CN114910240A - Automatic calibration method and system for wind tunnel attack angle sensor - Google Patents
Automatic calibration method and system for wind tunnel attack angle sensor Download PDFInfo
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- CN114910240A CN114910240A CN202210824564.1A CN202210824564A CN114910240A CN 114910240 A CN114910240 A CN 114910240A CN 202210824564 A CN202210824564 A CN 202210824564A CN 114910240 A CN114910240 A CN 114910240A
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Abstract
The invention discloses an automatic calibration method and system for a wind tunnel attack angle sensor, wherein the automatic calibration method for the wind tunnel attack angle sensor comprises the following steps: fixing the model with an attack angle sensor and an angle inclinometer; when the attack angle of the model is 0 degree, acquiring the angle of an angle clinometer and the voltage value of an attack angle sensor; the angle of the angle clinometer is used as a preset angle; the control model moves to a minimum preset attack angle, and the detection angle of the angle clinometer and the voltage value of the attack angle sensor at the minimum preset attack angle are obtained; the control model is increased to the maximum preset attack angle from the minimum preset attack angle at preset intervals, the detection angle of the angle clinometer at each preset interval position and the voltage value of the attack angle sensor are sequentially obtained, and a voltage-attack angle formula is obtained by fitting according to multiple groups of actual model angles and corresponding voltage values. Utilize angle clinometer and angle of attack sensor to detect angle and pressure, avoid all artifical angle values of looking over under every angle, avoid increasing artifical work.
Description
Technical Field
The invention relates to the technical field of wind tunnel tests, in particular to an automatic calibration method and system for a wind tunnel attack angle sensor.
Background
The wind tunnel test of the aircraft is a main means for researching the aerodynamic layout and predicting the aerodynamic characteristics of the aircraft, the aircraft model is the object of the wind tunnel test, and most of the test work is carried out around the model.
When the wind tunnel test is carried out at the present stage, the model must be installed in the test section through the supporting system. The support system has two functions: firstly, supporting a model and carrying out a blowing test; and secondly, changing the posture of the model, such as changing the attack angle alpha, the sideslip angle beta and the like of the model.
The wind tunnel test aims at obtaining high-precision reliable aerodynamic data, the heterogeneous data of the aircraft model collected by various sensors in the current low-speed wind tunnel are combined according to the angle of the model, and the angle of the model is used as a calculation index point for calculating all the data.
The current low-speed wind tunnel test requires that the precision of the attack angle of a model is 0.05 degrees. Because the model weight of different aircraft tests is different, the deformation of the model supporting rod can be caused to be different. The lengths of the supporting rods of different test models and the angles of the connecting parts of the supporting rods and the models are different, the supporting mechanism has a movement gap, the mechanism movement has a control error, the difference between the nominal value of the mechanism attack angle fed back by the model supporting mechanism and the actual value of the model is larger than 0.05 degrees, and the requirement on the precision of the attack angle of the aircraft wind tunnel test cannot be met.
In order to obtain the accurate value of the attack angle of the model meeting the test requirement and control the error within a small range, manual calibration is needed before each test, and then the test is carried out, so that the test requirement can be met. Generally, the time for one calibration is 2 hours, the whole calibration process needs to be completed by manpower, about 5 persons are needed, and a large amount of manpower and time are consumed.
In summary, how to provide a calibration method with less manpower consumption is an urgent problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides an automatic calibration method for a wind tunnel attack angle sensor, which consumes less manpower and can obtain an accurate fitting formula to meet the calibration requirement.
The invention also aims to provide an automatic calibration system for the wind tunnel attack angle sensor.
In order to achieve the above purpose, the invention provides the following technical scheme:
an automatic calibration method of a wind tunnel attack angle sensor is applied to a model test of an automatic calibration device, wherein the automatic calibration device comprises an angle clinometer, an attack angle sensor and a theodolite; the automatic calibration method of the wind tunnel attack angle sensor comprises the following steps:
fixing a model with the attack angle sensor and the angle inclinometer;
when the attack angle of the model is 0 degree, acquiring the angle of the angle clinometer and the voltage value of the attack angle sensor; the angle of the angle clinometer is used as a preset angle;
controlling the model to move to a minimum preset attack angle, acquiring a detection angle of the angle clinometer and a voltage value of the attack angle sensor when the minimum preset attack angle is obtained, and acquiring an actual model angle under the minimum preset attack angle according to the preset angle;
controlling the model to increase from the minimum preset attack angle to the maximum preset attack angle at preset intervals, sequentially obtaining the detection angle of the angle clinometer and the voltage value of the attack angle sensor at each preset interval position, and obtaining the actual model angle of each preset interval position by combining the preset angle;
and fitting to obtain a voltage-attack angle formula by using the multiple groups of actual model angles and the voltage values corresponding to the actual model angles, and correcting to obtain the accurate voltage-attack angle formula.
Preferably, the obtaining the angle of the angular inclinometer includes:
keeping a static state for a first preset time;
and continuously acquiring data of the angle clinometer for a second preset time, and averaging the acquired data to obtain an average value which is used as the angle of the angle clinometer.
Preferably, obtaining the actual model angle at the minimum preset attack angle according to the preset angle includes:
subtracting the preset angle from the detection angle of the angle clinometer when the actual model angle is equal to the minimum preset attack angle;
the step of obtaining the actual model angle of each preset interval position by combining the preset angle comprises the following steps:
the actual model angle at each preset interval position is equal to the detection angle of the angle clinometer at each preset interval position minus the preset angle.
Preferably, a voltage-attack angle formula is obtained by fitting a plurality of groups of actual model angles and the voltage values corresponding to the actual model angles, and the formula includes:
obtaining a voltage-attack angle formula α =57.29578 asin (a × x + b) + c by using the plurality of sets of actual model angles and the voltage values corresponding to the actual model angles;
wherein x is the voltage, alpha is the actual model angle, and a, b and c are coefficients determined in the fitting process respectively;
the plurality of sets of actual model angles and their corresponding voltage values include:
the actual model angle and the corresponding voltage value when the attack angle is 0 degree;
the actual model angle with the attack angle as a preset minimum value and the voltage value corresponding to the actual model angle;
the actual model angle with the attack angle as a preset maximum value and the voltage value corresponding to the actual model angle;
and when the attack angle is between a preset minimum value and a plurality of positions with 1 degree as increment, the actual model angle and the corresponding voltage value are obtained.
Preferably, the correcting is performed to obtain an accurate voltage-attack angle formula, including:
sequentially bringing the voltage values back to the voltage-attack angle formula;
judging whether the difference value of the actual model angle corresponding to the angle of attack value and the voltage value is in a preset range or not, if so, taking the angle of attack value and the voltage value as preferred values; if not, deleting the attack angle value and the voltage value;
and fitting again by using the relationship between the attack angles of the rest groups and the voltage to obtain the corrected voltage-attack angle formula, and returning to the step of bringing the voltage values of the rest groups back to the voltage-attack angle formula in sequence until the relationship between the attack angles and the voltage is not deleted.
An automatic calibration system for a wind tunnel attack angle sensor is used for calibrating an attack angle of a model, and comprises:
the theodolite is used for calibrating the 0 angle of the model;
the angle clinometer is fixed above the model to detect the inclination angle of the model;
the attack angle sensor is used for being fixed on the model to obtain a voltage value;
the controller is used for acquiring the angle of the angle clinometer and the voltage value of the attack angle sensor when the attack angle of the model is 0 degree; the angle of the angle clinometer is used as a preset angle;
the controller is used for controlling the model to move to a minimum preset attack angle, acquiring a detection angle of the angle clinometer and a voltage value of the attack angle sensor when the minimum preset attack angle is obtained, and acquiring an actual model angle under the minimum preset attack angle according to the preset angle;
the controller is used for controlling the model to increase from the minimum preset attack angle to the maximum preset attack angle at preset intervals, sequentially acquiring the angle of the angle clinometer and the voltage value of the attack angle sensor at each preset interval position, and acquiring the actual model angle of each preset interval position by combining the preset angle;
the controller is further used for fitting the actual model angles and the corresponding voltage values to obtain a voltage-attack angle formula, and correcting the voltage-attack angle formula to obtain the accurate voltage-attack angle formula.
Preferably, the controller is further configured to:
controlling and keeping a static state for a first preset time;
and controlling the data acquisition of the angle clinometer at a second preset time, and averaging the acquired data to obtain an average value which is used as the angle of the angle clinometer.
Preferably, the controller includes a first calculation module, and the first calculation module is configured to subtract the preset angle from the detection angle of the angular inclinometer at the minimum preset attack angle to obtain the actual model angle;
the controller comprises a second calculation module, and the second calculation module is used for subtracting the preset angle from the detection angle of the angle clinometer at each preset interval position to obtain the actual model angle of each preset interval position.
Preferably, the controller is further configured to obtain a voltage-attack angle formula α =57.29578 asain (a × x + b) + c by using the sets of actual model angles and the voltage values corresponding thereto;
wherein x is the voltage, alpha is the actual model angle, and a, b and c are coefficients determined in the fitting process respectively;
the plurality of sets of actual model angles and their corresponding voltage values include:
the actual model angle and the corresponding voltage value when the attack angle is 0 degree;
the actual model angle with the attack angle as a preset minimum value and the voltage value corresponding to the actual model angle;
the actual model angle with the attack angle as a preset maximum value and the voltage value corresponding to the actual model angle;
and when the attack angle is between a preset minimum value and a plurality of positions with 1 degree as increment, the actual model angle and the corresponding voltage value are obtained.
Preferably, the controller further comprises a correction module and a repeated fitting module,
the correction module is used for sequentially bringing a plurality of groups of voltage values back to the voltage-attack angle formula;
judging whether the difference value of the actual model angle corresponding to the angle of attack value and the voltage value is in a preset range or not, if so, taking the angle of attack value and the voltage value as preferred values; if not, deleting the attack angle value and the voltage value;
and the repeated fitting module performs re-fitting by using the relationship between the attack angles and the voltages of the rest groups to obtain the corrected voltage-attack angle formula, and returns to the step of sequentially bringing the voltage values back to the voltage-attack angle formula until the relationship between the attack angles and the voltages is not deleted.
According to the automatic calibration method and system for the wind tunnel attack angle sensor, a longitude and latitude instrument is used for calibrating the initial 0-degree position of a model, the model is fixed with the attack angle sensor and an angle inclinometer, the attack angle sensor is used for measuring voltage in a rotating state, the angle inclinometer is used for measuring a rotating angle state, actual data of the model can be automatically obtained, then data fitting is carried out through an obtained data set, and a fitting formula is obtained, wherein the fitting formula is a targeted fitting formula obtained by the current environment and a setting mode in the automatic calibration process of the wind tunnel attack angle sensor.
The method can detect the current state in real time, can form high automation in the operation process, utilizes the angle inclinometer and the attack angle sensor to detect the angle and the pressure, only needs to realize the arrangement of the controller for receiving detection data so as to execute the steps required to be carried out, and can realize the detection, avoid the condition that the angle value is manually checked at each angle, avoid the deviation of manual detection, and avoid the increase of manual labor.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of an automatic calibration method for a wind tunnel attack angle sensor provided by the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide the automatic calibration method of the wind tunnel attack angle sensor, which consumes less manpower and can obtain an accurate fitting formula to meet the calibration requirement.
The other core of the invention is to provide an automatic calibration system of the wind tunnel attack angle sensor.
Referring to fig. 1, fig. 1 is a flowchart of an automatic calibration method for a wind tunnel attack angle sensor provided in the present application.
The application provides an automatic calibration method of a wind tunnel attack angle sensor, which is applied to a model test of an automatic calibration device, wherein the automatic calibration device comprises an angle clinometer, an attack angle sensor and a theodolite. In the calibration process, the attack angle sensor is fixed on the model, the angle inclinometer is fixed with the model, and when the model changes the angle, the attack angle sensor and the angle inclinometer can correspondingly detect the pressure change and the angle change.
The automatic calibration method of the wind tunnel attack angle sensor specifically comprises the following steps:
step S1, fixing the model with an attack angle sensor and an angle inclinometer;
s2, when the attack angle of the model is 0 degree, acquiring the angle of the angle clinometer and the voltage value of the attack angle sensor; the angle of the angle clinometer is used as a preset angle;
step S3, controlling the model to move to a minimum preset attack angle, acquiring the detection angle of the angle clinometer and the voltage value of the attack angle sensor when the minimum preset attack angle is reached, and acquiring the actual model angle under the minimum preset attack angle according to the preset angle;
step S4, the control model is increased to the maximum preset attack angle from the minimum preset attack angle at preset intervals, the detection angle of the angle clinometer and the voltage value of the attack angle sensor at each preset interval position are sequentially obtained, and the actual model angle of each preset interval position is obtained by combining the preset angles;
and step S5, fitting the multiple groups of actual model angles and the corresponding voltage values to obtain a voltage-attack angle formula, and correcting to obtain an accurate voltage-attack angle formula.
It should be noted that the model in step S1 may be set on the model fixing device or the model supporting device at the experimental position, and then the angle inclinometer is fixed on the model fixing device or the model supporting device.
The 0 degree angle of attack in step S2 is obtained by theodolite detection, that is, before the measurement is started, the 0 degree state of the model is obtained by theodolite calibration.
The angle detected by the angle inclinometer may be regarded as a preset angle for correction of other detected angles thereafter. And the voltage value obtained by detecting the attack angle sensor and the preset angle are used as a group of data for fitting calculation in the subsequent steps.
In steps S3 and S4, the minimum preset angle of attack and the maximum preset angle of attack are a preset range, which can be understood as detection performed in this range, after the angle of attack is 0 degrees and the preset angle is obtained by detection, the model needs to be adjusted to the minimum preset angle of attack, and then the minimum preset angle of attack rotates to the maximum preset angle of attack, and a step-by-step method may be adopted in the process, and the step length selects a preset step length, for example, 1 degree. After each step is carried out, the model is located at the preset interval position, angle detection and pressure detection can be carried out at the position, namely, the detection angle of the angle clinometer and the voltage value of the attack angle sensor are obtained, the detection angle of the angle clinometer needs to be corrected through the preset angle obtained by the detection of the 0-degree state, namely, the detection angle of the angle clinometer is subtracted by the preset angle, and the actual model angle of the model at the preset interval position is obtained. And the actual model angle and the detected voltage value are used as a group of data of the current interval position.
Since a stepwise movement from the minimum preset angle of attack to the maximum preset angle of attack is required, a plurality of sets of data corresponding to each angle can be obtained. These data are saved for subsequent use in fitting the data.
In step S5, it should be noted that, in the process of obtaining the voltage-attack angle formula by fitting the multiple sets of actual model angles and the corresponding voltage values thereof, different basic formulas of the fitting formula may be selected according to the types of the attack angle sensor and the angle inclinometer. The correction mode can be selected according to specific situations.
In the automatic calibration method for the wind tunnel angle of attack sensor provided in the above embodiment, a longitude and latitude instrument is used to calibrate the initial 0-degree position of a model, the model is fixed with the angle of attack sensor and the angle inclinometer, the angle of attack sensor is used to measure the voltage in a rotation state, and the angle inclinometer is used to measure the rotation angle state, so that the actual data of the model can be automatically obtained, then the data is fitted through the obtained data set to obtain a fitting formula, and the fitting formula is a targeted fitting formula obtained by the current environment and the setting mode in the current automatic calibration process of the wind tunnel angle of attack sensor.
The method can detect the current state in real time, can form high automation in the operation process, utilizes the angle inclinometer and the attack angle sensor to detect the angle and the pressure, only needs to realize the arrangement of the controller for receiving detection data so as to execute the steps required to be carried out, and can realize the detection, avoid the condition that the angle value is manually checked at each angle, avoid the deviation of manual detection, and avoid the increase of manual labor.
On the basis of the above embodiments, the steps S2, S3 and S4 of acquiring the angle of the angular inclinometer specifically include the following steps:
and step S01, keeping the static state for the first preset time.
And step S02, continuously collecting the data of the angle clinometer for a second preset time, and averaging the collected data to obtain an average value which is used as the angle of the angle clinometer.
It should be noted that the angle inclinometer is also called as an angle digital inclinometer, and only static measurement can be performed, so that when calibrating, after the model is adjusted in place, and after delaying for several seconds, the model is waited to be stable, and data acquisition is performed.
In addition, the processing mode of averaging the acquired data to obtain the average value is adopted, so that accidental inaccurate detection can be avoided.
On the basis of any of the above embodiments, the step of obtaining the actual model angle at the minimum preset attack angle according to the preset angle in step S3 specifically includes the following steps:
step S31, subtracting a preset angle from the detection angle of the angle clinometer when the actual model angle is equal to the minimum preset attack angle;
step S32, obtaining the actual model angle at each preset interval position by combining the preset angle includes:
the actual model angle at each preset interval position is equal to the detection angle of the angle inclinometer at each preset interval position minus the preset angle.
It should be noted that, in the above embodiment, the preset angle obtained by detection in the state of the 0-degree angle may be used to correct all detected angles obtained by subsequent measurement, so as to obtain the actual model angle. Specifically, the detection angle is used for subtracting a preset angle, so that an actual model angle is obtained.
On the basis of the foregoing embodiment, the step of fitting to obtain the voltage-attack angle formula by using multiple sets of actual model angles and corresponding voltage values in step S5 specifically includes the following steps:
step S51, obtaining a voltage-attack angle formula α =57.29578 asain (a × x + b) + c by using multiple sets of actual model angles and corresponding voltage values thereof;
wherein x is voltage, alpha is an actual model angle, and a, b and c are coefficients determined in the fitting process respectively;
the plurality of sets of actual model angles and corresponding voltage values include:
the 1 st group, the actual model angle when the attack angle is 0 degree and the corresponding voltage value;
group 2, actual model angle with attack angle as preset minimum value and corresponding voltage value;
the 3 rd to n-1 th groups, the actual model angle and the corresponding voltage value when the attack angle is between the preset minimum value and at a plurality of positions with 1 degree as increment;
the nth group of actual model angles with the attack angles of the preset maximum values and the voltage values corresponding to the actual model angles;
wherein n is a positive integer of 3 or more.
It should be noted that the nonlinear fitting formula of the Jewell LSRP-90 ° angle sensor is in the form of y =57.29578 asin (a x + b) + c, and in the fitting process, the primary objective is to determine three abc parameters and then obtain the fitting formula. The working principle of the sensor is the calculated angle of the liquid level inclination of the liquid inside, and because the test of each time is different and the installation position of each time is different, the three parameters of a, b and c need to be fitted again.
On the basis of any of the above embodiments, the step of performing the correction to obtain the accurate voltage-attack angle formula in step S5 includes:
step S52, sequentially substituting multiple groups of voltage values into a voltage-attack angle formula;
step S53, judging whether the difference value of the actual model angle corresponding to the angle of attack value and the voltage value is in a preset range, if so, the angle of attack value and the voltage value are optimized values; if not, deleting the attack angle value and the voltage value;
and step S54, re-fitting the relationship between the attack angles and the voltages of the rest groups to obtain a corrected voltage-attack angle formula, and returning to the step of sequentially substituting the voltage values into the voltage-attack angle formula until the relationship between the attack angles and the voltages is not deleted.
In addition to the introduction of the automatic calibration method for the wind tunnel angle of attack sensor provided in the above embodiments, the present invention also provides an automatic calibration system for a wind tunnel angle of attack sensor for implementing the above method.
The application provides a wind-tunnel angle of attack sensor automatic calibration system for to the demarcation of the angle of attack of model, include: the device comprises a theodolite, an angle inclinometer, an attack angle sensor and a controller.
Specifically, the theodolite is used for calibrating the 0-angle of the model;
the angle clinometer is fixed above the model to detect the inclination angle of the model;
the attack angle sensor is used for being fixed on the model to obtain a voltage value;
the controller is used for acquiring the angle of the angle clinometer and the voltage value of the angle sensor when the attack angle of the model is 0 degree; the angle of the angle clinometer is used as a preset angle;
the controller is used for controlling the model to move to the minimum preset attack angle, acquiring the detection angle of the angle clinometer and the voltage value of the attack angle sensor when the minimum preset attack angle is reached, and acquiring the actual model angle under the minimum preset attack angle according to the preset angle;
the controller is used for controlling the model to be increased to the maximum preset attack angle from the minimum preset attack angle at preset intervals, sequentially acquiring the angle of the angle clinometer at each preset interval position and the voltage value of the attack angle sensor, and acquiring the actual model angle at each preset interval position by combining the preset angle;
the controller is also used for fitting to obtain a voltage-attack angle formula by utilizing a plurality of groups of actual model angles and corresponding voltage values thereof, and correcting to obtain an accurate voltage-attack angle formula.
According to the above description, it can be known that the controller provided in the present application is a central control device, and is configured to control the theodolite, the angle inclinometer, and the attack angle sensor to operate, and execute the steps of the automatic calibration method for the wind tunnel attack angle sensor.
Optionally, the system further includes a rotation adjusting device connected to the controller, and the rotation adjusting device is connected to the support device of the model, and is configured to drive the model to perform a predetermined motion, for example, rotate between a minimum angle of attack and a maximum angle of attack, and the like. The rotation adjusting device may be a mechanical power device.
On the basis of the above embodiment, the controller is further configured to:
the control model, the attack angle sensor and the angle inclinometer are kept in a static state for a first preset time;
and controlling the data acquisition of the angle clinometer in the second preset time, and averaging the acquired data to obtain an average value which is used as the angle of the angle clinometer.
The first preset time and the second preset time can be adjusted according to actual conditions, the first preset time is expected to be between several seconds and 1 minute, and the second preset time is about several seconds to tens of seconds.
Optionally, the controller includes a first calculation module, where the first calculation module is configured to subtract a preset angle from a detection angle of the angular inclinometer at the minimum preset attack angle to obtain an actual model angle;
the controller comprises a second calculation module, and the second calculation module is used for subtracting the preset angle from the detection angle of the angle clinometer at each preset interval position to obtain the actual model angle of each preset interval position.
In a specific embodiment, the controller is further configured to obtain a voltage-angle of attack formula α =57.29578 asain (a × x + b) + c by using the plurality of sets of actual model angles and the corresponding voltage values;
wherein x is voltage, alpha is an actual model angle, and a, b and c are coefficients determined in the fitting process respectively;
the plurality of sets of actual model angles and corresponding voltage values include:
the 1 st group, the actual model angle when the attack angle is 0 degree and the corresponding voltage value;
group 2, actual model angle with attack angle as preset minimum value and corresponding voltage value;
the 3 rd to n-1 th groups, the actual model angle and the corresponding voltage value when the attack angle is between the preset minimum value and at a plurality of positions with 1 degree as increment;
the nth group of actual model angles with the attack angles of the preset maximum values and the voltage values corresponding to the actual model angles;
wherein n is a positive integer of 3 or more.
Optionally, the controller further includes a correction module and a repeated fitting module, the correction module is configured to bring multiple sets of voltage values back to the voltage-attack angle formula in sequence, and determine whether a difference between the obtained attack angle value and an actual model angle corresponding to the voltage value is within a preset range, and if so, the attack angle value and the voltage value are preferred values; if not, deleting the attack angle value and the voltage value;
and the repeated fitting module performs re-fitting by using the relationship between the attack angles and the voltages of the rest groups to obtain a corrected voltage-attack angle formula, and returns to the step of sequentially bringing the voltage values of the plurality of groups back into the voltage-attack angle formula until the relationship between the attack angles and the voltages is not deleted.
The number of the attack angle sensors can be one, two or more than two, and each attack angle sensor can acquire a corresponding pressure value and can be used as the same group of data.
In order to increase the redundancy of the measurement angle accuracy of the system, two angle of attack sensors can play a role in mutual monitoring. For example, when the difference between the two angles is greater than 0.05 °, one of the two angles is considered to be wrong, or both angles are wrong, and when a mistake is found, verification is required to ensure that the data meets the requirement of the difference, and the data can be allowed to be used. In actual use, therefore, more angle of attack sensors, for example 5, may be installed.
An automatic calibration method and system for a wind tunnel attack angle sensor mainly execute the following steps when in use:
the method comprises the following steps: the aircraft model is installed on a model supporting mechanism in a wind tunnel test section, an angle inclinometer is fixed at a smooth position of the aircraft model through 3M glue and the like, a plurality of attack angle sensors are fixed inside a model shell, two attack angle sensors are taken as examples in the embodiment, the attack angle sensors are connected to an pxi data acquisition cabinet through data lines, and a pxi data acquisition cabinet is connected to a measurement and control room. Inputting the maximum value and the minimum value of the test attack angle in a wind tunnel attack angle sensor formula fitting system, and configuring an acquisition channel, a test name and the like.
Step two: utilize the theodolite to adjust the model to 0 position of angle of attack, confirm to make all people leave the hole body after the adjustment is accomplished, control pxi data acquisition cabinet point and hit the collection, this controller sends the acquisition command to pxi data acquisition system, carry out the static data acquisition who lasts 5s, this duration can be adjusted according to particular case, and carry out the data average, obtain final value, this pxi data acquisition cabinet can record angle theta that the measurement of angle clinometer obtained 0 Voltage value V different from two angle of attack sensors 10 And V 20 Will theta 0 Setting the preset angle of the inclinometer;
after the acquisition is finished, the pxi data acquisition system sends an acquired feedback instruction, after the acquisition-finished feedback instruction is received, the controller sends a motion instruction to the model support system control program to enable the model support system control program to move to the minimum attack angle in the test, after the model support system control program moves in place, the mechanism control program sends an angle-in-place feedback instruction to the software, after the angle-in-place feedback instruction is received, the delay is 10s, after the mechanism is stable, an acquisition instruction is sent to the pxi data acquisition system to perform continuous 5s of static data acquisition, data averaging is performed, and the final model angle theta is obtained 1 —θ 0 Different voltage values V of two attack angle sensors 11 ，V 21 And recorded by the controller; after obtaining the feedback instruction of finishing the acquisition, the device can be controlled to rotate according to the step length of 1 degree, the motion control and the acquisition and recording process are repeated until the maximum angle in the test is reached, and all theta are recorded i ，V 1i ，V 2i . Wherein i is a positive integer. Wherein the control instruction for the model supporting mechanism is automatically generated according to the 1 degree interval by the minimum attack angle and the maximum attack angle which are input in the controller.
The formula fitting calculation can adopt a non-linear fitting module of Labview in a computer, and theta and V are input into the module as calculation elements to obtain three parameters a, b and c of the attack angle sensor formula, so that a fitting formula is obtained.
After obtaining the formula of the attack angle α =57.29578 asain (a × x + b) + c, let x = V, and apply all the voltage values V i Put into the formula, the angle of attack alpha is calculated back i Reuse of alpha i And theta, taking an absolute value, judging that the point is a dead point as long as the point is larger than or equal to 0.05 degrees, automatically deleting the group of data when the nth point in the calibration is the dead point, fitting the formula again, returning to perform recalculation, repeating the executing steps until all the points meet the requirement of 0.05 degrees of precision, and outputting a final calibration formula.
The scheme provided by the application can improve the accuracy of the wind tunnel test of the aircraft, and the accurate attack angle of the aircraft model in the wind tunnel test needs to be accurately obtained. According to the automatic calibration method and system for the wind tunnel attack angle sensor, the pxi data acquisition system, the angle inclinometer and the like are utilized, so that the whole calibration process is automatically calibrated, and the efficiency and the accuracy of the automatic calibration method for the wind tunnel attack angle sensor of the aircraft are improved.
The specific structural arrangement of the automatic calibration system of the wind tunnel attack angle sensor comprises: two jewell angle of attack sensors, a set of pxi data acquisition system, a high-precision angle inclinometer and a controller (or superior computer).
During operation, firstly, fixing a high-precision angle digital inclinometer above a model, and connecting the digital inclinometer to a data acquisition upper computer, namely a controller of the wind tunnel attack angle sensor automatic calibration system, through a control communication line; two jewell attack angle sensors are fixed in a model cabin body and are connected with pxi data acquisition equipment through measuring cables; supplying power to all equipment; and connecting the model supporting mechanism with a supporting mechanism motion control upper computer through a communication control line. Two upper computers are connected with the switch through a standard network cable, and IP addresses are set in the same network segment.
And secondly, erecting a theodolite, moving the aircraft model to the position of 0 degree of the model through the control of the model supporting mechanism in a manual adjustment mode, and then removing the theodolite and the operators. And opening a self-compiled attack angle sensor calibration formula fitting system in the digital mining upper computer, and configuring physical channels of all sensors, and tested maximum attack angle and minimum attack angle.
And controlling to simultaneously send acquisition instructions to pxi data acquisition equipment and a digital inclinometer, and enabling all the acquisition equipment to continuously acquire for 5s according to the 50Hz working frequency by the data acquisition upper computer in a software triggering mode.
The processing program of the system carries out wavelet denoising and average evaluation processing, automatically sets the collected angle of the high-precision digital inclinometer as an inclinometer preset angle, wherein when the model is 0 degree, the angle of the angle inclinometer is used as the preset angle, the real angle of the model is obtained by subtracting the preset angle from all collected inclinometer angles, then the real angle and the collected voltage value of the sensor are subjected to nonlinear fitting, so that three parameters of a formula are obtained, and the formula fitting is completed. And subtracting a preset angle from the angle of the inclinometer at the moment to obtain a model angle, and acquiring voltage values of the two sensors through pxi data acquisition equipment and respectively recording the voltage values at corresponding positions.
After the 0-degree processing of the model is finished, the system sends a motion instruction to a mechanism control upper computer, the model moves to the minimum attack angle of the test, after the model moves in place, a mechanism control program sends an angle in place feedback instruction to the software, after the angle in place feedback instruction is received, the delay is 10s, after the mechanism is stable, an acquisition instruction is sent to an pxi data acquisition system, the static data acquisition lasting for 5s is carried out, the data are averaged, and the final model angle theta is obtained 1 Different voltage values V of two attack angle sensors 11 ，V 21 And recorded by software; after a feedback instruction of finishing acquisition is obtained, the motion control and acquisition recording process is repeated according to an interval of 1 degree until the maximum angle in the test is reached, and all theta are recorded i ，V 1i ，V 2i . Wherein the control instruction for the model supporting mechanism is automatically generated by the minimum angle and the maximum angle which are input in the software according to the interval of 1 degree. After the maximum angle is collected, the system automatically sends a mechanism zero returning instruction to the mechanism control upper computer to enable the mechanism to be transported to the initial position.
And a nonlinear fitting module in Labview is adopted for formula fitting calculation, theta and V are used as calculation elements and input into the module, and three parameters a, b and c of the attack angle sensor formula are obtained, so that a fitting formula is obtained.
After obtaining the formula of the attack angle α =57.29578 asan (a x + b) + c, let x = V, all the voltage values Vi are respectively substituted into the formula, and the attack angle α is inversely calculated i Reuse of alpha i And theta, taking an absolute value, judging that the point is a dead point as long as the point is larger than or equal to 0.05 degrees, automatically popping up the software, automatically deleting the n-th point in the calibration, then fitting the formula again, performing recalculation again, repeating the actions until all the points meet the requirement of 0.05 degrees in precision, and outputting a final calibration formula.
The system can control PXI data acquisition equipment to acquire voltage values of two attack angle sensors; controlling an angle digital inclinometer to acquire an angle value through a usb interface; and sending a motion instruction to the upper computer controlled by the model supporting mechanism.
For the structure of other parts of the automatic calibration system for wind tunnel attack angle sensor, reference is made to the prior art, and details are not repeated herein.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The method and the system for automatically calibrating the wind tunnel attack angle sensor provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. An automatic calibration method of a wind tunnel attack angle sensor is characterized by being applied to a model test of an automatic calibration device, wherein the automatic calibration device comprises an angle clinometer, an attack angle sensor and a theodolite; the automatic calibration method of the wind tunnel attack angle sensor comprises the following steps:
fixing a model with the attack angle sensor and the angle inclinometer;
when the attack angle of the model is 0 degree, acquiring the angle of the angle clinometer and the voltage value of the attack angle sensor; the angle of the angle clinometer is used as a preset angle;
controlling the model to move to a minimum preset attack angle, acquiring a detection angle of the angle clinometer and a voltage value of the attack angle sensor when the minimum preset attack angle is obtained, and acquiring an actual model angle under the minimum preset attack angle according to the preset angle;
controlling the model to increase from the minimum preset attack angle to the maximum preset attack angle at preset intervals, sequentially obtaining the detection angle of the angle clinometer and the voltage value of the attack angle sensor at each preset interval position, and obtaining the actual model angle of each preset interval position by combining the preset angle;
and fitting to obtain a voltage-attack angle formula by using the multiple groups of actual model angles and the voltage values corresponding to the actual model angles, and correcting to obtain the accurate voltage-attack angle formula.
2. The automatic calibration method of the wind tunnel attack angle sensor according to claim 1, wherein the obtaining of the angle inclinometer comprises:
keeping a static state for a first preset time;
and continuously acquiring data of the angle clinometer for a second preset time, and averaging the acquired data to obtain an average value which is used as the angle of the angle clinometer.
3. The automatic calibration method for the wind tunnel attack angle sensor according to claim 1, wherein the step of obtaining the actual model angle under the minimum preset attack angle according to the preset angle comprises the following steps:
subtracting the preset angle from the detection angle of the angle clinometer when the actual model angle is equal to the minimum preset attack angle;
the step of obtaining the actual model angle of each preset interval position by combining the preset angle comprises the following steps:
the actual model angle at each preset interval position is equal to the detection angle of the angle inclinometer at each preset interval position minus the preset angle.
4. The automatic calibration method of the wind tunnel attack angle sensor according to any one of claims 1 to 3, wherein a voltage-attack angle formula is obtained by fitting a plurality of groups of actual model angles and the voltage values corresponding thereto, and comprises the following steps:
obtaining a voltage-attack angle formula α =57.29578 asin (a × x + b) + c by using the plurality of sets of actual model angles and the voltage values corresponding to the actual model angles;
wherein x is the voltage, alpha is the actual model angle, and a, b and c are coefficients determined in the fitting process respectively;
the plurality of sets of actual model angles and their corresponding voltage values include:
the actual model angle and the corresponding voltage value when the attack angle is 0 degree;
the actual model angle with the attack angle as a preset minimum value and the voltage value corresponding to the actual model angle;
the actual model angle with the attack angle as a preset maximum value and the voltage value corresponding to the actual model angle;
and when the attack angle is between a preset minimum value and a plurality of positions with 1 degree as increment, the actual model angle and the corresponding voltage value are obtained.
5. The automatic calibration method of a wind tunnel angle of attack sensor according to claim 4, wherein the correcting to obtain the accurate voltage-angle of attack formula comprises:
sequentially bringing multiple groups of voltage values back to the voltage-attack angle formula;
judging whether the difference value of the actual model angle corresponding to the angle of attack value and the voltage value is in a preset range or not, if so, taking the angle of attack value and the voltage value as preferred values; if not, deleting the attack angle value and the voltage value;
and fitting again by using the relationship between the attack angles of the rest groups and the voltage to obtain the corrected voltage-attack angle formula, and returning to the step of bringing the voltage values of the rest groups back to the voltage-attack angle formula in sequence until the relationship between the attack angles and the voltage is not deleted.
6. An automatic calibration system of a wind tunnel attack angle sensor is used for calibrating an attack angle of a model, and is characterized by comprising the following components:
the theodolite is used for calibrating the 0 angle of the model;
the angle clinometer is fixed above the model to detect the inclination angle of the model;
the attack angle sensor is used for being fixed on the model to obtain a voltage value;
the controller is used for acquiring the angle of the angle clinometer and the voltage value of the attack angle sensor when the attack angle of the model is 0 degree; the angle of the angle clinometer is used as a preset angle;
the controller is used for controlling the model to move to a minimum preset attack angle, acquiring a detection angle of the angle clinometer and a voltage value of the attack angle sensor when the minimum preset attack angle is obtained, and acquiring an actual model angle under the minimum preset attack angle according to the preset angle;
the controller is used for controlling the model to increase from the minimum preset attack angle to the maximum preset attack angle at preset intervals, sequentially acquiring the angle of the angle clinometer and the voltage value of the attack angle sensor at each preset interval position, and acquiring the actual model angle of each preset interval position by combining the preset angle;
the controller is further used for fitting the actual model angles and the corresponding voltage values to obtain a voltage-attack angle formula, and correcting the voltage-attack angle formula to obtain the accurate voltage-attack angle formula.
7. The automatic calibration system for an angle of attack sensor for a wind tunnel according to claim 6, wherein said controller is further configured to:
controlling and keeping a static state for a first preset time;
and controlling the data acquisition of the angle clinometer in a second preset time, and averaging the acquired data to obtain an average value which is used as the angle of the angle clinometer.
8. The automatic calibration system of the wind tunnel attack angle sensor according to claim 7, wherein the controller comprises a first calculation module, and the first calculation module is configured to subtract the preset angle from the detection angle of the angle inclinometer at the minimum preset attack angle to obtain the actual model angle;
the controller comprises a second calculation module, and the second calculation module is used for subtracting the preset angle from the detection angle of the angle clinometer at each preset interval position to obtain the actual model angle of each preset interval position.
9. The automatic calibration system of a wind tunnel angle of attack sensor according to claim 8, wherein said controller is further configured to obtain a voltage-angle of attack formula α =57.29578 asain (a x + b) + c using a plurality of sets of said actual model angles and said voltage values corresponding thereto;
wherein x is the voltage, alpha is the actual model angle, and a, b and c are coefficients determined in the fitting process respectively;
the plurality of sets of actual model angles and their corresponding voltage values include:
the actual model angle and the corresponding voltage value when the attack angle is 0 degree;
the actual model angle with the attack angle as a preset minimum value and the voltage value corresponding to the actual model angle;
the actual model angle with the attack angle as a preset maximum value and the voltage value corresponding to the actual model angle;
and when the attack angle is between a preset minimum value and a plurality of positions with 1 degree as increment, the actual model angle and the corresponding voltage value are obtained.
10. The automatic calibration system of a wind tunnel angle of attack sensor according to claim 9, wherein said controller further comprises a correction module and a repeated fitting module,
the correction module is used for sequentially bringing a plurality of groups of voltage values back to the voltage-attack angle formula;
judging whether the difference value of the actual model angle corresponding to the angle of attack value and the voltage value is in a preset range or not, if so, taking the angle of attack value and the voltage value as preferred values; if not, deleting the attack angle value and the voltage value;
and the repeated fitting module performs re-fitting by using the relationship between the attack angles and the voltages of the rest groups to obtain the corrected voltage-attack angle formula, and returns to the step of sequentially bringing the voltage values back to the voltage-attack angle formula until the relationship between the attack angles and the voltages is not deleted.
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