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 PDF

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CN115980572A
CN115980572A CN202211609279.4A CN202211609279A CN115980572A CN 115980572 A CN115980572 A CN 115980572A CN 202211609279 A CN202211609279 A CN 202211609279A CN 115980572 A CN115980572 A CN 115980572A
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disc
propeller
inertia
electromagnet
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张成明
王英男
王明义
曹继伟
李佳欣
李立毅
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Harbin Institute of Technology Shenzhen
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Abstract

本发明公开了一种螺旋桨负载特性模拟试验装置及测试方法,所述装置包括安装底座,所述安装底座上固定有一个第一支架和一个第二支架,第一支架与第二支架之间设置有基础惯量圆盘,所述基础惯量圆盘的上下侧的各设置有一个弧形分段定子,所述惯量圆盘输出轴的两端分别通过一个可轴向滑动的滚动轴承与第一支架以及第二支架连接,两个结构相同的电磁铁位于所述基础惯量圆盘的一侧,被测电机通过第三支架固定到所述安装底座上,所述被测电机的输出轴通过联轴器与所述惯量圆盘输出轴连接。所述装置结构简单、可控制增减载荷以及自身受力情况、具备较强耐外界环境因素变化能力等优点。

Figure 202211609279

The invention discloses a propeller load characteristic simulation test device and a test method. The device includes a mounting base, a first bracket and a second bracket are fixed on the mounting base, and a There is a basic inertia disk, and an arc-shaped segmented stator is arranged on the upper and lower sides of the basic inertia disk, and the two ends of the output shaft of the inertia disk pass through an axially slidable rolling bearing and the first bracket and The second bracket is connected, two electromagnets with the same structure are located on one side of the basic inertia disk, the motor under test is fixed on the installation base through the third bracket, and the output shaft of the motor under test is passed through a coupling It is connected with the output shaft of the inertia disk. The device has the advantages of simple structure, controllable increase and decrease of load and its own stress, and strong resistance to changes in external environmental factors.

Figure 202211609279

Description

螺旋桨负载特性模拟试验装置及模拟测试方法Propeller load characteristics simulation test device and simulation test method

技术领域Technical Field

本发明涉及螺旋桨测试装置技术领域,尤其涉及一种螺旋桨负载特性模拟试验装置及模拟测试方法。The present invention relates to the technical field of propeller testing devices, and in particular to a propeller load characteristic simulation test device and a simulation test method.

背景技术Background Art

随着大功率电力电子技术的日渐成熟以及高功率变频驱动技术的飞速发展,飞行器的电气化受到了广泛关注和研究,以电力推进为主要特征的全电/多电飞行器不断涌现,其具有动力系统结构简单、一体化程度高、可控性强等突出优势,是未来飞行器的重要发展方向。全电/多电飞行器飞行作业高度范围覆盖从地面附近到临近空间环境,宽高度范围使得其工作环境复杂多变:由地面环境下的常温常压到临近空间的低温(-80℃)低压(2.5kpa),因此,全电/多电飞行器对其核心部件—电推进系统的性能提出了十分严苛的要求。With the increasing maturity of high-power power electronics technology and the rapid development of high-power variable frequency drive technology, the electrification of aircraft has received extensive attention and research. All-electric/multi-electric aircraft with electric propulsion as the main feature continue to emerge. They have outstanding advantages such as simple power system structure, high degree of integration, and strong controllability. They are an important development direction for future aircraft. The flight operation altitude range of all-electric/multi-electric aircraft covers from near the ground to the near-space environment. The wide altitude range makes its working environment complex and changeable: from normal temperature and pressure in the ground environment to low temperature (-80℃) and low pressure (2.5kpa) in near-space. Therefore, all-electric/multi-electric aircraft have very strict requirements on the performance of their core components-electric propulsion systems.

对电推进系统进行带螺旋桨负载测试,以验证其动、静态性能指标是全电/多电飞行器设计中十分重要的环节。通过搭建螺旋桨负载模拟装置,结合环境试验模拟装设备,构建全海拔高度下的环境工况,模拟螺旋桨在真实工况下的转矩、转速、受力情况,并加载到推进电机系统上,使其与实际飞行器的推进工况相似,可以真实地模拟飞行器实际飞行工况特性,进而验证被测试推进电机系统的关键性能是否满足要求。Testing the electric propulsion system with propeller load to verify its dynamic and static performance indicators is a very important part of the design of all-electric/multi-electric aircraft. By building a propeller load simulation device and combining it with environmental test simulation equipment, we can build environmental conditions at all altitudes, simulate the torque, speed, and force of the propeller under real working conditions, and load it on the propulsion motor system to make it similar to the propulsion conditions of the actual aircraft. This can truly simulate the actual flight conditions of the aircraft and verify whether the key performance of the tested propulsion motor system meets the requirements.

一般的,电机输出性能测试设备主要有磁粉制动器,磁阻测功机、电涡流测功机、电力测功机等。以电力测功机为例,其采用对拖的方式进行负载试验,即在被测试电机的输出轴上对接一发电机作为负载电机。测试时,可以采用被测电机拖动负载电机同速旋转,控制负载电机产生转矩,实现对被测电机转矩、转速输出性能的测试;然而,该方法并不能模拟螺旋桨负载的完整特性。除了转矩、转速特性外,螺旋桨运行时的转动惯量及其产生的轴向拉力,桨叶不平衡产生的偏心力以及受不规则气流影响产生的弯矩,均会对推进电机造成影响。In general, the motor output performance test equipment mainly includes magnetic powder brakes, reluctance dynamometers, eddy current dynamometers, electric dynamometers, etc. Taking the electric dynamometer as an example, it uses a towing method to perform load tests, that is, a generator is connected to the output shaft of the motor being tested as a load motor. During the test, the motor being tested can be used to drag the load motor to rotate at the same speed, and the load motor can be controlled to generate torque to achieve the test of the torque and speed output performance of the motor being tested; however, this method cannot simulate the complete characteristics of the propeller load. In addition to the torque and speed characteristics, the rotational inertia of the propeller during operation and the axial tension it generates, the eccentric force generated by the imbalance of the blades, and the bending moment caused by irregular airflow will all affect the propulsion motor.

另一方面,由于地面环境和高空环境的空气密度相差巨大,若直接在地面环境下使用推进电机带动螺旋桨旋转进行测试,无法实现螺旋桨全转速运行,即无法实现全状态测试。此外,一般螺旋桨尺寸较大,无法利用环境试验箱对全海拔高度下的螺旋桨负载运行特性进行测试。On the other hand, due to the huge difference in air density between the ground environment and the high-altitude environment, if the propulsion motor is used directly on the ground to drive the propeller to rotate for testing, the propeller cannot run at full speed, that is, it is impossible to achieve full-state testing. In addition, the propeller is generally large in size, and it is impossible to use an environmental test chamber to test the propeller load operating characteristics at all altitudes.

因此,设计一种结构简单、可控制增减载荷以及自身受力情况、具备较强耐外界环境因素变化能力的螺旋桨负载模拟试验装置,用于在实验室中完整模拟全海拔高度环境下螺旋桨负载的转动惯量、转矩特性及受外力情况的需求随之产生。Therefore, there is a need to design a propeller load simulation test device with a simple structure, which can control the increase and decrease of load and its own stress conditions and has a strong ability to withstand changes in external environmental factors. The device can be used to completely simulate the rotational inertia, torque characteristics and external force conditions of the propeller load in the full altitude environment in the laboratory.

发明内容Summary of the invention

本发明所要解决的技术问题是如何提供一种结构简单、可控制增减载荷以及自身受力情况、具备较强耐外界环境因素变化能力的螺旋桨负载特性模拟试验装置。The technical problem to be solved by the present invention is how to provide a propeller load characteristic simulation test device which has a simple structure, can control the increase and decrease of load and its own stress conditions, and has a strong ability to withstand changes in external environmental factors.

为解决上述技术问题,本发明所采取的技术方案是:一种螺旋桨负载特性模拟试验装置,其特征在于:包括安装底座,所述安装底座上固定有一个第一支架和一个第二支架,第一支架与第二支架之间设置有基础惯量圆盘,所述基础惯量圆盘下侧的安装底座上设置有一个弧形分段定子,所述基础惯量圆盘上侧的所述第一支架上固定有一个弧形分段定子,所述基础惯量圆盘的轴心设置有惯量圆盘输出轴,所述惯量圆盘输出轴的两端分别通过一个可轴向滑动的滚动轴承与第一支架以及第二支架连接,所述惯量圆盘输出轴的端部延伸到所述第一支架的外侧,且该端部设置有位置传感器,两个结构相同的电磁铁位于所述基础惯量圆盘的一侧,正对基础惯量盘面边缘且关于转轴对称,向两个电磁铁中通入相等的直流电流,对所述惯量圆盘产生相同大小的吸力,产生的合力垂直于惯量盘面且位于轴心处,通过改变直流电流的大小改变吸力,进而实现对螺旋桨负载所受拉力的模拟;被测电机通过第三支架固定到所述安装底座上,所述被测电机的输出轴通过联轴器与所述惯量圆盘输出轴连接,驱动控制器与模拟控制上位机之间通过通信总线连接;驱动控制器与母线电源、弧形分段定子以及电磁铁均通过动力电缆连接,驱动控制器将采集到的转速信号通过通信总线上传给模拟控制上位机进行处理。In order to solve the above technical problems, the technical solution adopted by the present invention is: a propeller load characteristic simulation test device, characterized in that: it includes a mounting base, a first bracket and a second bracket are fixed on the mounting base, a basic inertia disc is arranged between the first bracket and the second bracket, an arc-shaped segmented stator is arranged on the mounting base on the lower side of the basic inertia disc, an arc-shaped segmented stator is fixed on the first bracket on the upper side of the basic inertia disc, an inertia disc output shaft is arranged on the axis of the basic inertia disc, the two ends of the inertia disc output shaft are respectively connected to the first bracket and the second bracket through an axially slidable rolling bearing, the end of the inertia disc output shaft extends to the outside of the first bracket, and the end is provided with a position sensor, and the two structures are the same The electromagnet is located on one side of the basic inertia disc, facing the edge of the basic inertia disc surface and symmetrical about the rotation axis. Equal direct current is passed through the two electromagnets to generate the same suction force on the inertia disc. The generated resultant force is perpendicular to the inertia disc surface and located at the axis center. The suction force is changed by changing the magnitude of the direct current, thereby realizing the simulation of the tension exerted on the propeller load; the motor under test is fixed to the mounting base through a third bracket, the output shaft of the motor under test is connected to the output shaft of the inertia disc through a coupling, and the drive controller is connected to the simulation control host computer through a communication bus; the drive controller is connected to the bus power supply, the arc segmented stator and the electromagnet through power cables, and the drive controller uploads the collected speed signal to the simulation control host computer through the communication bus for processing.

进一步的技术方案在于:所述基础惯量圆盘包括圆盘本体,所述圆盘本体的中心固定有惯量圆盘输出轴,所述圆盘本体的外周固定有大小相同、均匀交替排布的N、S磁极,基础惯量圆盘与弧形分段定子构成了表贴式内转子永磁同步电机结构;所述圆盘本体的一个面上固定有4块完全相同且对称安装的补偿扇形盘,通过改变其重量实现对不同螺旋桨负载转动惯量的模拟。A further technical solution is that the basic inertia disc includes a disc body, an inertia disc output shaft is fixed at the center of the disc body, N and S magnetic poles of the same size and evenly arranged alternately are fixed on the outer circumference of the disc body, and the basic inertia disc and the arc-shaped segmented stator constitute a surface-mounted inner rotor permanent magnet synchronous motor structure; four identical and symmetrically installed compensation sector discs are fixed on one surface of the disc body, and the simulation of the rotational inertia of different propeller loads is achieved by changing their weight.

进一步的技术方案在于:靠近所述圆盘本体的边缘处固定有配重块,通过改变其重量的方式实现对螺旋桨偏心力的模拟。A further technical solution is that a counterweight is fixed near the edge of the disc body, and the eccentric force of the propeller is simulated by changing its weight.

进一步的技术方案在于:补偿扇形盘和配重块采用螺栓固定到圆盘本体上。A further technical solution is that the compensating sector disc and the counterweight block are fixed to the disc body by bolts.

进一步的技术方案在于:所述可轴向滑动的滚动轴承包括位于内圈的滑动轴承以及固定在滑动轴承外圈的滚动轴承,所述滑动轴承的内圈与所述惯量圆盘输出轴固定连接。A further technical solution is that the axially slidable rolling bearing comprises a sliding bearing located at an inner ring and a rolling bearing fixed to an outer ring of the sliding bearing, and the inner ring of the sliding bearing is fixedly connected to the inertia disc output shaft.

本发明还公开了一种使用权利要求所述的螺旋桨负载特性模拟试验装置进行测试的方法,其特征在于,对螺旋桨所受偏心力的仿真模拟包括如下步骤:The present invention also discloses a method for testing using the propeller load characteristic simulation test device described in the claims, characterized in that the simulation of the eccentric force on the propeller comprises the following steps:

步骤1:通过静平衡试验、动平衡试验得到螺旋桨偏心力F1Step 1: Obtain the propeller eccentric force F 1 through static balance test and dynamic balance test;

步骤2:计算需要的配重块质量m1为:Step 2: Calculate the required counterweight mass m1 as:

Figure BDA0003998837620000031
Figure BDA0003998837620000031

上式中,R3为配重块底部圆心与惯量圆盘输出轴轴心的距离,ω为螺旋桨旋转角速度;In the above formula, R 3 is the distance between the center of the bottom circle of the counterweight block and the center of the output shaft of the inertia disk, and ω is the angular velocity of the propeller;

步骤3:配重块选择圆柱体,计算其重量l为:Step 3: Select a cylinder as the counterweight and calculate its weight l:

Figure BDA0003998837620000041
Figure BDA0003998837620000041

上式中,r为配重块底面半径;In the above formula, r is the radius of the bottom surface of the counterweight;

步骤4:选择重量为l的配重块安装在基础惯量圆盘预留的安装槽内,采用螺栓固定,实现对螺旋桨所受偏心力的模拟。Step 4: Select a counterweight block with a weight of l and install it in the installation groove reserved in the basic inertia disk. Fix it with bolts to simulate the eccentric force acting on the propeller.

进一步的技术方案在于:对转动惯量的仿真模拟包括如下步骤:A further technical solution is that the simulation of the moment of inertia includes the following steps:

步骤1:在已完成偏心力匹配的基础上,确定配重块的转动惯量J3Step 1: Based on the eccentric force matching, determine the moment of inertia J 3 of the counterweight:

Figure BDA0003998837620000042
Figure BDA0003998837620000042

步骤2:确定所需的惯量补偿扇形盘的转动惯量ΔJ为:Step 2: Determine the required moment of inertia of the inertia compensation sector disk ΔJ as:

ΔJ=J1-J2-J3 ΔJ=J 1 -J 2 -J 3

上式中,ΔJ为补偿扇形盘的转动惯量,J1为目标螺旋桨的转动惯量,J2为基础惯量圆盘的转动惯量,转动惯量的单位为kg·m2In the above formula, ΔJ is the moment of inertia of the compensation sector disk, J 1 is the moment of inertia of the target propeller, J 2 is the moment of inertia of the basic inertia disk, and the unit of the moment of inertia is kg·m 2 ;

步骤3:根据计算出的补偿扇形盘的转动惯量,计算补偿扇形盘的重量h为:Step 3: Based on the calculated moment of inertia of the compensation sector disk, calculate the weight h of the compensation sector disk as:

Figure BDA0003998837620000043
Figure BDA0003998837620000043

上式中,ρ为惯量圆盘及补偿扇形盘材料的密度;R2为补偿扇形盘的外半径;R1为补偿扇形盘的内半径,γ为补偿扇形盘的圆心角;In the above formula, ρ is the density of the material of the inertia disk and the compensation sector disk; R2 is the outer radius of the compensation sector disk; R1 is the inner radius of the compensation sector disk, and γ is the central angle of the compensation sector disk;

步骤4:选择4块重量为h的补偿扇形盘安装在基础惯量圆盘预留的安装止口内,采用螺栓固定,实现对螺旋桨负载转动惯量的模拟。Step 4: Select 4 compensating sector discs with a weight of h and install them in the mounting stoppers reserved in the base inertia disc. Fix them with bolts to simulate the propeller load rotational inertia.

进一步的技术方案在于:对于转矩特性的仿真模拟包括如下步骤:A further technical solution is that the simulation of torque characteristics includes the following steps:

步骤1:在上位机中设定需要基础惯量圆盘输出的转矩

Figure BDA0003998837620000044
上位机根据预先保存的T-I曲线得到该转矩对应的输入电流指令值,根据公式计算得到弧形分段定子的d、q轴电流指令值
Figure BDA0003998837620000045
并通过通信总线传递给驱动控制器;Step 1: Set the torque required for the basic inertia disc to output in the host computer
Figure BDA0003998837620000044
The host computer obtains the input current command value corresponding to the torque according to the pre-saved TI curve, and calculates the d and q axis current command values of the arc segmented stator according to the formula
Figure BDA0003998837620000045
And transmitted to the drive controller through the communication bus;

步骤2:被测电机根据受到的螺旋桨转速指令n*逐渐加速到稳定转速n,通过位置传感器得到当前转速n并通过通信线传递给驱动控制器;Step 2: The motor under test gradually accelerates to a stable speed n according to the propeller speed command n * , obtains the current speed n through the position sensor and transmits it to the drive controller through the communication line;

步骤3:驱动控制器通过采样电路,采样得到当前的直流母线电压Udc,以及当前dq轴电流id、iqStep 3: The drive controller samples the current DC bus voltage U dc and the current dq axis currents id and i q through a sampling circuit;

步骤4:将dq轴电流指令的

Figure BDA0003998837620000051
分别与当前dq轴电流id与iq作差,利用dq轴电流PI控制器进行闭环控制,得到弧形分段定子永磁同步电机定子dq轴电压指令信号ud、uq:Step 4: Set the dq axis current command
Figure BDA0003998837620000051
The current dq axis currents i d and i q are subtracted respectively, and the dq axis current PI controller is used for closed-loop control to obtain the arc-shaped segmented stator permanent magnet synchronous motor stator dq axis voltage command signals u d and u q :

Figure BDA0003998837620000052
Figure BDA0003998837620000052

上式中,kpd,kid分别为d轴电流pd环节的比例系数和积分系数;kpd,kid分别为d轴电流pd环节的比例系数和积分系数;In the above formula, k pd , k id are the proportional coefficient and integral coefficient of the d-axis current pd link respectively; k pd , k id are the proportional coefficient and integral coefficient of the d-axis current pd link respectively;

步骤5:将步骤4中获得的弧形分段定子(4)电压指令信号ud(s)、uq(s)输入到SVPWM环节中,微处理器利用空间调制算法产生6路PWM驱动控制信号并将其输出至功率驱动电路,进而控制三相全控桥各个功率器件的通断,实现对弧形分段定子永磁同步电机的闭环控制。Step 5: The arc segmented stator (4) voltage command signals u d (s) and u q (s) obtained in step 4 are input into the SVPWM link. The microprocessor generates 6 PWM drive control signals using a spatial modulation algorithm and outputs them to the power drive circuit, thereby controlling the on and off of each power device of the three-phase full-controlled bridge, thereby realizing closed-loop control of the arc segmented stator permanent magnet synchronous motor.

进一步的技术方案在于:对螺旋桨所受拉力的仿真模拟包括如下步骤:A further technical solution is that the simulation of the pulling force on the propeller includes the following steps:

步骤1:在上位机中设定需要电磁铁输出的拉力值

Figure BDA0003998837620000053
根据公式计算得到两组电磁铁绕组的目标电流值
Figure BDA0003998837620000054
Step 1: Set the tension value required by the electromagnet in the host computer
Figure BDA0003998837620000053
The target current values of the two sets of electromagnet windings are calculated according to the formula
Figure BDA0003998837620000054

Figure BDA0003998837620000055
Figure BDA0003998837620000055

上式中,KTH为比例系数,在电磁铁铁芯不饱和的前提下为一常数,可经试验测得;In the above formula, KTH is the proportionality coefficient, which is a constant under the premise that the electromagnet core is not saturated and can be measured by experiment;

步骤2:利用通信总线将目标电流值发送给驱动控制器;驱动控制器通过采样电路,采样得到当前的直流母线电压UDC,以及当前的两个电磁铁绕组的电流值ITH7、ITH8Step 2: Send the target current value to the drive controller by using the communication bus; the drive controller obtains the current DC bus voltage U DC and the current current values I TH7 and I TH8 of the two electromagnet windings by sampling through the sampling circuit;

步骤3:将绕组电流指令值

Figure BDA0003998837620000056
与当前绕组电流ITH作差,利用PI控制器进行闭环控制,得到电磁铁绕组输入电压指令信号UTH Step 3: Set the winding current command value
Figure BDA0003998837620000056
Subtract the current ITH from the current winding current and use the PI controller for closed-loop control to obtain the electromagnetic winding input voltage command signal UTH .

Figure BDA0003998837620000061
Figure BDA0003998837620000061

Figure BDA0003998837620000062
Figure BDA0003998837620000062

上式中,kpTH,kiTH为闭环PI环节的比例系数和积分系数;In the above formula, k pTH , k iTH are the proportional coefficient and integral coefficient of the closed-loop PI link;

步骤4:将步骤3中获得的电磁铁绕组输入电压指令信号UTH,与当前直流母线电压UDC做比得到当前功率器件的占空比指令值:Step 4: Compare the electromagnetic winding input voltage command signal U TH obtained in step 3 with the current DC bus voltage U DC to obtain the current duty cycle command value of the power device:

Figure BDA0003998837620000063
Figure BDA0003998837620000063

步骤5:根据计算得到的占空比DTH控制同时两个电磁铁驱动电路中功率器件的通断;实现对两个电磁铁绕组电流以及输出吸力的闭环控制,模拟螺旋桨所受的轴向拉力。Step 5: Control the on and off of the power devices in the two electromagnet drive circuits at the same time according to the calculated duty cycle DTH ; implement closed-loop control of the two electromagnet winding currents and output suction forces to simulate the axial tension on the propeller.

进一步的技术方案在于:对螺旋桨因气动力不平衡受到动态弯矩的仿真模拟的方法包括如下步骤:A further technical solution is that a method for simulating the dynamic bending moment of a propeller due to aerodynamic imbalance comprises the following steps:

步骤1:在上位机中设定波动弯矩的幅值TBE和频率f,根据公式计算得到两个电磁铁绕组中的目标电流值

Figure BDA0003998837620000064
Step 1: Set the amplitude T BE and frequency f of the fluctuating bending moment in the host computer, and calculate the target current value in the two electromagnet windings according to the formula
Figure BDA0003998837620000064

Figure BDA0003998837620000065
Figure BDA0003998837620000065

上式中,KBE为比例系数,在电磁铁铁芯不饱和的前提下为一常数,可经试验测得;In the above formula, K BE is the proportional coefficient, which is a constant under the premise that the electromagnet core is not saturated and can be measured by experiment;

步骤2:上位机利用通信总线将目标电流值发送给驱动控制器;驱动控制器通过采样电路,采样得到当前的直流母线电压UDC,以及当前的电磁铁中绕组电流值iBEStep 2: The host computer sends the target current value to the drive controller via the communication bus; the drive controller obtains the current DC bus voltage U DC and the current winding current value i BE in the electromagnet through sampling circuit;

步骤3:将绕组电流指令值

Figure BDA0003998837620000066
与当前绕组电流iBE作差,利用PI控制器进行闭环控制,得到电磁铁(7)绕组输入电压指令信号uBE:Step 3: Set the winding current command value
Figure BDA0003998837620000066
Subtract the current i BE from the current winding current and use the PI controller for closed-loop control to obtain the electromagnet (7) winding input voltage command signal u BE :

Figure BDA0003998837620000067
Figure BDA0003998837620000067

上式中,kpBE,kiBE为闭环PI环节的比例系数和积分系数;In the above formula, k pBE , k iBE are the proportional coefficient and integral coefficient of the closed-loop PI link;

步骤4:将步骤3中获得的电磁铁绕组输入电压指令信号uBE,与当前直流母线电压UDC做比得到当前功率器件的占空比指令值dBEStep 4: Compare the electromagnetic winding input voltage command signal u BE obtained in step 3 with the current DC bus voltage U DC to obtain the current duty cycle command value d BE of the power device:

Figure BDA0003998837620000071
Figure BDA0003998837620000071

步骤5:根据计算得到的占空比dBE控制功率器件通断,实现对电磁铁绕组电流以及输出吸力的闭环控制,通过控制两个电磁铁之间输出吸力的差值的幅值以及频率模拟螺旋桨所受的动态弯矩。Step 5: Control the on and off of the power device according to the calculated duty cycle d BE to achieve closed-loop control of the electromagnet winding current and output suction. The dynamic bending moment of the propeller is simulated by controlling the amplitude and frequency of the difference in output suction between the two electromagnets.

采用上述技术方案所产生的有益效果在于:本发明所述装置分别在转动惯量、输出转矩、受力情况三个方面实现对螺旋桨负载特性的模拟。若结合环境试验箱,模拟不同海拔高度下的大气压强以及环境温度,可以在地面条件下实现对推进电机带螺旋桨运行状态的精确模拟、分析。The beneficial effect of adopting the above technical solution is that the device of the present invention can simulate the propeller load characteristics in three aspects: moment of inertia, output torque and force. If combined with an environmental test chamber to simulate the atmospheric pressure and ambient temperature at different altitudes, the operation state of the propulsion motor with the propeller can be accurately simulated and analyzed under ground conditions.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

下面结合附图和具体实施方式对本发明作进一步详细的说明。The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

图1为本发明实施例所述螺旋桨负载特性模拟装置的分解结构示意图;FIG1 is a schematic diagram of the exploded structure of a propeller load characteristic simulation device according to an embodiment of the present invention;

图2为本发明实施例所述装置中驱动控制器与各部件之间的连接关系图;FIG2 is a diagram showing the connection relationship between the drive controller and various components in the device according to an embodiment of the present invention;

图3为本发明实施例所述装置中基础惯量圆盘的分解结构示意图;FIG3 is a schematic diagram of the exploded structure of the basic inertia disk in the device according to an embodiment of the present invention;

图4为本发明实施例所述装置中可轴向滑动的滚动轴承结构示意图;FIG4 is a schematic diagram of the structure of an axially slidable rolling bearing in the device according to an embodiment of the present invention;

图5为本发明实施例所述装置中分段弧形定子永磁电机的控制策略框图;FIG5 is a block diagram of a control strategy for a segmented arc stator permanent magnet motor in the device according to an embodiment of the present invention;

图6为本发明实施例所述装置中电磁铁电流控制策略框图;FIG6 is a block diagram of an electromagnet current control strategy in the device according to an embodiment of the present invention;

其中:1、安装底座;2、第一支架;3、第二支架;4、基础惯量圆盘;4-1、惯量圆盘输出轴;4-2、圆盘本体;4-3、磁极;4-4、补偿扇形盘;4-5、配重块;4-6、螺栓;5、弧形分段定子;6、可轴向滑动的滚动轴承;6-1、滑动轴承;6-2、滚动轴承;7、位置传感器;8、电磁铁;9、被测电机;10、第三支架;11、联轴器;12、驱动控制器;Among them: 1. Mounting base; 2. First bracket; 3. Second bracket; 4. Basic inertia disc; 4-1. Inertia disc output shaft; 4-2. Disc body; 4-3. Magnetic pole; 4-4. Compensation sector disc; 4-5. Counterweight; 4-6. Bolt; 5. Arc segmented stator; 6. Axially slidable rolling bearing; 6-1. Sliding bearing; 6-2. Rolling bearing; 7. Position sensor; 8. Electromagnet; 9. Motor under test; 10. Third bracket; 11. Coupling; 12. Drive controller;

13、上位机。13. Host computer.

具体实施方式DETAILED DESCRIPTION

下面结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明的一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

在下面的描述中阐述了很多具体细节以便于充分理解本发明,但是本发明还可以采用其他不同于在此描述的其它方式来实施,本领域技术人员可以在不违背本发明内涵的情况下做类似推广,因此本发明不受下面公开的具体实施例的限制。In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

如图1所示,本发明实施例公开了一种螺旋桨负载特性模拟试验装置,包括安装底座1,所述装置中其它部件固定到所述安装底座上;所述安装底座1上固定有一个第一支架2和一个第二支架3,第一支架2与第二支架3之间设置有基础惯量圆盘4,所述基础惯量圆盘4下侧的安装底座1上设置有一个弧形分段定子5,所述基础惯量圆盘4上侧的所述第一支架2上固定有一个弧形分段定子5,上下两个弧形分段定子5的结构相同;所述基础惯量圆盘4的轴心设置有惯量圆盘输出轴4-1,所述惯量圆盘输出轴4-1的两端分别通过一个可轴向滑动的滚动轴承6与第一支架2以及第二支架3连接;进一步的,所述第一支架2的上侧形成有水平部,上侧的弧形分段定子5固定在所述水平部上。As shown in Figure 1, an embodiment of the present invention discloses a propeller load characteristic simulation test device, including a mounting base 1, and other components in the device are fixed to the mounting base; a first bracket 2 and a second bracket 3 are fixed on the mounting base 1, and a basic inertia disk 4 is arranged between the first bracket 2 and the second bracket 3, an arc-shaped segmented stator 5 is arranged on the mounting base 1 on the lower side of the basic inertia disk 4, and an arc-shaped segmented stator 5 is fixed on the first bracket 2 on the upper side of the basic inertia disk 4, and the upper and lower arc-shaped segmented stators 5 have the same structure; an inertia disk output shaft 4-1 is arranged on the axis of the basic inertia disk 4, and the two ends of the inertia disk output shaft 4-1 are respectively connected to the first bracket 2 and the second bracket 3 through an axially slidable rolling bearing 6; further, a horizontal portion is formed on the upper side of the first bracket 2, and the arc-shaped segmented stator 5 on the upper side is fixed on the horizontal portion.

所述惯量圆盘输出轴4-1的端部延伸到所述第一支架2的外侧,且该端部设置有位置传感器7,两个结构相同的电磁铁8位于所述基础惯量圆盘4的一侧,正对基础惯量圆盘4面边缘且关于惯量圆盘输出轴4-1对称,向两个电磁铁中通入相等的直流电流,对所述惯量圆盘4产生相同大小的吸力,产生的合力垂直于基础惯量圆盘4的盘面且位于轴心处,通过改变直流电流的大小改变吸力,进而实现对螺旋桨负载所受拉力的模拟;被测电机9通过第三支架10固定到所述安装底座1上,所述被测电机9的输出轴通过联轴器11与所述惯量圆盘输出轴4-1连接,驱动控制器12与模拟控制上位机13之间通过通信总线连接;驱动控制器12与母线电源、弧形分段定子5以及电磁铁8均通过动力电缆连接,驱动控制器12将采集到的位置信号以及转速信号通过通信总线上传给模拟控制上位机13进行处理。The end of the inertia disc output shaft 4-1 extends to the outside of the first bracket 2, and a position sensor 7 is provided at the end. Two electromagnets 8 with the same structure are located on one side of the basic inertia disc 4, facing the edge of the basic inertia disc 4 and symmetrical about the inertia disc output shaft 4-1. Equal direct currents are passed through the two electromagnets to generate the same suction force on the inertia disc 4. The resultant force generated is perpendicular to the disc surface of the basic inertia disc 4 and is located at the axis. The suction force is changed by changing the magnitude of the direct current, thereby achieving the effect of adjusting the inertia disc 4. Simulation of the tension exerted on the propeller load; the motor 9 under test is fixed to the mounting base 1 through the third bracket 10, the output shaft of the motor 9 under test is connected to the inertia disc output shaft 4-1 through the coupling 11, and the drive controller 12 is connected to the simulation control host computer 13 through a communication bus; the drive controller 12 is connected to the bus power supply, the arc segmented stator 5 and the electromagnet 8 through a power cable, and the drive controller 12 uploads the collected position signal and speed signal to the simulation control host computer 13 through the communication bus for processing.

进一步的,如图1和图3所示,所述基础惯量圆盘4包括圆盘本体4-2,所述圆盘本体4-2的中心固定有惯量圆盘输出轴4-1,所述圆盘本体4-2的外周固定有大小相同、均匀交替排布的N、S磁极4-3;基础惯量圆盘4与弧形分段定子5构成表贴式内转子永磁同步电机结构;所述圆盘本体4-2的一个面上固定有4块完全相同且对称安装的补偿扇形盘4-4,通过改变其重量实现对不同螺旋桨负载转动惯量的模拟;靠近所述圆盘本体4-2的边缘处固定有配重块4-5,通过改变其重量的方式实现对螺旋桨偏心力的模拟;补偿扇形盘4-4和配重块4-5采用螺栓4-6固定到圆盘本体4-2上。Furthermore, as shown in Figures 1 and 3, the basic inertia disc 4 includes a disc body 4-2, the center of which is fixed with an inertia disc output shaft 4-1, and the outer periphery of the disc body 4-2 is fixed with N and S poles 4-3 of the same size and evenly and alternately arranged; the basic inertia disc 4 and the arc-shaped segmented stator 5 constitute a surface-mounted inner rotor permanent magnet synchronous motor structure; four identical and symmetrically installed compensation sector discs 4-4 are fixed on one surface of the disc body 4-2, and the simulation of the rotational inertia of different propeller loads is achieved by changing their weight; a counterweight block 4-5 is fixed near the edge of the disc body 4-2, and the simulation of the propeller eccentric force is achieved by changing its weight; the compensation sector disc 4-4 and the counterweight block 4-5 are fixed to the disc body 4-2 by bolts 4-6.

惯量圆盘输出轴4-1与被测电机9的输出轴采用联轴器11对轴连接,被测电机9处于电动状态并以指定转速n带动惯量圆盘同向同速旋转,基础惯量圆盘输出轴4-1与被测电机9的输出轴转速相同,转矩方向相反。此时,控制基础惯量圆盘4输出指定的转矩即可使得被测电机9受到反方向转矩,模拟螺旋桨负载的转矩特性。The inertia disc output shaft 4-1 is connected to the output shaft of the motor 9 under test by a coupling 11. The motor 9 under test is in an electric state and drives the inertia disc to rotate in the same direction and speed at a specified speed n. The basic inertia disc output shaft 4-1 has the same speed as the output shaft of the motor 9 under test, and the torque direction is opposite. At this time, controlling the basic inertia disc 4 to output a specified torque can cause the motor 9 under test to be subjected to a reverse torque, simulating the torque characteristics of the propeller load.

基础惯量圆盘4的正上方和正下方分别安装了两个相同的弧形分段定子5,对称分布抵消单边磁拉力。两个弧形分段定子5分别绕制完全相同的对称A、B、C三相绕组;由此,基础惯量圆盘4、磁极、弧形分段定子5组成的结构可以视作弧形分段的永磁同步电机。向两个三相定子模块绕组中通入对称三相电流,且保持相同相电流相等,通过改变相电流的幅值、相位、频率给基础惯量圆盘施加平稳的转矩,实现对螺旋桨负载转矩特性的模拟。Two identical arc-shaped segmented stators 5 are installed directly above and below the basic inertia disc 4, respectively, and are symmetrically distributed to offset the unilateral magnetic pull. The two arc-shaped segmented stators 5 are respectively wound with completely identical symmetrical A, B, and C three-phase windings; therefore, the structure composed of the basic inertia disc 4, magnetic poles, and arc-shaped segmented stators 5 can be regarded as an arc-shaped segmented permanent magnet synchronous motor. Symmetrical three-phase currents are passed through the windings of the two three-phase stator modules, and the currents of the same phases are kept equal. By changing the amplitude, phase, and frequency of the phase current, a stable torque is applied to the basic inertia disc to simulate the propeller load torque characteristics.

为了模拟螺旋桨由于制造产生的偏心力特性,在基础惯量圆盘4靠近边缘处添加配重块4-5,通过改变其重量的方式实现对螺旋桨偏心力的模拟,配重块4-5采用螺栓4-6固定到基础惯量圆盘4上。In order to simulate the eccentric force characteristics of the propeller caused by manufacturing, a counterweight block 4-5 is added near the edge of the basic inertia disk 4, and the eccentric force of the propeller is simulated by changing its weight. The counterweight block 4-5 is fixed to the basic inertia disk 4 with bolts 4-6.

为了补偿基础惯量圆盘4与实际螺旋桨负载转动惯量之间的差值,在基础惯量圆盘4上添加4块完全相同且对称安装的补偿扇形盘4-4,通过改变其重量实现对不同螺旋桨负载转动惯量的模拟,补偿扇形盘4-4采用螺栓4-6固定到基础惯量圆盘4上。In order to compensate for the difference between the basic inertia disc 4 and the actual propeller load moment of inertia, four identical and symmetrically installed compensation sector discs 4-4 are added to the basic inertia disc 4. By changing their weight, the simulation of the moment of inertia of different propeller loads is achieved. The compensation sector disc 4-4 is fixed to the basic inertia disc 4 with bolts 4-6.

为了模拟螺旋桨运行中受到的轴向拉力,将两电磁铁8正对基础惯量盘4面边缘且关于转轴对称安装。向两个电磁铁8中通入相等的直流电流,对基础惯量圆盘4产生相同大小的吸力,产生的合力垂直于惯量盘面且位于轴心处,通过改变直流电流的大小改变吸力,进而实现对螺旋桨负载所受拉力的模拟。此外,基础惯量圆盘4采用一对可轴向滑动的滚动轴承6进行支撑,将滚动轴承安装于滑动轴承外,将滑动轴承安装于惯量圆盘输出轴外,由此可实现将惯量盘受到的轴向力传递到被测电机9处,用以模拟被测电机9在螺旋桨拉力作用下的特性。In order to simulate the axial tension on the propeller during operation, two electromagnets 8 are installed facing the edge of the basic inertia disk 4 and symmetrically about the rotating axis. Equal DC current is passed through the two electromagnets 8 to generate the same suction force on the basic inertia disk 4. The resultant force generated is perpendicular to the surface of the inertia disk and located at the axis. The suction force is changed by changing the magnitude of the DC current, thereby achieving the simulation of the tension on the propeller load. In addition, the basic inertia disk 4 is supported by a pair of axially slidable rolling bearings 6, the rolling bearings are installed outside the sliding bearings, and the sliding bearings are installed outside the output shaft of the inertia disk, thereby achieving the transmission of the axial force on the inertia disk to the motor 9 under test, so as to simulate the characteristics of the motor 9 under the action of the propeller tension.

进一步的,如图4所示,所述可轴向滑动的滚动轴承6包括位于内圈的滑动轴承6-1以及固定在滑动轴承6-1外圈的滚动轴承6-2,所述滑动轴承6-1的内圈与所述惯量圆盘输出轴4-1固定连接。Further, as shown in FIG. 4 , the axially slidable rolling bearing 6 includes a sliding bearing 6-1 located at the inner ring and a rolling bearing 6-2 fixed to the 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.

为了模拟螺旋桨运行时由于气动力不平衡对推进电机施加的动态弯矩特性,可以给一个电磁铁8施加一个直流偏置的波动电流,使得一个电磁铁8对惯量盘的吸力产生波动,进而两个电磁铁的合力将对惯量圆盘4产生附加弯矩的轴向力。通过改变该电流波动的幅值和频率,实现对螺旋桨不平衡气动弯矩特性的模拟。In order to simulate the dynamic bending moment characteristics imposed on the propulsion motor due to the aerodynamic imbalance when the propeller is running, a DC biased fluctuating current can be applied to an electromagnet 8, so that the suction force of the electromagnet 8 on the inertia disk fluctuates, and then the combined force of the two electromagnets will generate an axial force of additional bending moment on the inertia disk 4. By changing the amplitude and frequency of the current fluctuation, the simulation of the unbalanced aerodynamic bending moment characteristics of the propeller is achieved.

综上,本发明螺旋桨负载特性模拟试验装置分别在转动惯量、输出转矩、受力情况三个方面实现对螺旋桨负载特性的模拟。若结合环境试验箱,模拟不同海拔高度下的大气压强以及环境温度,可以在地面条件下实现对推进电机带螺旋桨运行状态的精确模拟、分析。In summary, the propeller load characteristic simulation test device of the present invention can simulate the propeller load characteristics in three aspects: moment of inertia, output torque, and force conditions. If combined with an environmental test chamber to simulate the atmospheric pressure and ambient temperature at different altitudes, the operation state of the propulsion motor with the propeller can be accurately simulated and analyzed under ground conditions.

以一个参数已知的某型螺旋桨为例,本发明基于弧形分段定子永磁同步电机的螺旋桨负载特性模拟试验装置的测试过程具体如下:Taking a certain type of propeller with known parameters as an example, the test process of the propeller load characteristic simulation test device based on the arc segmented stator permanent magnet synchronous motor of the present invention is as follows:

一、对螺旋桨所受偏心力的仿真模拟1. Simulation of the eccentric force on the propeller

步骤1:通过静平衡试验、动平衡试验得到螺旋桨偏心力F1Step 1: Obtain the propeller eccentric force F 1 through static balance test and dynamic balance test.

步骤2:计算需要的配重块4-5质量m1为:Step 2: Calculate the required counterweight 4-5 mass m1 as:

Figure BDA0003998837620000111
Figure BDA0003998837620000111

上式中,R3为配重块底部圆心与惯量圆盘输出轴4-1轴心的距离,ω为螺旋桨旋转角速度。In the above formula, R 3 is the distance between the center of the bottom circle of the counterweight block and the center of the inertia disk output shaft 4-1, and ω is the angular velocity of propeller rotation.

步骤3:配重块4-5选择圆柱体,计算其重量l为:Step 3: Select a cylinder for the counterweight 4-5 and calculate its weight l:

Figure BDA0003998837620000112
Figure BDA0003998837620000112

上式中,r为配重块4-5底面半径。In the above formula, r is the bottom radius of the counterweight block 4-5.

步骤4:选择重量为l的配重块4-5安装在基础惯量圆盘4预留的安装止口内,采用螺栓4-6固定,实现对螺旋桨所受偏心力的模拟。Step 4: Select a counterweight block 4-5 with a weight of l and install it in the reserved installation stop of the basic inertia disk 4, and fix it with bolts 4-6 to simulate the eccentric force on the propeller.

二、对转动惯量的仿真模拟2. Simulation of the moment of inertia

步骤1:在已完成偏心力匹配的基础上,确定配重块4-5的转动惯量:Step 1: Based on the completed eccentric force matching, determine the moment of inertia of the counterweight 4-5:

Figure BDA0003998837620000113
Figure BDA0003998837620000113

步骤2:确定所需的惯量补偿扇形盘4-4的转动惯量ΔJ为:Step 2: Determine the required moment of inertia ΔJ of the inertia compensation sector disk 4-4:

ΔJ=J1-J2-J3 ΔJ=J 1 -J 2 -J 3

上式中,ΔJ为补偿扇形盘4-4的转动惯量,J1为目标螺旋桨的转动惯量,J2为基础惯量圆盘的转动惯量,转动惯量的单位为kg·m2In the above formula, ΔJ is the moment of inertia of the compensation sector disk 4-4, J1 is the moment of inertia of the target propeller, J2 is the moment of inertia of the basic inertia disk, and the unit of the moment of inertia is kg· m2 ;

步骤3:根据计算出的补偿扇形盘4-4的转动惯量,计算补偿扇形盘4-4的重量h为:Step 3: Based on the calculated moment of inertia of the compensating sector disk 4-4, the weight h of the compensating sector disk 4-4 is calculated as:

Figure BDA0003998837620000121
Figure BDA0003998837620000121

上式中,ρ为惯量圆盘及补偿扇形盘材料的密度;R2为补偿扇形盘的外半径;R1为补偿扇形盘的内半径,γ为补偿扇形盘的圆心角。In the above formula, ρ is the density of the inertia disk and the compensation sector disk material; R2 is the outer radius of the compensation sector disk; R1 is the inner radius of the compensation sector disk, and γ is the central angle of the compensation sector disk.

步骤4:选择4块重量为h的补偿扇形盘4-4安装在基础惯量圆盘预留的安装止口内,采用螺栓4-6固定,实现对螺旋桨负载转动惯量的模拟。Step 4: Select 4 compensating sector disks 4-4 with a weight of h and install them in the mounting stoppers reserved in the basic inertia disk, and fix them with bolts 4-6 to simulate the propeller load rotational inertia.

三、对于转矩特性的仿真模拟3. Simulation of torque characteristics

步骤1:在上位机13中设定需要惯量圆盘4输出的转矩

Figure BDA0003998837620000122
上位机13根据预先保存的T-I曲线得到该转矩对应的输入电流指令值,根据公式计算得到弧形分段定子的d、q轴电流指令值
Figure BDA0003998837620000123
并通过通信总线传递给驱动控制器12。Step 1: Set the torque required to be output by the inertia disc 4 in the host computer 13
Figure BDA0003998837620000122
The host computer 13 obtains the input current command value corresponding to the torque according to the pre-stored TI curve, and calculates the d-axis and q-axis current command values of the arc segmented stator according to the formula
Figure BDA0003998837620000123
And transmitted to the drive controller 12 through the communication bus.

步骤2:被测电机9根据受到的螺旋桨转速指令n*逐渐加速到稳定转速n,通过位置传感器7得到当前转速n并通过通信线传递给驱动控制器12。Step 2: The motor 9 under test gradually accelerates to a stable speed n according to the received propeller speed command n * , obtains the current speed n through the position sensor 7 and transmits it to the drive controller 12 through the communication line.

步骤3:驱动控制器12通过采样电路,采样得到当前的直流母线电压Udc,以及当前dq轴电流id、iqStep 3: The drive controller 12 obtains the current DC bus voltage U dc and the current dq axis currents id and i q by sampling through a sampling circuit.

步骤4:将dq轴电流指令的

Figure BDA0003998837620000124
分别与当前dq轴电流id与iq作差,利用dq轴电流PI控制器进行闭环控制,得到弧形分段定子永磁同步电机定子dq轴电压指令信号ud、uq:Step 4: Set the dq axis current command
Figure BDA0003998837620000124
The current dq axis currents i d and i q are subtracted respectively, and the dq axis current PI controller is used for closed-loop control to obtain the arc-shaped segmented stator permanent magnet synchronous motor stator dq axis voltage command signals u d and u q :

Figure BDA0003998837620000125
Figure BDA0003998837620000125

上式中,kpd,kid分别为d轴电流pd环节的比例系数和积分系数;kpd,kid分别为d轴电流pd环节的比例系数和积分系数。In the above formula, k pd , k id are the proportional coefficient and integral coefficient of the d-axis current pd link respectively; k pd , k id are the proportional coefficient and integral coefficient of the d-axis current pd link respectively.

步骤5:将步骤4中获得的弧形分段定子5电压指令信号ud(s)、uq(s)输入到SVPWM环节中,微处理器利用空间调制算法产生6路PWM驱动控制信号并将其输出至功率驱动电路,进而控制三相全控桥各个功率器件的通断,实现对弧形分段定子永磁同步电机的闭环控制。Step 5: The arc segmented stator 5 voltage command signals u d (s) and u q (s) obtained in step 4 are input into the SVPWM link. The microprocessor uses the spatial modulation algorithm to generate 6-channel PWM drive control signals and outputs them to the power drive circuit, thereby controlling the on and off of each power device of the three-phase full-controlled bridge to achieve closed-loop control of the arc segmented stator permanent magnet synchronous motor.

由此通过控制弧形分段定子5中输入电流来控制惯量圆盘4输出转矩,使之与螺旋桨负载在真实工况下的转矩相等,实现对螺旋桨负载转矩特性的模拟。Therefore, the output torque of the inertia disc 4 is controlled by controlling the input current in the arc segmented stator 5 to make it equal to the torque of the propeller load under the actual working condition, thereby realizing the simulation of the propeller load torque characteristics.

四、对螺旋桨所受拉力的仿真模拟4. Simulation of the propeller tension

步骤1:在上位机13中设定需要电磁铁输出的拉力值

Figure BDA0003998837620000131
根据公式计算得到电磁铁8绕组的目标电流值
Figure BDA0003998837620000132
Step 1: Set the tension value required for the electromagnet to output in the host computer 13
Figure BDA0003998837620000131
The target current value of the electromagnet 8 winding is calculated according to the formula
Figure BDA0003998837620000132

Figure BDA0003998837620000133
Figure BDA0003998837620000133

上式中,KTH为比例系数,在电磁铁8铁芯不饱和的前提下为一常数,可经试验测得。In the above formula, K TH is a proportionality coefficient, which is a constant under the premise that the core of the electromagnet 8 is not saturated and can be measured through experiments.

步骤2:利用通信总线将目标电流值发送给驱动控制器12;驱动控制器12通过采样电路,采样得到当前的直流母线电压UDC,以及当前的电磁铁8绕组电流值ITH7、ITH8Step 2: Send the target current value to the drive controller 12 by using the communication bus; the drive controller 12 obtains the current DC bus voltage U DC and the current winding current values I TH7 and I TH8 of the electromagnet 8 by sampling through a sampling circuit.

步骤3:将绕组电流指令值

Figure BDA0003998837620000134
与当前绕组电流ITH作差,利用PI控制器进行闭环控制,得到电磁铁绕组输入电压指令信号UTH Step 3: Set the winding current command value
Figure BDA0003998837620000134
Subtract the current ITH from the current winding current and use the PI controller for closed-loop control to obtain the electromagnetic winding input voltage command signal UTH .

Figure BDA0003998837620000135
Figure BDA0003998837620000135

上式中,kpTH,kiTH为闭环PI环节的比例系数和积分系数。In the above formula, k pTH , k iTH are the proportional coefficient and integral coefficient of the closed-loop PI link.

步骤4:将步骤3中获得的电磁铁绕组输入电压指令信号UTH,与当前直流母线电压UDC做比得到当前功率器件的占空比指令值:Step 4: Compare the electromagnetic winding input voltage command signal UTH obtained in step 3 with the current DC bus voltage UDC to obtain the current duty cycle command value of the power device:

Figure BDA0003998837620000136
Figure BDA0003998837620000136

步骤5:根据计算得到的占空比DTH控制同时两个电磁铁8驱动电路中功率器件的通断。实现对两个电磁铁8绕组电流以及输出吸力的闭环控制,模拟螺旋桨所受的轴向拉力。Step 5: According to the calculated duty cycle D TH, the power devices in the driving circuits of the two electromagnets 8 are controlled to be turned on and off at the same time, so as to realize the closed-loop control of the winding current and the output suction of the two electromagnets 8 and simulate the axial tension of the propeller.

五、对螺旋桨因气动力不平衡受到动态弯矩的仿真模拟5. Simulation of dynamic bending moment of propeller due to aerodynamic imbalance

步骤1:在上位机中设定波动弯矩的幅值TBE和频率f,根据公式计算得到电磁铁8绕组中的目标电流值

Figure BDA0003998837620000141
Step 1: Set the amplitude T BE and frequency f of the fluctuating bending moment in the host computer, and calculate the target current value in the winding of the electromagnet 8 according to the formula
Figure BDA0003998837620000141

Figure BDA0003998837620000142
Figure BDA0003998837620000142

上式中,KBE为比例系数,在电磁铁8铁芯不饱和的前提下为一常数,可经试验测得。In the above formula, K BE is a proportionality coefficient, which is a constant under the premise that the core of the electromagnet 8 is not saturated and can be measured through experiments.

步骤2:上位机13利用通信总线将目标电流值发送给驱动控制器12;驱动控制器12通过采样电路,采样得到当前的直流母线电压UDC,以及当前的两个电磁铁中的一个电磁铁绕组电流值iBEStep 2: The host computer 13 sends the target current value to the drive controller 12 via the communication bus; the drive controller 12 obtains the current DC bus voltage U DC and the current winding current value i BE of one of the two electromagnets by sampling through a sampling circuit.

步骤3:将绕组电流指令值

Figure BDA0003998837620000143
与当前绕组电流iBE作差,利用PI控制器进行闭环控制,得到电磁铁绕组输入电压指令信号uBE:Step 3: Set the winding current command value
Figure BDA0003998837620000143
Subtract the current from the current winding current i BE and use the PI controller for closed-loop control to get the electromagnet winding input voltage command signal u BE :

Figure BDA0003998837620000144
Figure BDA0003998837620000144

上式中,kpBE,kiBE为闭环PI环节的比例系数和积分系数。In the above formula, k pBE and k iBE are the proportional coefficient and integral coefficient of the closed-loop PI link.

步骤4:将步骤3中获得的电磁铁绕组输入电压指令信号uBE,与当前直流母线电压UDC做比得到当前功率器件的占空比指令值dBEStep 4: Compare the electromagnetic winding input voltage command signal u BE obtained in step 3 with the current DC bus voltage U DC to obtain the current duty cycle command value d BE of the power device:

Figure BDA0003998837620000145
Figure BDA0003998837620000145

步骤5:根据计算得到的占空比dBE控制功率器件通断,实现对电磁铁绕组电流以及输出吸力的闭环控制,通过控制两个电磁铁之间输出吸力的差值的幅值以及频率模拟螺旋桨所受的动态弯矩。Step 5: Control the on and off of the power device according to the calculated duty cycle d BE to achieve closed-loop control of the electromagnet winding current and output suction. The dynamic bending moment of the propeller is simulated by controlling the amplitude and frequency of the difference in output suction between the two electromagnets.

图5为螺旋桨转矩特性控制框图。本发明的螺旋桨转矩特性模拟控制策略包括转矩指令输入、电流指令计算、PI环节、SVPWM环节等。其中,转矩指令给定、目标电流计算均在上位机13中完成,PI环节、SVPWM环节等在微处理器中完成。Fig. 5 is a block diagram of propeller torque characteristic control. The propeller torque characteristic simulation control strategy of the present invention includes torque command input, current command calculation, PI link, SVPWM link, etc. Among them, the torque command setting and target current calculation are completed in the host computer 13, and the PI link, SVPWM link, etc. are completed in the microprocessor.

驱动控制器12包括转速/直流母线电压/交流电流采样电路、微处理器、功率驱动电路以及三相全控桥,采样电路采集分段弧形定子5的三相相电流后输入微处理器中,根据电流指令信号,分别施加d、q轴电流闭环控制并产生6路PWM驱动信号输入到功率驱动电路中,进而控制三相全控桥的开通和关断,实现对分段弧形定子5三相电流的闭环控制。The drive controller 12 includes a speed/DC bus voltage/AC current sampling circuit, a microprocessor, a power drive circuit and a three-phase fully controlled bridge. The sampling circuit collects the three-phase current of the segmented arc stator 5 and inputs it into the microprocessor. According to the current command signal, the d and q axis current closed-loop control is applied respectively and 6 PWM drive signals are generated and input into the power drive circuit, thereby controlling the opening and closing of the three-phase fully controlled bridge to realize closed-loop control of the three-phase current of the segmented arc stator 5.

由于低温环境中无法采用转矩传感器,进行环境试验时无法实时查看当前惯量圆盘4的输出转矩值。因此在实际进行全海拔高度环境下螺旋桨负载特性模拟试验前,需要首先对弧形分段定子5的电流进行标定。Since the torque sensor cannot be used in a low temperature environment, the output torque value of the current inertia disc 4 cannot be viewed in real time during the environmental test. Therefore, before actually conducting the propeller load characteristic simulation test in a full altitude environment, the current of the arc segmented stator 5 needs to be calibrated first.

步骤1:在常温常压条件下,在惯量圆盘输出轴4-1与被测电机输出轴9之间接入一转矩-转速传感器。此时改变弧形分段定子5三相绕组的相电流幅值,测量每一个相电流对应的输出转矩值,形成一组T-I曲线并保存在上位机中,以此T-I曲线作为正式负载试验时输入电流的依据。Step 1: Under normal temperature and pressure conditions, a torque-speed sensor is connected between the inertia disk output shaft 4-1 and the output shaft 9 of the motor under test. At this time, the phase current amplitude of the three-phase winding of the arc segmented stator 5 is changed, and the output torque value corresponding to each phase current is measured to form a set of T-I curves and save them in the host computer. This T-I curve is used as the basis for the input current during the formal load test.

步骤2:正式进行全海拔高度环境下螺旋桨负载特性模拟试验时,在上位机13中输入需要惯量圆盘4输出的转矩数值,上位机13从常温常压下的T-I曲线上查表得到对应的电流值,作为当前弧形分段定子5三相绕组电流的理论指令值。Step 2: When the propeller load characteristic simulation test under the full altitude environment is formally carried out, the torque value required to be output by the inertia disk 4 is input into the upper computer 13, and the upper computer 13 obtains the corresponding current value from the T-I curve under normal temperature and pressure as the theoretical command value of the current three-phase winding current of the arc segmented stator 5.

步骤3:永磁体磁性能受温度影响较大,根据永磁体磁性能与温度的关系式,对理论指令值进行适当的补偿,以该补偿值作为弧形分段定子5三相绕组电流指令值。Step 3: The magnetic properties of permanent magnets are greatly affected by temperature. According to the relationship between the magnetic properties of permanent magnets and temperature, the theoretical command value is appropriately compensated, and the compensation value is used as the current command value of the three-phase winding of the arc-shaped segmented stator 5.

图6为电磁铁电流控制策略框图。本发明螺旋桨负载特性模拟装置的控制策略包括出力指令输入、电流指令计算、PI控制环节。其中,拉力、弯矩指令给定、目标电流计算均在上位机13中完成,PI环节等在微处理器中完成。Figure 6 is a block diagram of the electromagnet current control strategy. The control strategy of the propeller load characteristic simulation device of the present invention includes output command input, current command calculation, and PI control link. Among them, the tension and bending moment command setting and target current calculation are all completed in the host computer 13, and the PI link is completed in the microprocessor.

驱动控制器12包括直流母线电压/直流电流采样电路、微处理器、功率驱动电路以及DC-DC变换电路,采样电路采集电磁铁绕组电流后输入微处理器中,根据电流指令信号,施加电流闭环控制并产生驱动信号输入到功率驱动电路中,进而控制DC-DC变换电路中功率器件的通断,实现对电磁铁中直流电流闭环控制。The drive controller 12 includes a DC bus voltage/DC current sampling circuit, a microprocessor, a power drive circuit and a DC-DC conversion circuit. The sampling circuit collects the electromagnet winding current and inputs it into the microprocessor. According to the current command signal, current closed-loop control is applied and a drive signal is generated and input into the power drive circuit, thereby controlling the on and off of the power devices in the DC-DC conversion circuit to achieve closed-loop control of the DC current in the electromagnet.

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:
Figure FDA0003998837610000021
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:
Figure FDA0003998837610000022
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
Figure FDA0003998837610000031
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:
Figure FDA0003998837610000032
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)
Figure FDA0003998837610000033
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>
Figure FDA0003998837610000034
Figure FDA0003998837610000035
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
Figure FDA0003998837610000041
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
Figure FDA0003998837610000042
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
Figure FDA0003998837610000043
Calculating and obtaining the target current value (or/and) of the two groups of electromagnet windings according to a formula>
Figure FDA0003998837610000044
Figure FDA0003998837610000045
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
Figure FDA0003998837610000046
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
Figure FDA0003998837610000047
Figure FDA0003998837610000051
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:
Figure FDA0003998837610000052
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
Figure FDA0003998837610000053
Figure FDA0003998837610000054
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
Figure FDA0003998837610000055
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
Figure FDA0003998837610000056
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
Figure FDA0003998837610000061
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).
CN202211609279.4A 2022-12-14 2022-12-14 Simulation test device and simulation test method for load characteristics of propeller Pending CN115980572A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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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