control output value, e (k) =x d (k) -x (k) is the displacement error of the balance housing, x d (k) The displacement of the balance shell is preset, and x (k) is the displacement of the actual balance shell; t is the control period; k (K) p Is a proportionality coefficient, T i Is an integral coefficient, T d Is the coefficient of differentiation (differential) of the sample,is an interference observation of the current control period.
d. Calculating a control current:
I(k)＝G p u(k)
wherein I (k) is the current of the current control period, G p For the power amplifier gain, u (k) is the current period control output value.
e. Calculating and controlling electromagnetic force:
M c (k)＝F(I 0 ,δ)+k i I(k)-k x x(k)
wherein F (I) 0 Delta) is static working force of an electric control system and bias current I of an electromagnet 0 Related to the electromagnet air gap delta; k (k) i Is the current stiffness of the electromagnet; i (k) is the current control period control current; k (k) x Is the displacement stiffness of the electromagnet; x (k) is the current control period balance housing displacement, measured by a displacement sensor, whichThe positive direction definition is consistent with the control electromagnetic force positive direction. Delta is determined by balance design, k i 、k x By balance design and electromagnet bias current I 0 And (5) determining.
f. Returning to the step a, iteratively calculating and controlling the electromagnetic force M c (k)
In the above steps, the relevant variable definition may refer to fig. 2.
The invention has been described in detail in connection with the specific embodiments and exemplary examples thereof, but such description is not to be construed as limiting the invention. It will be understood by those skilled in the art that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, and these fall within the scope of the present invention. The scope of the invention is defined by the appended claims.
What is not described in detail in the present specification is a well known technology to those skilled in the art.
Claims (9)
1. The pulse force measuring method based on the wind tunnel magnetic suspension balance is characterized by comprising the following steps of:
(1) According to the force measurement requirement of the wind tunnel test, determining relevant control parameters of the magnetic suspension balance electric control system; the related control parameters comprise electromagnet bias current I 0 Interference observer gain K, scaling factor K p Integral coefficient T i Control period T and differential coefficient T d ；
(2) Applying a static standard load to the magnetic levitation balance, obtaining a control electromagnetic force under the action of the standard load according to the related control parameters and the balance inherent characteristic parameters determined in the step (1), and fitting according to the standard load and the control electromagnetic force corresponding to the standard load to obtain a load-control electromagnetic force function;
(3) Obtaining real-time control electromagnetic force of the magnetic levitation balance under the action of the pulsating force to be measured according to the related control parameters and the balance inherent characteristic parameters determined in the step (1), and further calculating to obtain the value of the pulsating force to be measured according to the load-control electromagnetic force function obtained in the step (2);
the balance inherent characteristic parameters comprise balance shell mass m and electromagnet current stiffness k i Electromagnet displacement stiffness k x Electromagnet air gap delta, power amplifier gain G p And preset balance housing displacement x d (k)。
2. The method for measuring the pulsating force based on the wind tunnel magnetic levitation balance according to claim 1, wherein in the step (2) and the step (3), the method for obtaining the control electromagnetic force under the action of the standard load or the pulsating force to be measured according to the related control parameter and the balance inherent characteristic parameter determined in the step (1) comprises the following steps:
(21) Based on the relevant control parameters, the interference factor z (k-1) of the previous control period, the control output u (k-1) of the previous control period, and the interference estimate of the previous control periodCalculating an interference factor z (k) of the current control period;
(22) Calculating the disturbance estimated value of the current control period according to the relevant control parameters and the balance inherent characteristic parameters, namely the disturbance factor z (k) of the current control period, the displacement x (k) of the balance shell of the current control period and the displacement x (k-1) of the balance shell of the previous control period, which are obtained in the step (21)The balance shell displacement in the current control period is the pulse force of the balance shell under standard load or to be measured, and the electromagnetic force M is controlled in the current control period c (k) Displacement caused by the combined action of the two;
(23) According to the related control parameters and the balance inherent characteristic parameters, the displacement x (k) of the balance shell of the current control period under the action of the standard load or the pulsating force to be measured, the displacement x (k-1) of the balance shell of the previous control period under the action of the standard load or the pulsating force to be measured, and the interference estimated value of the current control period obtained in the step (22)Calculating a control output value u (k) of the current control period;
(24) Calculating a current control period control current I (k) according to the balance inherent characteristic parameter and the current control period control output value u (k) obtained in the step (23);
(25) Calculating the control electromagnetic force M of the current period according to the related control parameters and the balance inherent characteristic parameters, the displacement x (k) of the balance shell of the current control period under the action of the standard load or the pulse force to be measured, and the control current I (k) of the current control period obtained in the step (24) c (k)；
(26) Returning to the step (21) for iterative calculation to obtain real-time control electromagnetic force under the action of standard load or pulsating force to be detected;
the positive direction of displacement of the balance shell under the action of standard load or pulsating force to be measured is defined as the control electromagnetic force positive direction consistent.
3. A method for measuring pulsating force based on wind tunnel magnetic levitation balance according to claim 2, wherein in the step (21), the disturbance factor z (K-1) of the previous control period, the control output u (K-1) of the previous control period, and the disturbance estimated value of the previous control period are based on the disturbance observer gain KCalculating an interference factor z (k) of the current control period;
in the step (22), the period T, the balance shell mass m and the electromagnet current stiffness K are controlled according to the interference observer gain K i Calculating the disturbance factor z (k) of the current control period, the displacement x (k) of the balance shell of the current control period and the displacement x (k-1) of the balance shell of the previous control period obtained in the step (21)
In the step (23), according to the proportionality coefficient K p Control period T, integral coefficient T i Differential coefficient T d PresettingBalance housing displacement x d (k) Displacement x (k) of balance shell of current control period under the action of standard load or pulse force to be measured, displacement x (k-1) of balance shell of previous control period under the action of standard load or pulse force to be measured, and interference estimated value of current control period obtained in step (22)Calculating a control output value u (k) of the current control period;
in the step (24), according to the gain G of the power amplifier p The current control period control output value u (k) obtained in the step (23) is calculated, and the current control period control current I (k) is calculated;
in the step (25), according to the electromagnet bias current I 0 Electromagnet current stiffness k i Electromagnet air gap delta, electromagnet displacement stiffness k x Calculating the control electromagnetic force M of the current period by the displacement x (k) of the balance shell of the current control period under the action of standard load or pulse force to be measured and the control current I (k) of the current control period obtained in the step (24) c (k)。
4. A pulse force measuring method based on a wind tunnel magnetic levitation balance according to claim 3, wherein in the step (21), the disturbance factor z (k) of the current control period is calculated as follows,
5. a method of pulse force measurement based on a wind tunnel magnetic levitation balance according to claim 3, wherein in said step (22), the disturbance estimation value of the current control periodThe calculation formula of (c) is as follows,
6. a pulse force measuring method based on a wind tunnel magnetic levitation balance according to claim 3, wherein in the step (23), the calculation formula of the current control period control output value u (k) is as follows,wherein e (k) =x d (k) -x (k) is the current control period balance housing displacement error, e (k-1) =x d (k-1) -x (k-1) is the last control period balance housing displacement error; x is x d (k-1)＝x d (k)。
7. A method of measuring pulsating force based on a wind tunnel magnetic levitation balance according to claim 3, wherein in the step (24), the control current I (k) in the current control period is calculated by the formula I (k) =g p u(k)。
8. A method of measuring pulsating force based on a wind tunnel magnetic levitation balance according to claim 3, wherein in step (25), the controlling electromagnetic force M of the current cycle c (k) The calculation formula of (1) is M c (k)＝F(I 0 ,δ)+k i I(k)-k x x (k); wherein F (I) 0 Delta) is the static working force of the electric control system and is biased by electromagnet 0 And the electromagnet air gap delta.
9. The method for measuring pulsating force based on wind tunnel magnetic levitation balance according to claim 1, wherein in the step (1), electromagnet bias current I is set according to the resolution requirement of wind tunnel test force measurement 0 The method comprises the steps of carrying out a first treatment on the surface of the Setting a proportionality coefficient K according to the response frequency requirement of wind tunnel test force measurement p Integral coefficient T i Control period T, or differential coefficient T d 。
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