CN116339147A - Angle compensation control method and system for follow-up system of aircraft slat fatigue test - Google Patents
Angle compensation control method and system for follow-up system of aircraft slat fatigue test Download PDFInfo
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Abstract
The application belongs to the field of aircraft fatigue test design, and particularly relates to an angle compensation control method and device for a follow-up system of an aircraft slat fatigue test. The method comprises the steps of obtaining a displacement value fed back by an actuator cylinder, and calculating a first deflection angle of deflection of a follow-up frame caused by extension and contraction of the actuator cylinder based on the displacement value and a preset displacement angle model; intercepting a second deflection angle sent to an airfoil driving mechanism by a current slat airfoil driving system; determining an angle difference between the first deflection angle and the second deflection angle; reversely solving a displacement compensation quantity for the angle difference value through a displacement angle model; and superposing the displacement compensation quantity into a displacement instruction to realize the angle compensation control of the follow-up system. The angle accurate compensation control is realized.
Description
Technical Field
The application belongs to the field of aircraft fatigue test design, and particularly relates to an angle compensation control method and device for a follow-up system of an aircraft slat fatigue test.
Background
In the full-size fatigue test of the aircraft slat, the wing surface deflection movement is usually completed by adopting an alternating current servo motor driving system, the wing surface load application is completed by a control system through a swing arm type follow-up frame, the two sets of systems need to be synchronously performed, and the smaller and better the error between the wing surface deflection angle fed back by the driving system and the follow-up frame inclination angle is, so that the angle error can be used as the most important criterion for tracking the wing surface deflection by the follow-up system, and the method has important value for researching the angle control of the swing arm type follow-up system.
At present, a swing arm type follow-up mechanism is adopted in a follow-up system, a hydraulic actuator is adopted to drive the rotation around an airfoil deflection central axis, the displacement of the actuator is calculated from the airfoil deflection angle according to the approximate linear relation between the displacement elongation and the inclination angle of the actuator in a geometric model of the follow-up mechanism, the displacement is used as a controlled physical quantity and is input into a control system, the inclination angle of the follow-up mechanism and the airfoil deflection angle are always consistent, and an angle error is adopted as a safety protection measure. The angle control method based on displacement control has an angle error theoretically due to the approximate linear relation, and the following association of two sets of systems cannot be solved by adopting the angle error as a safety protection measure, so that a long-time asynchronous loading state exists in the loading process.
Disclosure of Invention
In order to solve the technical problems, the application provides an angle compensation control method and device for a follow-up system of an aircraft slat fatigue test, which are used for reducing errors between an inclination angle of a follow-up mechanism and a rotation angle of an airfoil in the test process.
The first aspect of the application provides an angle compensation control method for a follow-up system of an aircraft slat fatigue test, which mainly comprises the following steps:
s1, acquiring a preset linear load spectrum for carrying out actuator cylinder loading on a follow-up frame, wherein the linear load spectrum takes actuator cylinder displacement as a controlled quantity;
s2, calculating a real-time load spectrum displacement instruction according to the linear load spectrum, sending the displacement instruction to a displacement controller, and driving an actuator cylinder to stretch by the displacement controller;
s3, acquiring a displacement value fed back by the actuator cylinder, and calculating a first deflection angle of deflection of the follow-up frame caused by the extension and retraction of the actuator cylinder based on the displacement value and a preset displacement angle model;
s4, capturing a second deflection angle sent to an airfoil driving mechanism by the current slat airfoil driving system;
s5, determining an angle difference value between the first deflection angle and the second deflection angle;
s6, reversely solving a displacement compensation quantity for the angle difference value through a displacement angle model;
and S7, superposing the displacement compensation quantity into a displacement instruction, and driving the actuator cylinder to perform expansion control of the next step by the displacement controller based on the compensated displacement instruction.
Preferably, step S1 further comprises determining a linear load spectrum, specifically comprising:
s11, obtaining a relation between a deflection angle of the follow-up system and the expansion and contraction amount of an actuator cylinder driving the follow-up system to deflect, and constructing a displacement angle model;
and S12, performing linear fitting on a plurality of angle values and corresponding displacement values of the displacement angle model, wherein the angle values at least comprise a maximum deflection angle and a minimum deflection angle, so as to obtain a linear relation of the displacement angles, and further obtain a linear load spectrum taking the displacement as a controlled quantity.
Preferably, in step S2, driving the actuator to extend and retract by the displacement controller includes implementing through a displacement control closed loop, and superimposing a displacement feedback value of the actuator to extend and retract on the displacement command.
Preferably, step S3 further includes:
step S31, obtaining an angle deflection value given by an inclination sensor arranged on the follow-up frame;
and step S32, correcting the first deflection angle based on the angle deflection value.
The second aspect of the application provides an aircraft slat fatigue test follower system angle compensation control system, mainly comprising:
the load spectrum acquisition module is used for acquiring a preset linear load spectrum for carrying out actuator cylinder loading on the follow-up frame, and the linear load spectrum takes actuator cylinder displacement as a controlled quantity;
the displacement instruction generation module is used for calculating a real-time load spectrum displacement instruction according to the linear load spectrum, sending the displacement instruction to a displacement controller, and driving an actuator cylinder to stretch out and draw back by the displacement controller;
the first deflection angle calculation module is used for acquiring a displacement value fed back by the actuator cylinder and calculating a first deflection angle of deflection of the follow-up frame caused by the extension and retraction of the actuator cylinder based on the displacement value and a preset displacement angle model;
the second deflection angle acquisition module is used for capturing a second deflection angle sent to the wing surface driving mechanism by the current slat wing surface driving system;
the angle difference calculation module is used for determining an angle difference value between the first deflection angle and the second deflection angle;
the displacement compensation amount calculation module is used for reversely calculating the displacement compensation amount of the angle difference value through a displacement angle model;
and the displacement correction module is used for superposing the displacement compensation quantity into a displacement instruction, and the displacement controller drives the actuator cylinder to perform expansion control of the next step length based on the compensated displacement instruction.
Preferably, the load spectrum acquisition module further includes a load spectrum determination unit including:
the displacement angle model acquisition unit is used for acquiring the relation between the deflection angle of the follow-up system and the expansion and contraction amount of the actuator cylinder driving the follow-up system to deflect, and constructing a displacement angle model;
and the linear fitting unit is used for carrying out linear fitting on a plurality of angle values and corresponding displacement values of the displacement angle model, wherein the angle values at least comprise a maximum deflection angle and a minimum deflection angle, so as to obtain a linear relation of the displacement angles, and further obtain a linear load spectrum taking the displacement as a controlled quantity.
Preferably, in the displacement command generation module, the driving of the actuator cylinder to extend and retract by the displacement controller includes realizing by a displacement control closed loop, and superimposing a displacement feedback value of the actuator cylinder extension and retraction on the displacement command.
Preferably, the first deflection angle calculation module includes:
the sensor parameter acquisition unit is used for acquiring an angle deflection value given by an inclination sensor arranged on the follow-up frame;
and the first deflection angle correction unit is used for correcting the first deflection angle based on the angle deflection value.
According to the method and the device, the problem of theoretical angle error of model linearization is solved through the compensation quantity, and the control precision of the follow-up system is improved.
Drawings
FIG. 1 is a functional block diagram of a preferred embodiment of a method for controlling angle compensation of a follower system for a fatigue test of an aircraft slat of the present application.
Fig. 2 is a schematic diagram of the slat follower loading principle.
Detailed Description
For the purposes, technical solutions and advantages of the present application, the following describes the technical solutions in the embodiments of the present application in more detail with reference to the drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, of the embodiments of the present application. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application. All other embodiments, based on the embodiments herein, which would be apparent to one of ordinary skill in the art without undue burden are within the scope of the present application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
The first aspect of the present application provides an angle compensation control method for a follow-up system of an aircraft slat fatigue test, as shown in fig. 1, mainly including:
s1, acquiring a preset linear load spectrum for carrying out actuator cylinder loading on a follow-up frame, wherein the linear load spectrum takes actuator cylinder displacement as a controlled quantity;
s2, calculating a real-time load spectrum displacement instruction according to the linear load spectrum, sending the displacement instruction to a displacement controller, and driving an actuator cylinder to stretch by the displacement controller;
s3, acquiring a displacement value fed back by the actuator cylinder, and calculating a first deflection angle of deflection of the follow-up frame caused by the extension and retraction of the actuator cylinder based on the displacement value and a preset displacement angle model;
s4, capturing a second deflection angle sent to an airfoil driving mechanism by the current slat airfoil driving system;
s5, determining an angle difference value between the first deflection angle and the second deflection angle;
s6, reversely solving a displacement compensation quantity for the angle difference value through a displacement angle model;
and S7, superposing the displacement compensation quantity into a displacement instruction, and driving the actuator cylinder to perform expansion control of the next step by the displacement controller based on the compensated displacement instruction.
According to the angle compensation control method based on displacement control, displacement feedback is calculated according to a displacement-angle model to obtain the inclination angle of the follower mechanism, the slat deflection angle is led into a control system, angle errors are generated through comparison, displacement compensation quantity is obtained through a displacement-angle inverse model, the displacement compensation quantity is superimposed and applied to a displacement command, and then the angle errors are corrected in real time, so that angle compensation control of the follower system is achieved. The method only changes the control system, and realizes the accurate compensation control of the angle on the premise of not changing test hardware equipment, load spectrum and control law.
In some alternative embodiments, step S1 further comprises determining a linear load spectrum, comprising in particular:
s11, obtaining a relation between a deflection angle of the follow-up system and the expansion and contraction amount of an actuator cylinder driving the follow-up system to deflect, and constructing a displacement angle model;
and S12, performing linear fitting on a plurality of angle values and corresponding displacement values of the displacement angle model, wherein the angle values at least comprise a maximum deflection angle and a minimum deflection angle, so as to obtain a linear relation of the displacement angles, and further obtain a linear load spectrum taking the displacement as a controlled quantity.
In this embodiment, first, in step S11, an actuator displacement elongation and inclination angle model, abbreviated as displacement angle model, is established according to a follower geometry model. In step S12, according to the requirement of the test control system, the elongation is defined to be increased to be negative, and linear processing is carried out between the maximum value and the minimum value of the deflection angle, so that a linear load spectrum of the elongation of the position control actuator is obtained.
In some alternative embodiments, as shown in fig. 1, in step S2, driving the actuator to retract by the displacement controller includes implementing by a displacement control closed loop, and superimposing a displacement feedback value of the actuator to retract on the displacement command.
In some alternative embodiments, step S3 further comprises:
step S31, obtaining an angle deflection value given by an inclination sensor arranged on the follow-up frame;
and step S32, correcting the first deflection angle based on the angle deflection value.
As shown in fig. 2, in addition to the determination of the first deflection angle by means of calculation, a deflection angle measurement can also be performed by means of a sensor, as can the measured first deflection angle, both first deflection angles being able to calculate the final first deflection angle by means of, for example, weighting.
The second aspect of the application provides an angle compensation control system of an aircraft slat fatigue test follow-up system corresponding to the method, which mainly comprises the following steps:
the load spectrum acquisition module is used for acquiring a preset linear load spectrum for carrying out actuator cylinder loading on the follow-up frame, and the linear load spectrum takes actuator cylinder displacement as a controlled quantity;
the displacement instruction generation module is used for calculating a real-time load spectrum displacement instruction according to the linear load spectrum, sending the displacement instruction to a displacement controller, and driving an actuator cylinder to stretch out and draw back by the displacement controller;
the first deflection angle calculation module is used for acquiring a displacement value fed back by the actuator cylinder and calculating a first deflection angle of deflection of the follow-up frame caused by the extension and retraction of the actuator cylinder based on the displacement value and a preset displacement angle model;
the second deflection angle acquisition module is used for capturing a second deflection angle sent to the wing surface driving mechanism by the current slat wing surface driving system;
the angle difference calculation module is used for determining an angle difference value between the first deflection angle and the second deflection angle;
the displacement compensation amount calculation module is used for reversely calculating the displacement compensation amount of the angle difference value through a displacement angle model;
and the displacement correction module is used for superposing the displacement compensation quantity into a displacement instruction, and the displacement controller drives the actuator cylinder to perform expansion control of the next step length based on the compensated displacement instruction.
In some optional embodiments, the load spectrum acquisition module further includes a load spectrum determination unit including:
the displacement angle model acquisition unit is used for acquiring the relation between the deflection angle of the follow-up system and the expansion and contraction amount of the actuator cylinder driving the follow-up system to deflect, and constructing a displacement angle model;
and the linear fitting unit is used for carrying out linear fitting on a plurality of angle values and corresponding displacement values of the displacement angle model, wherein the angle values at least comprise a maximum deflection angle and a minimum deflection angle, so as to obtain a linear relation of the displacement angles, and further obtain a linear load spectrum taking the displacement as a controlled quantity.
In some alternative embodiments, in the displacement command generation module, driving the actuator to retract by the displacement controller includes implementing through a displacement control closed loop, and superimposing a displacement feedback value of the actuator to retract onto the displacement command.
In some alternative embodiments, the first deflection angle calculation module includes:
the sensor parameter acquisition unit is used for acquiring an angle deflection value given by an inclination sensor arranged on the follow-up frame;
and the first deflection angle correction unit is used for correcting the first deflection angle based on the angle deflection value.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily conceivable by those skilled in the art within the technical scope of the present application should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. An angle compensation control method of a follow-up system for an aircraft slat fatigue test, the follow-up system is used for following a deflection angle of deflection of an airfoil driven by an airfoil driving mechanism, and the follow-up system is driven by an actuator cylinder to deflect, and the method is characterized by comprising the following steps:
s1, acquiring a preset linear load spectrum for carrying out actuator cylinder loading on a follow-up frame, wherein the linear load spectrum takes actuator cylinder displacement as a controlled quantity;
s2, calculating a real-time load spectrum displacement instruction according to the linear load spectrum, sending the displacement instruction to a displacement controller, and driving an actuator cylinder to stretch by the displacement controller;
s3, acquiring a displacement value fed back by the actuator cylinder, and calculating a first deflection angle of deflection of the follow-up frame caused by the extension and retraction of the actuator cylinder based on the displacement value and a preset displacement angle model;
s4, capturing a second deflection angle sent to an airfoil driving mechanism by the current slat airfoil driving system;
s5, determining an angle difference value between the first deflection angle and the second deflection angle;
s6, reversely solving a displacement compensation quantity for the angle difference value through a displacement angle model;
and S7, superposing the displacement compensation quantity into a displacement instruction, and driving the actuator cylinder to perform expansion control of the next step by the displacement controller based on the compensated displacement instruction.
2. The aircraft slat fatigue test follower system angle compensation control method of claim 1, wherein step S1 further comprises determining a linear load spectrum, comprising:
s11, obtaining a relation between a deflection angle of the follow-up system and the expansion and contraction amount of an actuator cylinder driving the follow-up system to deflect, and constructing a displacement angle model;
and S12, performing linear fitting on a plurality of angle values and corresponding displacement values of the displacement angle model, wherein the angle values at least comprise a maximum deflection angle and a minimum deflection angle, so as to obtain a linear relation of the displacement angles, and further obtain a linear load spectrum taking the displacement as a controlled quantity.
3. A method of controlling angle compensation of a follow-up system for aircraft slat fatigue testing according to claim 1, wherein in step S2, driving the ram extension and retraction by the displacement controller comprises superimposing a displacement feedback value of the ram extension and retraction on the displacement command by means of a displacement control closed loop.
4. The aircraft slat fatigue test follower system angle compensation control method of claim 1, wherein step S3 further comprises:
step S31, obtaining an angle deflection value given by an inclination sensor arranged on the follow-up frame;
and step S32, correcting the first deflection angle based on the angle deflection value.
5. An aircraft slat fatigue test follower system angle compensation control system, comprising:
the load spectrum acquisition module is used for acquiring a preset linear load spectrum for carrying out actuator cylinder loading on the follow-up frame, and the linear load spectrum takes actuator cylinder displacement as a controlled quantity;
the displacement instruction generation module is used for calculating a real-time load spectrum displacement instruction according to the linear load spectrum, sending the displacement instruction to a displacement controller, and driving an actuator cylinder to stretch out and draw back by the displacement controller;
the first deflection angle calculation module is used for acquiring a displacement value fed back by the actuator cylinder and calculating a first deflection angle of deflection of the follow-up frame caused by the extension and retraction of the actuator cylinder based on the displacement value and a preset displacement angle model;
the second deflection angle acquisition module is used for capturing a second deflection angle sent to the wing surface driving mechanism by the current slat wing surface driving system;
the angle difference calculation module is used for determining an angle difference value between the first deflection angle and the second deflection angle;
the displacement compensation amount calculation module is used for reversely calculating the displacement compensation amount of the angle difference value through a displacement angle model;
and the displacement correction module is used for superposing the displacement compensation quantity into a displacement instruction, and the displacement controller drives the actuator cylinder to perform expansion control of the next step length based on the compensated displacement instruction.
6. An aircraft slat fatigue test follower system angle compensation control system according to claim 5, wherein the load spectrum acquisition module further comprises a load spectrum determination unit comprising:
the displacement angle model acquisition unit is used for acquiring the relation between the deflection angle of the follow-up system and the expansion and contraction amount of the actuator cylinder driving the follow-up system to deflect, and constructing a displacement angle model;
and the linear fitting unit is used for carrying out linear fitting on a plurality of angle values and corresponding displacement values of the displacement angle model, wherein the angle values at least comprise a maximum deflection angle and a minimum deflection angle, so as to obtain a linear relation of the displacement angles, and further obtain a linear load spectrum taking the displacement as a controlled quantity.
7. An aircraft slat fatigue test follower system angle compensation control system according to claim 5, wherein in the displacement command generation module, driving the ram to retract by the displacement controller comprises superimposing a displacement feedback value of the ram retraction onto the displacement command by a displacement control closed loop implementation.
8. An aircraft slat fatigue test follower system angle compensation control system according to claim 5, wherein the first deflection angle calculation module comprises:
the sensor parameter acquisition unit is used for acquiring an angle deflection value given by an inclination sensor arranged on the follow-up frame;
and the first deflection angle correction unit is used for correcting the first deflection angle based on the angle deflection value.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310335590.2A CN116339147A (en) | 2023-03-30 | 2023-03-30 | Angle compensation control method and system for follow-up system of aircraft slat fatigue test |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310335590.2A CN116339147A (en) | 2023-03-30 | 2023-03-30 | Angle compensation control method and system for follow-up system of aircraft slat fatigue test |
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