CN114162344A - Data calibration device for airplane control system - Google Patents
Data calibration device for airplane control system Download PDFInfo
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- CN114162344A CN114162344A CN202111314936.8A CN202111314936A CN114162344A CN 114162344 A CN114162344 A CN 114162344A CN 202111314936 A CN202111314936 A CN 202111314936A CN 114162344 A CN114162344 A CN 114162344A
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- control system
- calibration device
- angular displacement
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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
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/42—Bus transfer protocol, e.g. handshake; Synchronisation
- G06F13/4282—Bus transfer protocol, e.g. handshake; Synchronisation on a serial bus, e.g. I2C bus, SPI bus
Abstract
The invention provides a data calibration device of an airplane control system, which comprises a measuring module and a calibration device control system, wherein the measuring module is fixed on a control surface/operating rod to be measured and is used for measuring an actual angular displacement value of the control surface/operating rod to be measured in real time, processing the actual angular displacement value and outputting the processed actual angular displacement value to the calibration device control system; and the calibration device control system is used for acquiring the processed actual angular displacement value and calibrating the angular displacement value output by the aircraft control system through the actual angular displacement value. The invention has the advantages of simple operation, digital display, high precision, no influence of installation precision and the like, can obviously improve the calibration efficiency, saves labor, shortens the calibration time, avoids information transmission errors of a plurality of people in the matching process, and has higher engineering application value.
Description
Technical Field
The disclosure relates to the technical field of airplane control systems, in particular to a data calibration device of an airplane control system.
Background
The flight parameter system records the actual working parameter data of the power device, the control system and the airborne equipment of the airplane in the flight process, and is an important objective basis in flight accident investigation. Particularly, the control system of the airplane is related to an airplane ascending elevator (horizontal tail), an aileron, a plate surface, a flap, an accelerator lever, a total moment lever, a variable pitch lever, a high altitude lever, a steering column, a pedal position, a rudder and the like, the reliability and the accuracy of data directly influence the normal analysis and the use of flight data, and influence the in-situ detection, the fixed detection and the overhaul work of related systems on the airplane by a front army and an aircraft repair factory. Therefore, it is necessary to periodically calibrate the data acquisition channel of the operating system to improve the reliability and accuracy of the data of the operating system.
At present, an army and an overhaul factory generally lack a control system data calibration device which is convenient to carry and meets the precision, a mechanical protractor is used for measuring the control displacement of an airplane, and a vertical or horizontal single inclination angle sensor containing an accelerometer and a gyroscope is used for measuring a small part of the control displacement. For a mechanical large-scale angle gauge, the process requirement is high, the installation is complex, the precision is low, the reading is difficult, the carrying is inconvenient, the error influenced by the installation precision and the precision of the gauge is large, and in addition, because a part of machine types are additionally provided with high-precision angle displacement sensors, the angle gauge cannot meet the measurement requirement; for the single inclination angle sensor, the rotation axis is parallel to the horizontal plane or the vertical plane with higher precision, but the rotation axis of the sensor is difficult to be parallel to the horizontal plane or the vertical plane in actual measurement, particularly, the reference plane of the rotation axis of the single inclination angle sensor containing the accelerometer is a geographical ground plane when the single inclination angle sensor is used, and measurement errors can be caused by asymmetrical tire pressure of tires on two sides of an airplane, incomplete ground level of a parking garage and the like in actual application. The calibration device is incomplete, so that the calibration work has the problems of long work preparation time, high possibility of being influenced by a noisy environment and a magnetic environment in the implementation process, high personnel participation in the calibration process, difficulty in controlling the operation precision and the like. In addition to this, measuring the same parameter sensor causes errors due to different installation positions and different use by the operator.
Therefore, an airplane control system data measuring device which is simple in operation, not affected by installation precision, not limited by using environment and personnel technical ability and has a certain precision is needed, so that the requirement of control displacement parameter calibration is met, the reliability and accuracy of control displacement data are improved, and the quality and efficiency of flight parameter data calibration are improved.
Disclosure of Invention
In view of this, the embodiment of the present disclosure provides an aircraft control system data calibration device, which solves the problems of low efficiency, requirement of cooperation of multiple persons, long calibration time and the like of aircraft control system data during calibration.
In order to achieve the above purpose, the invention provides the following technical scheme:
a data calibration device of an airplane control system comprises a measuring module and a calibration device control system, wherein the calibration device control system is respectively in communication connection with the measuring module and the airplane control system;
the measuring module is fixed on the control surface/operating rod to be measured and used for measuring the actual value of the angular displacement of the control surface/operating rod to be measured in real time, processing the actual value of the angular displacement and outputting the processed actual value to the control system of the calibration device;
and the calibration device control system is used for acquiring the processed actual angular displacement value and calibrating the angular displacement value output by the aircraft control system through the actual angular displacement value.
Further, the measuring module comprises an information processing circuit and a gyroscope sensor, the gyroscope sensor is used for collecting angular rate data of the control surface/operating lever to be measured and transmitting the angular rate data to the information processing circuit, and the information processing circuit calculates the obtained angular rate data through an angular displacement calculation algorithm to obtain an actual value of the angular displacement and outputs the actual value of the angular displacement to the calibration device control system.
Further, the number of the gyro sensors is 3, and the gyro sensors are respectively located in X, Y, Z three axial directions, and acquire angular rates in three mutually orthogonal directions.
Further, the angular displacement calculation algorithm comprises the steps of firstly carrying out temperature and position compensation on the obtained angular rate initial data to obtain three axial angular rate data, calculating and deducing a spatial angular displacement vector, and embedding an extended Kalman filtering algorithm to obtain an actual angular displacement value.
Furthermore, the calibration device control system also comprises a display module and a storage module, and the display module and the storage module are used for displaying and storing the actual angular displacement value in real time.
Furthermore, the measurement module also comprises a power chip and an interface chip, the power chip is used for converting external voltage and then supplying the converted voltage to the internal module and the chip, and the interface chip is used for outputting the actual value of the angular displacement.
Furthermore, the calibration device control system controls the measurement module through an RS422 serial port, and the measurement module supplies power through a USB interface of the calibration device control system.
Furthermore, the measuring module comprises a shell, a bottom plate is fixedly installed in the shell, two circuit boards are welded on the bottom plate, and the two circuit boards and the bottom plate are respectively provided with one gyroscope sensor.
Furthermore, the measurement modules respectively have the dimensions of 44.8 +/-1 mm in length, 38.6 +/-1 mm in width, 13.4 +/-1 mm in height and less than or equal to 50g in weight.
Further, the aircraft control system acquires the angular displacement value through an onboard sensor arranged on the aircraft fuselage.
The data calibration device for the airplane control system can effectively solve the problems of low efficiency, multi-person cooperation and long calibration time of the data of the airplane control system in the calibration process. The beneficial effects are that:
1. the data are measured and displayed in a centralized manner, the adaptability is strong, 1-2 persons can finish the calibration work, the calibration efficiency can be obviously improved, the labor is saved, the calibration time is shortened, information transmission errors of a plurality of persons in the matching process are avoided, and the engineering application value is high;
2. the measuring module has universality, can be compatible with measurement of pitching dip angles (such as aileron and elevator dip angles) and course dip angles (such as rudder dip angles), does not need to distinguish measurement requirements of angular displacement of a transverse axis and angular displacement of a longitudinal axis, does not limit the installation mode of the measuring module on a control surface/operating lever to be measured, does not require installation precision, and has the advantages of simple and convenient operation, digital display, high precision, no influence of the installation precision and the like;
3. the display control software is 'exe' green software, is suitable for all Windows platform computers, has real-time display and automatic data storage functions without being installed when being started by one key, can clear and reset the measurement module at any time, and supports the analysis and processing of real-time and post-event data. The interface is simple, the operation is convenient, different processing methods can be adopted according to the requirements, the data processing occupies the hardware resources of the computer, the processing speed is high, and the calculation precision is high.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a system connection diagram of the present invention;
FIG. 3 is a hardware block diagram of one embodiment of the present invention;
fig. 4 is a flow chart of display control software in the calibration device control system according to an embodiment of the present invention.
Detailed Description
The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the described embodiments are merely illustrative of some, and not restrictive, of the embodiments of the disclosure. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present disclosure, and the drawings only show the components related to the present disclosure rather than the number, shape and size of the components in actual implementation, and the type, number and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
The embodiment of the disclosure provides an aircraft control system data calibration device, which comprises a measurement module and a calibration device control system, wherein the calibration device control system is respectively in communication connection with the measurement module and the aircraft control system;
the measuring module is fixed on the control surface/operating rod to be measured and used for measuring the actual value of the angular displacement of the control surface/operating rod to be measured in real time, processing the actual value of the angular displacement and outputting the processed actual value to the control system of the calibration device;
and the calibration device control system is used for acquiring the processed actual angular displacement value and calibrating the angular displacement value output by the aircraft control system through the actual angular displacement value.
The invention will be further described with reference to fig. 1-4.
As shown in fig. 1, the work flow diagram of the embodiment of the present invention includes the following steps:
step P1, fixing the measuring module on the control surface/joystick to be tested through a customized carrier or a nano adhesive tape or a strapping tape;
step P2, connecting the measuring module with a calibration device control computer provided with display control software through a power supply communication cable, wherein the computer is a general Windows platform computer, and the measuring module is electrified;
step P3, opening the display and control software installed on the control computer of the calibration device, and starting the display and control software to a working state;
step P4, moving the control surface/control rod to be tested to the appointed position, displaying the measured control angle displacement value in real time by the display control software, recording the data of the measured value of the angular displacement according to the time at the frequency of 4 times per second, and automatically storing the data as a document of ". txt";
and step P5, calibrating the relevant control system parameters of the airplane based on the measured angular displacement values of the control system.
As shown in fig. 2, in an embodiment of the present invention, the calibration device mainly includes a measurement module, a calibration device control computer with display and control software, and accessories such as a power supply communication cable, and in a preferred embodiment, the measurement module is powered and controlled by the calibration device control computer, wherein the calibration device control computer controls the measurement module through an RS422 serial port, the measurement module controls a USB interface of the computer to supply power through the calibration device, the measurement module is fixed on a control plane/control stick to be tested of an aircraft, and when the control plane/control stick has a deflection angle displacement, the measurement module can measure and display the deflection value of the angular displacement in real time. The measured data is sent to a calibration device control computer through an RS422 serial port, the display control software displays the measured control angle displacement value in real time, and the calibration of the data of the on-machine control system can be completed by comparing the actual value of the angular displacement measured by the calibration device with the corresponding angle displacement value output by the on-machine control system and comparing two groups of data.
The angular displacement calculation algorithm in the measurement module is as follows:
the gyroscope chip can measure the angular rate of the sensitive axis by using Coriolis force, which is the tangential force that a rotating object is subjected to when the rotating object moves radially. The angular rates ω x, ω y and ω z of the module in X, Y, Z can be measured by three gyro chips in the angular displacement measurement module, and the angular displacement in three directions from the beginning to the measurement time t stage can be solved:
αx＝ωx×t；
αy＝ωy×t；
αz＝ωz×t；
the vector sum of the angular displacements in three directions is the angular displacement value alpha of the module in time t, as shown in the following formula:
the angular displacement measuring range of the measuring module is +/-180 degrees, the output mode is RS422, zero point setting is supported, and the measuring result is automatically stored. The module has a volume of 44.8mm (plus or minus 1mm) x 38.6mm (plus or minus 1mm) x 13.4mm (plus or minus 1mm) and a weight of less than or equal to 50g, and adopts industrial devices with stable and reliable performance and a working temperature of-45 ℃ to +85 ℃. When the measuring module works, the USB interface of the computer can be controlled to supply power through the calibration device, and the power supply of a 220V alternating current power supply and a 27V direct current power supply is supported, so that the measuring module is convenient to use in an internal field and an external field.
As shown in fig. 3, in the embodiment of the present invention, the inside of the measurement module is composed of an information processing circuit, 3 gyroscope chips, a power supply chip, an interface chip, and a peripheral circuit, the information processing circuit acquires data of the three-axis gyroscope chip, the power supply chip converts an external wide-range voltage into a 5V voltage to be supplied to the internal module and the chip, and all parameters are resolved by the CPU to form data, which is output through the interface chip.
The measuring module is characterized in that a power supply communication interface is arranged on the side face of the measuring module, a 15-core high-reliability aviation plug is adopted as an interface, J30J-15ZKW is adopted as an external connector, the model of a corresponding power supply communication cable plug is J30J-15TJL, 1-path power supply and 1-path standard RS422 are included, the measuring module is connected with a power supply communication interface of the power supply communication cable, the communication interface of the power supply communication cable is connected with an RS422 interface of a USB-to-RS 422 serial port line, and the USB interface of the USB-to-422 serial port line and the power supply interface of the power supply communication cable are respectively connected into a calibration device control computer. The length of the power supply communication cable is 30 meters, and the calibration requirement of a large airplane is met.
Specifically, the measuring module adopts a mode that two circuit boards are welded on a bottom plate, one gyroscope chip is respectively installed on the two circuit boards and the bottom plate, and the bottom plate is installed on the shell through screws and is fixed through heat-conducting silica gel. The gyroscope chip is a domestic MGZ2067HC1 gyroscope and is packaged by ceramics, and the external dimension is 11mm multiplied by 11 mm. The bottom surface of the measuring module is provided with 3M 4 threaded fixing holes which can be used for mounting with a customized carrier. The information processing circuit collects gyro data arranged in 3 mutually orthogonal directions, carries out temperature and position compensation on the data to obtain X, Y, Z three axial angular rates, deduces a space angular displacement vector of the gyro data by resolving collected X, Y, Z triaxial angular rate signals, and embeds an extended Kalman filtering algorithm (EKF) to provide accurate control displacement information, can ensure the precision of relative angular displacement, is not influenced by geomagnetism and gravitational acceleration, does not limit the installation mode and the installation precision of a measurement module on a control surface/a control lever to be measured, can be compatible with the measurement of pitching type inclination angles (such as ailerons and elevator rudder inclination angles) and heading type deflection angles (such as rudder deflection angles), and does not need to distinguish the measurement requirements of horizontal axis angular displacement and vertical axis angular displacement.
The flow of the display and control software in this embodiment is shown in fig. 4, and the software design includes two stages, namely initialization stage and normal operation stage. After being electrified, the power supply enters an initialization stage to finish the initialization of equipment and zero offset; and entering a normal working state after the initialization is finished. In the normal working stage, the information processing circuit collects the angular rate measured by the gyro chip, calculates the angular displacement of the module through an angular displacement calculation algorithm, and outputs the angular displacement through a 422 serial port. During normal work, if a zero clearing instruction is received, the existing angle value is cleared, and the rotation angle calculation is restarted.
In the embodiment, the display control software is 'exe' green software, and the software is started by one key without installation and is suitable for any Windows platform computer. The system has the functions of real-time display and automatic data storage, the measured value of the angular displacement is recorded according to time at the frequency of 4 times per second, real-time and after-event processing is supported, the measurement module can be reset at any time, the interface is simple, the operation is convenient, different processing methods can be adopted according to the requirements, the data processing occupies the hardware resources of the computer, the processing speed is high, and the calculation precision is high.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present disclosure should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (10)
1. The data calibration device of the airplane control system is characterized by comprising a measuring module and a calibration device control system, wherein the calibration device control system is respectively in communication connection with the measuring module and the airplane control system;
the measuring module is fixed on the control surface/operating lever to be measured and used for measuring the actual value of the angular displacement of the control surface/operating lever to be measured in real time, processing the actual value of the angular displacement and outputting the actual value of the angular displacement to the calibration device control system;
and the calibration device control system is used for acquiring the processed actual angular displacement value and calibrating the angular displacement value output by the aircraft control system through the actual angular displacement value.
2. The aircraft control system data calibration device of claim 1, wherein the measurement module comprises an information processing circuit and a gyroscope sensor, the gyroscope sensor is used for collecting angular rate data of a control surface/joystick to be tested and transmitting the angular rate data to the information processing circuit, and the information processing circuit calculates the obtained angular rate data through an angular displacement calculation algorithm to obtain the actual value of the angular displacement and outputs the actual value of the angular displacement to the calibration device control system.
3. The aircraft maneuvering system data calibration device of claim 2, wherein the number of gyroscope sensors is 3 and the gyroscope sensors are respectively located in X, Y, Z axial directions and acquire angular rates in three mutually orthogonal directions.
4. The aircraft control system data calibration device according to claim 2 or 3, wherein the angular displacement calculation algorithm comprises the steps of firstly performing temperature and position compensation on the obtained angular rate initial data to obtain three axial angular rate data, calculating and deducing a spatial angular displacement vector, and embedding an extended Kalman filtering algorithm to obtain the actual value of the angular displacement.
5. The aircraft control system data calibration device of claim 4, wherein the calibration device control system further comprises a display module and a storage module for displaying and storing the actual value of the angular displacement in real time.
6. The aircraft control system data calibration device of claim 5, wherein the measurement module further comprises a power chip and an interface chip, the power chip is used for converting external voltage and then supplying the converted external voltage to the internal module and the chip, and the interface chip is used for outputting the actual value of the angular displacement.
7. An aircraft control system data calibration device according to claim 5, wherein said calibration device control system controls said measurement module via an RS422 serial port, said measurement module being powered via a USB interface of said calibration device control system.
8. The aircraft control system data calibration device of claim 3, wherein the measurement module comprises a housing, a bottom plate is fixedly installed in the housing, two circuit boards are welded on the bottom plate, and one gyroscope sensor is respectively installed on the two circuit boards and the bottom plate.
9. The aircraft maneuvering system data calibration device of claim 8, wherein the measurement modules are sized 44.8 ± 1mm long, 38.6 ± 1mm wide, 13.4 ± 1mm high, and 50g or less in weight.
10. The aircraft maneuvering system data calibration device of claim 1, wherein the aircraft maneuvering system obtains the angular displacement value via an onboard sensor disposed in an aircraft fuselage.
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