CN115980572A - Simulation test device and simulation test method for load characteristics of propeller - Google Patents
Simulation test device and simulation test method for load characteristics of propeller Download PDFInfo
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Abstract
The invention discloses a propeller load characteristic simulation test device and a test method, wherein the device comprises a mounting base, a first support and a second support are fixed on the mounting base, a basic inertia disc is arranged between the first support and the second support, arc-shaped segmented stators are respectively arranged on the upper side and the lower side of the basic inertia disc, two ends of an output shaft of the inertia disc are respectively connected with the first support and the second support through rolling bearings capable of axially sliding, two electromagnets with the same structure are positioned on one side of the basic inertia disc, a tested motor is fixed on the mounting base through a third support, and the output shaft of the tested motor is connected with the output shaft of the inertia disc through a coupler. The device has the advantages of simple structure, capability of controlling the increase and decrease of load and the self stress condition, strong capability of resisting the change of external environmental factors and the like.
Description
Technical Field
The invention relates to the technical field of propeller testing devices, in particular to a propeller load characteristic simulation testing device and a simulation testing method.
Background
With the gradual maturity of high-power electronic technology and the rapid development of high-power variable-frequency driving technology, the electrification of aircrafts is widely concerned and researched, full-electric/multi-electric aircrafts which are mainly characterized by electric propulsion are continuously emerged, and the electric-variable-frequency aircraft has the outstanding advantages of simple structure, high integration degree, strong controllability and the like of a power system, and is an important development direction of aircrafts in the future. The flight operation altitude range of the full electric/multi-electric aircraft covers from the vicinity of the ground to the environment of the adjacent space, and the wide altitude range makes the working environment thereof complex and variable: from normal temperature and pressure to low temperature (-80 ℃) and low pressure (2.5 kpa) in adjacent space under the ground environment, the full-electric/multi-electric aircraft puts very strict requirements on the performance of an electric propulsion system serving as a core component.
The propeller-equipped load test is carried out on the electric propulsion system to verify that the dynamic and static performance indexes are very important links in the design of all-electric/multi-electric aircrafts. The propeller load simulation device is built, environment conditions under the full altitude are built by combining environment test simulation equipment, the torque, the rotating speed and the stress conditions of the propeller under the real conditions are simulated, and the propeller is loaded on the propulsion motor system, so that the propeller load simulation device is similar to the propulsion conditions of an actual aircraft, the actual flight condition characteristics of the aircraft can be truly simulated, and whether the key performance of the tested propulsion motor system meets the requirements or not is verified.
Generally, motor output performance testing equipment mainly comprises a magnetic powder brake, a magnetic resistance dynamometer, an eddy current dynamometer, an electric dynamometer and the like. Taking an electric dynamometer as an example, the electric dynamometer carries out a load test in a dragging mode, namely, a generator is butted on an output shaft of a tested motor to be used as a load motor. During testing, a tested motor can be adopted to drag a load motor to rotate at the same speed, the load motor is controlled to generate torque, and the torque and rotating speed output performance of the tested motor is tested; however, this method does not simulate the complete behaviour of the propeller load. Besides the characteristics of torque and rotating speed, the rotational inertia of the propeller during operation, the axial tension generated by the propeller, the eccentric force generated by the unbalance of the blades and the bending moment generated by the influence of irregular airflow all affect the propulsion motor.
On the other hand, because the air density difference between the ground environment and the high-altitude environment is huge, if the propeller is directly driven by the propulsion motor to rotate under the ground environment for testing, the full-speed operation of the propeller cannot be realized, namely, the full-state testing cannot be realized. In addition, the size of the general propeller is large, and the propeller load operation characteristic under the full altitude cannot be tested by using the environmental test chamber.
Therefore, the propeller load simulation test device which is simple in structure, capable of controlling the increase and decrease of the load and the stress condition of the propeller load simulation test device and strong in external environment factor change resistance is designed, and the propeller load simulation test device is used for completely simulating the requirements of the rotational inertia, the torque characteristics and the external force condition of the propeller load in a full-altitude high-altitude environment in a laboratory.
Disclosure of Invention
The invention aims to solve the technical problem of how to provide a propeller load characteristic simulation test device which has a simple structure, can control the increase and decrease of load and the self stress condition and has strong capacity of resisting the change of external environmental factors.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a propeller load characteristic simulation test device is characterized in that: the simulation device comprises an installation base, wherein a first support and a second support are fixed on the installation base, a basic inertia disc is arranged between the first support and the second support, an arc-shaped segmented stator is arranged on the installation base on the lower side of the basic inertia disc, the arc-shaped segmented stator is fixed on the first support on the upper side of the basic inertia disc, an inertia disc output shaft is arranged at the axis of the basic inertia disc, two ends of the inertia disc output shaft are respectively connected with the first support and the second support through rolling bearings capable of axially sliding, the end part of the inertia disc output shaft extends to the outer side of the first support, a position sensor is arranged at the end part, two electromagnets with the same structure are positioned on one side of the basic inertia disc, are opposite to the inertia edge of the basic disc and are symmetrical about a rotating shaft, equal direct currents are introduced into the two electromagnets to generate suction force on the inertia disc with the same size, the resultant force generated is perpendicular to the inertia disc and positioned at the axis, and the suction force is changed by changing the size of the direct current, so that the tension force applied to a propeller load is simulated; the tested motor is fixed on the mounting base through a third support, an output shaft of the tested motor is connected with an output shaft of the inertia disc through a coupler, and the driving controller is connected with the analog control upper computer through a communication bus; the driving controller is connected with the bus power supply, the arc-shaped segmented stator and the electromagnet through power cables, and the driving controller transmits collected rotating speed signals to the analog control upper computer through the communication bus for processing.
The further technical scheme is as follows: the basic inertia disc comprises a disc body, an inertia disc output shaft is fixed at the center of the disc body, N and S magnetic poles which are same in size and are uniformly and alternately arranged are fixed at the periphery of the disc body, and the basic inertia disc and the arc-shaped segmented stator form a surface-mounted inner rotor permanent magnet synchronous motor structure; 4 compensation fan-shaped discs which are completely identical and symmetrically arranged are fixed on one surface of the disc body, and the load rotary inertia of different propellers is simulated by changing the weight of the compensation fan-shaped discs.
The further technical scheme is as follows: be close to the edge of disc body is fixed with the balancing weight, realizes the simulation to the propeller eccentric force through the mode that changes its weight.
The further technical scheme is as follows: the compensating sector disc and the balancing weight are fixed on the disc body by bolts.
The further technical scheme is as follows: but axial sliding's antifriction bearing is including the slide bearing that is located the inner circle and fix the antifriction bearing at the slide bearing outer lane, the inner circle of slide bearing with inertia disc output shaft fixed connection.
The invention also discloses a method for testing by using the propeller load characteristic simulation test device, which is characterized in that the simulation of the eccentric force borne by the propeller comprises the following steps:
step 1: the eccentric force F of the propeller is obtained through a static balance test and a dynamic balance test 1 ；
And 2, step: calculate the required mass m of the counterweight 1 Comprises the following steps:
in the above formula, R 3 The distance between the center of the circle at the bottom of the balancing weight and the axis of the output shaft of the inertia disc is shown, and omega is the rotation angular speed of the propeller;
and step 3: the cylinder is selected to the balancing weight, calculates its weight l:
in the above formula, r is the radius of the bottom surface of the balancing weight;
and 4, step 4: and a counterweight block with the weight of l is arranged in a mounting groove reserved in the basic inertia disc and is fixed by a bolt, so that the simulation of the eccentric force borne by the propeller is realized.
The further technical scheme is as follows: the simulation of the rotational inertia comprises the following steps:
step 1: determining the moment of inertia J of the balancing weight on the basis of completed eccentric force matching 3 ：
Step 2: determining the required inertia compensation fan-shaped disc rotational inertia Delta J as follows:
ΔJ＝J 1 -J 2 -J 3
in the above formula, Δ J is the rotation of the compensation sectorMoment of inertia, J 1 Moment of inertia of the target propeller, J 2 Is the moment of inertia of the basic inertia disc, and the unit of the moment of inertia is kg.m 2 ；
And step 3: according to the calculated rotational inertia of the compensation sector disc, calculating the weight h of the compensation sector disc as follows:
in the above formula, rho is the density of the inertia disc and the compensation sector disc material; r 2 To compensate for the outer radius of the sector disc; r 1 The radius is the inner radius of the compensation sector disc, and gamma is the central angle of the compensation sector disc;
and 4, step 4: 4 compensation fan-shaped discs with the weight of h are selected to be installed in an installation spigot reserved in a basic inertia disc, and are fixed by bolts, so that the simulation of the load rotary inertia of the propeller is realized.
The further technical scheme is as follows: the simulation of the torque characteristics includes the steps of:
step 1: setting torque needing basic inertia disc output in upper computer
The upper computer obtains an input current instruction value corresponding to the torque according to a pre-stored T-I curve, and obtains d and q axis current instruction values of the arc-shaped segmented stator by calculation according to a formula>
And transmitted to the drive controller through a communication bus;
step 2: the tested motor is based on the received propeller rotation speed instruction n * Gradually accelerating to a stable rotating speed n, obtaining the current rotating speed n through a position sensor and transmitting the current rotating speed n to the driving controller through a communication line;
and step 3: the drive controller obtains the current DC bus voltage U by sampling through a sampling circuit dc And the present dq-axis current i d 、i q ；
And 4, step 4: the dq-axis current being commanded
Respectively with the present dq axis current i d And i q Performing difference, and performing closed-loop control by using a dq-axis current PI controller to obtain a dq-axis voltage command signal u of the stator of the arc-shaped segmented stator permanent magnet synchronous motor d 、u q ：
In the above formula, k pd ，k id Proportional coefficients and integral coefficients of a d-axis current pd link are respectively; k is a radical of formula pd ，k id Respectively is a proportionality coefficient and an integral coefficient of a pd link of the d-axis current;
and 5: the voltage command signal u of the arc-shaped segmented stator (4) obtained in the step 4 is processed d (s)、u q And(s) inputting the signals into an SVPWM link, and generating 6 paths of PWM driving control signals by the microprocessor by using a spatial modulation algorithm and outputting the signals to the power driving circuit so as to control the on-off of each power device of the three-phase full-control bridge and realize the closed-loop control of the arc-shaped segmented stator permanent magnet synchronous motor.
The further technical scheme is as follows: the simulation of the pulling force borne by the propeller comprises the following steps:
step 1: setting a tension value needing to be output by the electromagnet in an upper computer
Calculating and obtaining the target current value (or/and) of the two groups of electromagnet windings according to a formula>
In the above formula, K TH Is a proportionality coefficient, inThe iron core of the electromagnet is constant under the unsaturated precondition, and can be measured by tests;
step 2: transmitting the target current value to a drive controller by using a communication bus; the drive controller obtains the current DC bus voltage U by sampling through a sampling circuit DC And the current values I of the two electromagnet windings TH7 、I TH8 ；
And step 3: the winding current command value
With the current winding current I TH Making difference, utilizing PI controller to make closed-loop control to obtain electromagnet winding input voltage instruction signal U TH
In the above formula, k pTH ，k iTH Proportional coefficient and integral coefficient of closed loop PI link;
and 4, step 4: inputting the electromagnet winding input voltage command signal U obtained in the step 3 TH D.c. bus voltage U DC And (3) comparing to obtain a duty ratio command value of the current power device:
and 5: according to the calculated duty ratio D TH Controlling the on-off of power devices in the two electromagnet driving circuits at the same time; the closed-loop control of the current of the two electromagnet windings and the output suction force is realized, and the axial tension borne by the propeller is simulated.
The further technical scheme is as follows: the method for simulating the dynamic bending moment of the propeller due to the unbalanced aerodynamic force comprises the following steps:
step 1: setting the amplitude T of the fluctuation bending moment in the upper computer BE And f, calculating target current values in the two electromagnet windings according to a formula
In the above formula, K BE The ratio coefficient is a constant under the premise that the electromagnet iron core is unsaturated, and can be measured by tests;
step 2: the upper computer sends the target current value to the driving controller by using a communication bus; the drive controller obtains the current DC bus voltage U by sampling through a sampling circuit DC And the current value i of the winding current in the electromagnet BE ；
And step 3: the command value of the winding current
With the current winding current i BE Performing difference, performing closed-loop control by using a PI controller to obtain an input voltage command signal u of the winding of the electromagnet (7) BE ：
In the above formula, k pBE ，k iBE Proportional coefficient and integral coefficient of closed loop PI link;
and 4, step 4: inputting the electromagnet winding input voltage command signal u obtained in the step 3 BE And the current DC bus voltage U DC Obtaining the duty ratio command value d of the current power device by comparison BE ：
And 5: according to the calculated duty ratio d BE The on-off of the power device is controlled, closed-loop control over the current of the electromagnet winding and the output suction force is achieved, and the dynamic bending moment borne by the propeller is simulated by controlling the amplitude of the difference value of the output suction force between the two electromagnets and the frequency.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in: the device provided by the invention realizes the simulation of the load characteristic of the propeller in three aspects of rotational inertia, output torque and stress. If the test box is combined with an environmental test box, the atmospheric pressure and the environmental temperature under different altitudes are simulated, and the accurate simulation and analysis of the running state of the propeller of the propulsion motor can be realized under the ground condition.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is an exploded schematic view of a propeller load characteristic simulation apparatus according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating the connection between the driving controller and various components of the apparatus according to the embodiment of the present invention;
FIG. 3 is an exploded view of a base inertia disk of an apparatus according to an embodiment of the invention;
FIG. 4 is a schematic view of an axially slidable rolling bearing assembly of the apparatus according to the embodiment of the present invention;
FIG. 5 is a block diagram of a control strategy for a segmented arc stator permanent magnet machine in an apparatus according to an embodiment of the present invention;
FIG. 6 is a block diagram of an electromagnet current control strategy in an apparatus according to an embodiment of the present invention;
wherein: 1. installing a base; 2. a first bracket; 3. a second bracket; 4. a base inertia disc; 4-1, inertia disc output shaft; 4-2, a disc body; 4-3, magnetic pole; 4-4, compensating the sector disc; 4-5, a balancing weight; 4-6, bolts; 5. an arc-shaped segmented stator; 6. an axially slidable rolling bearing; 6-1, a sliding bearing; 6-2, rolling bearings; 7. a position sensor; 8. an electromagnet; 9. a motor to be tested; 10. a third support; 11. a coupling; 12. a drive controller;
13. and (4) an upper computer.
Detailed Description
The technical solutions in the embodiments of the present invention are 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.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein, and it will be appreciated by those skilled in the art that the present invention may be practiced without departing from the spirit and scope of the present invention and that the present invention is not limited by the specific embodiments disclosed below.
As shown in FIG. 1, the embodiment of the invention discloses a propeller load characteristic simulation test device, which comprises a mounting base 1, wherein other components in the device are fixed on the mounting base; a first support 2 and a second support 3 are fixed on the mounting base 1, a basic inertia disc 4 is arranged between the first support 2 and the second support 3, an arc-shaped segmented stator 5 is arranged on the mounting base 1 at the lower side of the basic inertia disc 4, an arc-shaped segmented stator 5 is fixed on the first support 2 at the upper side of the basic inertia disc 4, and the upper and lower arc-shaped segmented stators 5 have the same structure; an inertia disc output shaft 4-1 is arranged at the axis of the basic inertia disc 4, and two ends of the inertia disc output shaft 4-1 are respectively connected with the first support 2 and the second support 3 through a rolling bearing 6 capable of axially sliding; further, a horizontal portion is formed at an upper side of the first bracket 2, and an arc-shaped segmented stator 5 at the upper side is fixed to the horizontal portion.
The end part of the inertia disc output shaft 4-1 extends to the outer side of the first support 2, a position sensor 7 is arranged at the end part, two electromagnets 8 with the same structure are positioned on one side of the basic inertia disc 4, are opposite to the edge of the surface of the basic inertia disc 4 and are symmetrical about the inertia disc output shaft 4-1, equal direct current is introduced into the two electromagnets to generate suction force with the same size on the inertia disc 4, the generated resultant force is perpendicular to the disc surface of the basic inertia disc 4 and is positioned at the axis, and the suction force is changed by changing the size of the direct current, so that the simulation of the tensile force borne by a propeller load is realized; a tested motor 9 is fixed on the mounting base 1 through a third support 10, an output shaft of the tested motor 9 is connected with the inertia disc output shaft 4-1 through a coupling 11, and a driving controller 12 is connected with an analog control upper computer 13 through a communication bus; the driving controller 12 is connected with the bus power supply, the arc-shaped segmented stator 5 and the electromagnet 8 through power cables, and the driving controller 12 uploads the collected position signals and rotation speed signals to the simulation control upper computer 13 through a communication bus for processing.
Further, as shown in fig. 1 and 3, the basic inertia disc 4 includes a disc body 4-2, an inertia disc output shaft 4-1 is fixed at the center of the disc body 4-2, and N and S magnetic poles 4-3 which have the same size and are uniformly and alternately arranged are fixed at the periphery of the disc body 4-2; the basic inertia disc 4 and the arc-shaped segmented stator 5 form a surface-mounted inner rotor permanent magnet synchronous motor structure; 4 identical and symmetrically-installed compensation sector plates 4-4 are fixed on one surface of the disc body 4-2, and the weight of the compensation sector plates is changed to simulate the load rotary inertia of different propellers; a balancing weight 4-5 is fixed at the edge close to the disc body 4-2, and the simulation of the eccentric force of the propeller is realized by changing the weight of the balancing weight; the compensating sector disc 4-4 and the balancing weight 4-5 are fixed to the disc body 4-2 by bolts 4-6.
The output shaft 4-1 of the inertia disc is connected with the output shaft of the tested motor 9 in a shaft coupling mode through a coupling 11, the tested motor 9 is in an electric state and drives the inertia disc to rotate in the same direction and at the same speed at a specified rotating speed n, the rotating speed of the output shaft 4-1 of the basic inertia disc is the same as that of the output shaft of the tested motor 9, and the torque directions are opposite. At this time, the basic inertia disc 4 is controlled to output a specified torque, so that the tested motor 9 can be subjected to a reverse direction torque, and the torque characteristic of the propeller load is simulated.
Two identical arc-shaped segmented stators 5 are respectively arranged right above and below the basic inertia disc 4 and symmetrically distributed to offset unilateral magnetic tension. The two arc-shaped segmented stators 5 are wound with completely identical symmetrical A, B and C three-phase windings respectively; therefore, the structure formed by the basic inertia disc 4, the magnetic poles and the arc-shaped segmented stator 5 can be regarded as an arc-shaped segmented permanent magnet synchronous motor. Symmetrical three-phase currents are introduced into the two three-phase stator module windings, the same phase currents are kept equal, and stable torque is applied to the basic inertia disc by changing the amplitude, the phase and the frequency of the phase currents, so that the simulation of the load torque characteristics of the propeller is realized.
In order to simulate the eccentric force characteristic of the propeller caused by manufacturing, a balancing weight 4-5 is added at the edge of the basic inertia disc 4, the eccentric force of the propeller is simulated by changing the weight of the balancing weight, and the balancing weight 4-5 is fixed on the basic inertia disc 4 by bolts 4-6.
In order to compensate the difference between the basic inertia disc 4 and the actual propeller load moment of inertia, 4 identical and symmetrically-installed compensation sector discs 4-4 are added on the basic inertia disc 4, the simulation of the different propeller load moment of inertia is realized by changing the weight of the compensation sector discs 4-4, and the compensation sector discs 4-4 are fixed on the basic inertia disc 4 by bolts 4-6.
In order to simulate the axial tension applied to the propeller in operation, the two electromagnets 8 are arranged opposite to the edge of the surface of the basic inertia disc 4 and are symmetrically arranged relative to the rotating shaft. The two electromagnets 8 are charged with the same direct current to generate the same suction force on the basic inertia disc 4, the generated resultant force is perpendicular to the inertia disc surface and is positioned at the axis, the suction force is changed by changing the magnitude of the direct current, and then the simulation of the tension force borne by the propeller load is realized. In addition, the basic inertia disc 4 is supported by a pair of rolling bearings 6 capable of axially sliding, the rolling bearings are installed outside the sliding bearings, and the sliding bearings are installed outside an output shaft of the inertia disc, so that the axial force applied to the inertia disc can be transmitted to the tested motor 9, and the characteristics of the tested motor 9 under the action of the propeller tension can be simulated.
Further, as shown in fig. 4, the rolling bearing 6 capable of sliding axially includes a sliding bearing 6-1 located at an inner ring, and a rolling bearing 6-2 fixed to an outer ring of the sliding bearing 6-1, and the inner ring of the sliding bearing 6-1 is fixedly connected to the inertia disc output shaft 4-1.
In order to simulate the characteristic of dynamic bending moment applied to a propulsion motor due to unbalanced aerodynamic force when a propeller runs, a direct-current biased fluctuating current can be applied to one electromagnet 8, so that the suction force of the electromagnet 8 to an inertia disc fluctuates, and further the resultant force of the two electromagnets generates an axial force with additional bending moment to the inertia disc 4. By changing the amplitude and the frequency of the current fluctuation, the simulation of the unbalanced pneumatic bending moment characteristic of the propeller is realized.
In conclusion, the propeller load characteristic simulation test device realizes the simulation of the propeller load characteristic in three aspects of rotational inertia, output torque and stress condition. If the test box is combined with an environmental test box, the atmospheric pressure and the environmental temperature under different altitudes are simulated, and the accurate simulation and analysis of the running state of the propeller of the propulsion motor can be realized under the ground condition.
Taking a certain type of propeller with known parameters as an example, the testing process of the propeller load characteristic simulation test device based on the arc-shaped segmented stator permanent magnet synchronous motor is as follows:
1. simulation of eccentric force borne by propeller
Step 1: the eccentric force F of the propeller is obtained through a static balance test and a dynamic balance test 1 。
And 2, step: 4-5 mass m of balancing weight required by calculation 1 Comprises the following steps:
in the above formula, R 3 The distance between the center of the circle at the bottom of the balancing weight and the axis of the output shaft 4-1 of the inertia disc is shown, and omega is the rotation angular velocity of the propeller.
And 3, step 3: selecting a cylinder from the balancing weights 4-5, and calculating the weight l of the cylinder as follows:
in the above formula, r is the radius of the bottom surface of the balancing weight 4-5.
And 4, step 4: and 4-5 of the balancing weight l is selected to be arranged in a reserved installation spigot of the basic inertia disc 4 and fixed by bolts 4-6, so that the simulation of the eccentric force borne by the propeller is realized.
2. Simulation of rotational inertia
Step 1: on the basis of completed eccentric force matching, determining the moment of inertia of the balancing weights 4-5:
and 2, step: determining the required moment of inertia Δ J of the inertia compensating sector disc 4-4 as:
ΔJ＝J 1 -J 2 -J 3
in the above formula, Δ J is the moment of inertia of the compensating sector plate 4-4, J 1 Moment of inertia of the target propeller, J 2 Is the moment of inertia of the basic inertia disc, and the unit of the moment of inertia is kg.m 2 ；
And step 3: according to the calculated rotational inertia of the compensation sector disc 4-4, calculating the weight h of the compensation sector disc 4-4 as follows:
in the above formula, rho is the density of the inertia disc and the compensation sector disc material; r is 2 To compensate for the outer radius of the sector disc; r is 1 To compensate for the inner radius of the sector, γ is the central angle of the compensating sector.
And 4, step 4: 4 compensating sector discs 4-4 with the weight of h are selected to be installed in a reserved installation spigot of a basic inertia disc, and are fixed by bolts 4-6, so that the simulation of the load rotary inertia of the propeller is realized.
3. Simulation of torque characteristics
Step 1: setting the torque required to be output by the inertia disk 4 in the upper computer 13
The upper computer 13 obtains an input current command value corresponding to the torque according to a pre-stored T-I curve, and calculates a d-axis and q-axis current command value->
And transferred to the drive controller 12 via the communication bus.
Step 2: the tested motor 9 is used for receiving a propeller rotating speed instruction n * Gradually accelerates to a stable rotation speed n, and the current rotation speed n is obtained by the position sensor 7 and transmitted to the drive controller 12 through a communication line.
And step 3: the driving controller 12 obtains the current dc bus voltage U by sampling through the sampling circuit dc And the present dq-axis current i d 、i q 。
And 4, step 4: commanding current in dq axis
Respectively with the present dq axis current i d And i q Performing difference, and performing closed-loop control by using a dq-axis current PI controller to obtain a dq-axis voltage command signal u of the stator of the arc-shaped segmented stator permanent magnet synchronous motor d 、u q ：
In the above formula, k pd ，k id Proportional coefficients and integral coefficients of a d-axis current pd link are respectively; k is a radical of pd ，k id Respectively, a proportionality coefficient and an integral coefficient of a pd element of the d-axis current.
And 5: the voltage command signal u of the arc-shaped segmented stator 5 obtained in the step 4 is processed d (s)、u q (s) inputting the signals into an SVPWM link, and generating 6 paths of PWM driving control signals by a microprocessor by utilizing a spatial modulation algorithmAnd the output is transmitted to a power driving circuit, so that the on-off of each power device of the three-phase fully-controlled bridge is controlled, and the closed-loop control of the arc-shaped segmented stator permanent magnet synchronous motor is realized.
Therefore, the output torque of the inertia disc 4 is controlled by controlling the input current in the arc-shaped segmented stator 5, so that the output torque is equal to the torque of the propeller load under the real working condition, and the simulation of the load torque characteristic of the propeller is realized.
4. Simulation of tension applied to propeller
Step 1: a tension value required to be output by the electromagnet is set in the upper computer 13
The target current value ^ of the winding of the electromagnet 8 is calculated according to a formula>
In the above formula, K TH The proportionality coefficient is a constant under the condition that the iron core of the electromagnet 8 is not saturated, and can be measured by experiments.
Step 2: transmitting the target current value to the drive controller 12 using the communication bus; the driving controller 12 obtains the current dc bus voltage U by sampling through the sampling circuit DC And the current value I of the current winding of the electromagnet 8 TH7 、I TH8 。
And 3, step 3: the command value of the winding current
With the current winding current I TH Making difference, utilizing PI controller to make closed-loop control to obtain electromagnet winding input voltage instruction signal U TH />
In the above formula, k pTH ，k iTH And the proportional coefficient and the integral coefficient of a closed loop PI link.
And 4, step 4: inputting the electromagnet winding input voltage command signal U obtained in the step 3 TH, and current dc bus voltage U DC And (3) comparing to obtain a duty ratio command value of the current power device:
and 5: according to the calculated duty ratio D TH And the on-off of the power devices in the driving circuits of the two electromagnets 8 is controlled at the same time. The closed-loop control of the current of the two electromagnets 8 and the output suction force is realized, and the axial tension borne by the propeller is simulated.
5. Simulation of dynamic bending moment of propeller due to unbalanced aerodynamic force
Step 1: setting the amplitude T of the fluctuation bending moment in the upper computer BE And frequency f, calculating the target current value in the winding of the electromagnet 8 according to a formula
In the above formula, K BE The proportionality coefficient is a constant under the condition that the iron core of the electromagnet 8 is not saturated, and can be measured by experiments.
And 2, step: the upper computer 13 sends the target current value to the drive controller 12 by using a communication bus; the driving controller 12 obtains the current dc bus voltage U by sampling through the sampling circuit DC And the current value i of the winding of one of the two electromagnets BE 。
And step 3: the command value of the winding current
With the current winding current i BE Making difference, utilizing PI controller to make closed-loop control to obtain electromagnet winding input voltage instruction signal u BE ：
In the above formula, k pBE ，k iBE And the proportional coefficient and the integral coefficient of a closed-loop PI link.
And 4, step 4: inputting the electromagnet winding input voltage command signal u obtained in the step 3 BE And the current DC bus voltage U DC Obtaining the duty ratio command value d of the current power device by comparison BE ：
And 5: according to the calculated duty ratio d BE The on-off of the power device is controlled, closed-loop control over the current of the electromagnet winding and the output suction force is achieved, and the dynamic bending moment borne by the propeller is simulated by controlling the amplitude of the difference value of the output suction force between the two electromagnets and the frequency.
Fig. 5 is a propeller torque characteristic control block diagram. The propeller torque characteristic simulation control strategy comprises a torque instruction input step, a current instruction calculation step, a PI step, an SVPWM step and the like. The torque instruction setting and the target current calculation are completed in the upper computer 13, and the PI link, the SVPWM link and the like are completed in the microprocessor.
The drive controller 12 comprises a rotating speed/direct current bus voltage/alternating current sampling circuit, a microprocessor, a power drive circuit and a three-phase full-control bridge, wherein the sampling circuit collects three-phase currents of the segmented arc-shaped stator 5 and then inputs the three-phase currents into the microprocessor, d-axis current closed-loop control and q-axis current closed-loop control are respectively applied according to current instruction signals, 6 paths of PWM (pulse width modulation) drive signals are generated and input into the power drive circuit, and then the three-phase full-control bridge is controlled to be switched on and off, so that the closed-loop control of the three-phase currents of the segmented arc-shaped stator 5 is realized.
Because a torque sensor cannot be adopted in a low-temperature environment, the output torque value of the current inertia disc 4 cannot be checked in real time during environment test. Therefore, before actually performing a propeller load characteristic simulation test in a full-altitude high environment, the current of the arc-shaped segmented stator 5 needs to be calibrated.
Step 1: under the conditions of normal temperature and normal pressure, a torque-rotating speed sensor is connected between the output shaft 4-1 of the inertia disc and the output shaft 9 of the tested motor. And at the moment, the phase current amplitude of the three-phase winding of the arc-shaped segmented stator 5 is changed, the output torque value corresponding to each phase current is measured, a group of T-I curves is formed and stored in the upper computer, and the T-I curves are used as the basis of input current in the formal load test.
Step 2: when a propeller load characteristic simulation test is formally carried out in a full-altitude high-altitude environment, a torque value required to be output by the inertia disc 4 is input into the upper computer 13, and the upper computer 13 looks up a table from a T-I curve at normal temperature and normal pressure to obtain a corresponding current value which is used as a theoretical instruction value of the current three-phase winding current of the arc-shaped segmented stator 5.
And 3, step 3: the magnetic performance of the permanent magnet is greatly influenced by the temperature, the theoretical command value is properly compensated according to a relational expression of the magnetic performance of the permanent magnet and the temperature, and the compensation value is used as a three-phase winding current command value of the arc-shaped segmented stator 5.
Figure 6 is a block diagram of a solenoid current control strategy. The control strategy of the propeller load characteristic simulation device comprises the steps of output instruction input, current instruction calculation and PI control. Wherein, the tension instruction, the bending moment instruction setting and the target current calculation are all completed in the upper computer 13, and the PI link and the like are completed in the microprocessor.
The drive controller 12 comprises a direct current bus voltage/direct current sampling circuit, a microprocessor, a power drive circuit and a DC-DC conversion circuit, wherein the sampling circuit collects the current of the electromagnet winding and inputs the current into the microprocessor, and according to a current instruction signal, current closed-loop control is applied to generate a drive signal and input the drive signal into the power drive circuit, so that the on-off of a power device in the DC-DC conversion circuit is controlled, and the direct current closed-loop control of the electromagnet is realized.
Claims (10)
1. A propeller load characteristic simulation test device is characterized in that: the disc type electromagnetic vibration absorber comprises a mounting base (1), wherein a first support (2) and a second support (3) are fixed on the mounting base (1), a basic inertia disc (4) is arranged between the first support (2) and the second support (3), an arc-shaped segmented stator (5) is arranged on the mounting base (1) on the lower side of the basic inertia disc (4), the arc-shaped segmented stator (5) is fixed on the first support (2) on the upper side of the basic inertia disc (4), an inertia disc output shaft (4-1) is arranged at the axis of the basic inertia disc (4), two ends of the disc output shaft (4-1) are respectively connected with the first support (2) and the second support (3) through an axial sliding rolling bearing (6), the end of the inertia disc output shaft (4-1) extends to the outer side of the first support (2), a position sensor (7) is arranged at the end of the disc output shaft, two electromagnets (8) with the same structure are positioned on one side of the basic inertia disc (4), the edge of the basic inertia disc output shaft (4) is positioned on the outer side of the first support (2), the edge of the basic inertia disc (4), the two electromagnets are symmetrically positioned in the axial sliding bearing (4), and the axial sliding rolling bearing and generate two axial resultant forces which are opposite to the axis of the two electromagnets (4) and generate the same size, and the two axial direction of the two electromagnets which are positioned in the same as that are positioned in the axial direction of the disc output shaft, the suction force is changed by changing the magnitude of the direct current, so that the simulation of the tension borne by the propeller load is realized; a tested motor (9) is fixed on the mounting base (1) through a third support (10), an output shaft of the tested motor (9) is connected with the inertia disc output shaft (4-1) through a coupling (11), and a driving controller (12) is connected with an analog control upper computer (13) through a communication bus; the driving controller (12) is connected with the bus power supply, the arc-shaped segmented stator (5) and the electromagnet (8) through power cables, and the driving controller (12) transmits the collected position signals and the collected rotating speed signals to the analog control upper computer (13) through a communication bus for processing.
2. The propeller load characteristic simulation test apparatus according to claim 1, wherein: the basic inertia disc (4) comprises a disc body (4-2), an inertia disc output shaft (4-1) is fixed at the center of the disc body (4-2), N and S magnetic poles (4-3) which are same in size and are uniformly and alternately arranged are fixed on the periphery of the disc body (4-2), and the basic inertia disc (4) and the arc-shaped segmented stator (5) form a surface-mounted inner rotor permanent magnet synchronous motor structure; 4 identical and symmetrically-installed compensation sector plates (4-4) are fixed on one surface of the disc body (4-2), and the weight of the compensation sector plates is changed to simulate the load moment of inertia of different propellers.
3. The propeller load characteristic simulation test apparatus according to claim 2, wherein: a balancing weight (4-5) is fixed at the edge close to the disc body (4-2), and the eccentric force of the propeller is simulated by changing the weight of the balancing weight.
4. A propeller load characteristic simulation test device according to claim 3, wherein: the compensation sector disc (4-4) and the balancing weight (4-5) are fixed on the disc body (4-2) by bolts (4-6).
5. The propeller load characteristic simulation test device according to claim 1, characterized in that: the rolling bearing (6) capable of axially sliding comprises a sliding bearing (6-1) positioned at an inner ring and a rolling bearing (6-2) fixed at an outer ring of the sliding bearing (6-1), wherein the inner ring of the sliding bearing (6-1) is fixedly connected with the inertia disc output shaft (4-1).
6. A method for testing by using the propeller load characteristic simulation test device of any one of claims 1 to 5, wherein the simulation of the eccentric force applied to the propeller comprises the following steps:
step 1: the eccentric force F of the propeller is obtained through a static balance test and a dynamic balance test 1 ；
And 2, step: calculating the mass m of the required counterweight (4-5) 1 Comprises the following steps:
in the above formula, R 3 The distance between the center of the circle at the bottom of the balancing weight and the axis of an output shaft (4-1) of the inertia disc is shown, and omega is the rotation angular speed of the propeller;
and step 3: the cylinder is selected as the balancing weight (4-5), and the weight l is calculated as follows:
in the above formula, r is the radius of the bottom surface of the balancing weight (4-5);
and 4, step 4: and a balancing weight (4-5) with the weight of l is selected to be arranged in a reserved mounting groove of the basic inertia disc (4) and fixed by a bolt (4-6), so that the simulation of the eccentric force borne by the propeller is realized.
7. The propeller load characteristic simulation test method of claim 6, wherein the simulation of the moment of inertia comprises the steps of:
step 1: on the basis of completed eccentric force matching, the moment of inertia J of the balancing weight (4-5) is determined 3 ：
And 2, step: determining the required moment of inertia Δ J of the compensating sector disc (4-4) as:
ΔJ＝J 1 -J 2 -J 3
in the above formula, Δ J is the moment of inertia of the compensating sector plate (4-4), J 1 Moment of inertia of the target propeller, J 2 Is the moment of inertia of the basic inertia disc, and the unit of the moment of inertia is kg.m 2 ；
And step 3: according to the calculated rotational inertia of the compensation sector disc (4-4), calculating the weight h of the compensation sector disc (4-4) as follows:
in the above formula, rho is the density of the inertia disc and the compensation sector disc material; r 2 To compensate for the outer radius of the sector disc; r 1 The radius is the inner radius of the compensation sector disc, and gamma is the central angle of the compensation sector disc;
and 4, step 4: 4 compensation fan-shaped discs (4-4) with the weight of h are selected to be installed in a reserved installation spigot of a basic inertia disc and fixed by bolts (4-6), so that the simulation of the load rotary inertia of the propeller is realized.
8. The propeller load characteristic simulation test method of claim 6, wherein the simulation of the torque characteristic includes the steps of:
step 1: setting the torque required to be output by the basic inertia disc (4) in the upper computer (13)
The upper computer (13) obtains an input current instruction value corresponding to the torque according to a pre-stored T-I curve, and calculates d and q axis current instruction values ^ based on the arc-shaped segmented stator (5) according to a formula>
And transferred to the drive controller (12) via a communication bus;
step 2: the tested motor (9) is used for receiving a propeller rotating speed instruction n * Gradually accelerating to a stable rotating speed n, obtaining the current rotating speed n through a position sensor (7) and transmitting the current rotating speed n to a driving controller (12) through a communication line;
and 3, step 3: the drive controller (12) obtains the current DC bus voltage U by sampling through a sampling circuit dc And the present dq-axis current i d 、i q ；
And 4, step 4: the dq-axis current being commanded
Respectively with the present dq axis current i d And i q Performing difference, and performing closed-loop control by using a dq-axis current PI controller to obtain a dq-axis voltage command signal u of the stator of the arc-shaped segmented stator permanent magnet synchronous motor d 、u q ：
In the above formula, k pd ，k id Respectively is a proportionality coefficient and an integral coefficient of a pd link of the d-axis current; k is a radical of pd ，k id Respectively is a proportionality coefficient and an integral coefficient of a pd link of the d-axis current;
and 5: the voltage command signal u of the arc-shaped segmented stator (5) obtained in the step 4 is processed d (s)、u q And(s) is input into an SVPWM link, and the microprocessor generates 6 paths of PWM driving control signals by using a spatial modulation algorithm and outputs the signals to the power driving circuit, so that the on-off of each power device of the three-phase full-control bridge is controlled, and the closed-loop control of the arc-shaped segmented stator permanent magnet synchronous motor is realized.
9. The propeller load characteristic simulation test method of claim 6, wherein the simulation of the tension applied to the propeller comprises the steps of:
step 1: the upper computer (13) sets the tension value needing to be output by the electromagnet
Calculating and obtaining the target current value (or/and) of the two groups of electromagnet windings according to a formula>
In the above formula, K TH The constant is a proportionality coefficient and is a constant under the condition that the electromagnet iron core is unsaturated, and can be measured by tests;
step 2: transmitting the target current value to a drive controller (12) using a communication bus; the drive controller (12) obtains the current DC bus voltage U by sampling through a sampling circuit DC And the current values I of the two electromagnet windings TH7 、I TH8 ；
And 3, step 3: the winding current command value
With the current winding current I TH Performing difference, performing closed-loop control by using a PI controller to obtain an input voltage command signal U of the electromagnet winding TH
In the above formula, k pTH ，k iTH Proportional coefficient and integral coefficient of closed loop PI link;
and 4, step 4: inputting the electromagnet winding input voltage command signal U obtained in the step 3 TH And the current DC bus voltage U DC And (3) comparing to obtain a duty ratio command value of the current power device:
and 5: according to the calculated duty ratio D TH Controlling the on-off of power devices in the two electromagnet driving circuits at the same time; the closed-loop control of the current of the two electromagnet windings and the output suction force is realized, and the axial tension borne by the propeller is simulated.
10. The method for simulation test of the load characteristics of the propeller as recited in claim 6, wherein the method for simulation of the dynamic bending moment applied to the propeller due to aerodynamic imbalance comprises the steps of:
step 1: setting the amplitude T of the fluctuation bending moment in the upper computer BE And frequency f, calculating to obtain target current value in two electromagnet windings according to formula
In the above formula, K BE The constant is a proportionality coefficient and is a constant under the condition that the electromagnet iron core is unsaturated, and can be measured by tests;
step 2: the upper computer (13) sends the target current value to the driving controller (12) by using a communication bus; the drive controller (12) obtains the current DC bus voltage U by sampling through a sampling circuit DC And the current value i of the winding current in the electromagnet BE ；
And step 3: the winding current command value
With the current winding current i BE Making difference, and performing closed-loop control by using a PI controller to obtain an input voltage command signal u of the winding of the electromagnet (7) BE ：
In the above formula, k pBE ，k iBE Proportional coefficient and integral coefficient of closed loop PI link;
and 4, step 4: inputting the electromagnet winding input voltage command signal u obtained in the step 3 BE And the current DC bus voltage U DC Obtaining the duty ratio command value d of the current power device by comparison BE ：
And 5: according to the calculated duty ratio d BE The on-off of the power device is controlled, closed-loop control over the current of the winding of the electromagnet (8) and the output suction is achieved, and the dynamic bending moment borne by the propeller is simulated by controlling the amplitude and the frequency of the difference value of the output suction between the two electromagnets (8).
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| CN116577020A (en) * | 2023-07-13 | 2023-08-11 | 常州市中海船舶螺旋桨有限公司 | Marine screw static balance check out test set |
| CN116594082A (en) * | 2023-07-19 | 2023-08-15 | 山东慧宇航空遥感技术有限公司 | Balanced testing arrangement of hyperspectral remote sensing geological survey appearance |
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| CN116577020A (en) * | 2023-07-13 | 2023-08-11 | 常州市中海船舶螺旋桨有限公司 | Marine screw static balance check out test set |
| CN116577020B (en) * | 2023-07-13 | 2023-10-20 | 常州市中海船舶螺旋桨有限公司 | Marine screw static balance check out test set |
| CN116594082A (en) * | 2023-07-19 | 2023-08-15 | 山东慧宇航空遥感技术有限公司 | Balanced testing arrangement of hyperspectral remote sensing geological survey appearance |
| CN116594082B (en) * | 2023-07-19 | 2023-09-29 | 山东慧宇航空遥感技术有限公司 | Balanced testing arrangement of hyperspectral remote sensing geological survey appearance |
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