A helicopter rotor control matrix automatic calibration system and calibration method

Abstract

The present invention discloses an automatic calibration system for a helicopter rotor control matrix and a calibration method thereof. The automatic calibration system comprises an angle sensor, a slip ring, a photoelectric encoder, a plurality of sets of actuator displacement sensors, a data acquisition system and a main control computer; a test blade model is arranged on a rotor test model support mechanism, an angle sensor is arranged on the upper surface of the root of the test blade model, a cable of the angle sensor is connected to the slip ring, a rotor rotation and control control system is respectively connected to the rotor test model support mechanism, a rotor control actuator and a main control computer, an actuator displacement sensor is connected to the rotor control actuator, and a data acquisition system is respectively connected to the slip ring, the photoelectric encoder, the actuator displacement sensor and the main control computer. The present invention realizes the automatic calibration of the helicopter rotor control matrix, improves the control accuracy of the helicopter test, and improves the test efficiency; it has the advantages of enhancing the helicopter rotor test capability and improving the system automation level.

Description

Technical Field

[0001] The invention relates to the technical field of aviation aerodynamic wind tunnel testing, and in particular to an automatic calibration system and a calibration method for a helicopter rotor control matrix. Background Art

[0002] In the field of helicopter rotor wind tunnel test technology, a full-cycle variable pitch control method is used to control the periodic change of the pitch angle of the blade. In the full-cycle variable pitch control method of the helicopter, the calibration of the control matrix is ​​conventionally performed manually on-site to obtain the relationship between the rotor control actuator, the blade azimuth angle and the corresponding control angle. The disadvantages of the conventional manual on-site calibration method are: low automation level, large measurement error, low efficiency, complicated operation and poor calibration effect. Summary of the invention

[0003] In view of the above shortcomings, the purpose of the present invention is to provide a helicopter rotor control matrix automatic calibration system and calibration method, which can realize the automatic calibration of the rotor wind tunnel test control matrix to solve the shortcomings of the conventional manual on-site calibration method.

[0004] The technical solution adopted by the present invention is as follows: a helicopter rotor control matrix automatic calibration system, including an angle sensor, a slip ring, a photoelectric encoder, multiple groups of actuator displacement sensors, a data acquisition system and a main control computer, a test blade model is fixed on a rotor test model support mechanism, a balance is installed inside the test blade model, and is used to collect the air load acting on the test model, the angle sensor is installed on the upper surface of the blade root of the test blade model, and is used to measure the pitch angle of the test blade model, the cable of the angle sensor is connected to the slip ring electrical signal, the slip ring is installed on the rotating shaft of the rotor test model support mechanism, the main control computer is respectively connected to the rotor rotation and control system, the rotor test model support mechanism, and the rotor control actuator electrical signal, each rotor control actuator is installed with an actuator displacement sensor, and the data acquisition system is respectively connected to the slip ring, the photoelectric encoder, the actuator displacement sensor, and the main control computer electrical signal; the photoelectric encoder includes a rotating disk and a photoelectric sensor, and the rotating disk There is an inner circle hole on the inner circle of the disk, which is used for the photoelectric sensor to generate an angle trigger acquisition signal of the angle sensor at an azimuth angle of 0°. The outer circle of the rotating disk is evenly spaced with 64 outer circle holes, which are used for the photoelectric sensor to generate an angle sensor to collect trigger acquisition signals of 64 azimuth angles. The rotating disk is installed on the test blade model and rotates synchronously with it. The acquisition trigger signal sent by the photoelectric sensor is transmitted to the data acquisition system; when the test blade model rotates stably, the data acquisition system collects the pitch angle data of the test blade model through the angle sensor, and collects the angle sensor data corresponding to 64 azimuth angles during the test blade model rotates one circle. According to multiple sets of actuator displacement value parameters, the rotor rotation and control system sequentially moves the actuator to the corresponding position, and repeatedly collects the angle sensor data under all actuator displacement value parameters. The main control computer calculates the helicopter rotor control matrix through multiple sets of actuator displacement values, azimuth angles and the test blade model pitch angle corresponding to the azimuth angle.

[0005] Furthermore, the pitch angle range of the test blade model collected by the angle sensor is -30° to +30°, and the analog signal output by the angle sensor to the signal input module is a 0-10V DC voltage signal.

[0006] The present invention provides a calibration method obtained by the helicopter rotor control matrix automatic calibration system as described above, as follows: the blade model rotation speed, multiple sets of actuator displacement values, and the K / B coefficient of the angle sensor are respectively set in the main control computer, the main control computer transmits the above parameter information to the rotor rotation and control system and the data acquisition system respectively, the main control computer sends the rotor rotation start instruction to the rotor rotation and control system, thereby driving the rotor test model support mechanism to drive the test blade model to rotate, and at the same time, the actuator is operated to the target position according to the actuator displacement value parameter;

[0007] When the test blade model rotates stably, the data acquisition system is started to measure the pitch angle of the test blade model. When the test blade model passes through the 0° azimuth during rotation, the photoelectric sensor corresponding to the inner ring hole in the rotating disk is triggered to generate a 0° azimuth to start collecting trigger signals. This trigger signal is input to the 0° azimuth corresponding to the signal input module of the data acquisition system, and the data acquisition system starts to collect the angle sensor analog voltage signal.

[0008] When the test blade model rotates one circle, that is, passes through the azimuth angle of 0° to 360°, the photoelectric sensors corresponding to the 64 outer ring holes of the rotating disk are triggered to generate azimuth trigger acquisition signals, which are input into the data acquisition system. The data acquisition system acquires the angle sensor analog voltage signals corresponding to 64 azimuth angles during the test blade model rotates one circle; the position of the actuator remains unchanged, the test blade model rotates N circles, and the data acquisition system acquires and stores all the angle sensor analog voltage signals within N circles; according to multiple sets of actuator displacement value parameters, the rotor rotation and control system sequentially moves the actuator to the corresponding position, and repeatedly acquires the angle sensor analog voltage signals under all actuator displacement value parameters until all required angle sensor analog voltage signals are acquired; the acquisition system transmits all the stored angle sensor analog voltage signals to the main control computer, and the main control computer converts the angle sensor analog voltage signals into the test blade model pitch angle through the angle sensor K / B coefficient. The main control computer calculates the helicopter rotor control matrix through multiple sets of actuator displacement values, azimuth angles and the test blade model pitch angles corresponding to the azimuth angles.

[0009] The beneficial effects and advantages of the present invention are as follows: the present invention realizes automatic calibration of the helicopter rotor control matrix, improves the control accuracy of helicopter tests, and improves test efficiency; it has the advantages of enhancing the helicopter rotor test capability and improving the system automation level. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic diagram of the system structure of the present invention;

[0011] Figure 2 is a flow chart of the method of the present invention;

[0012] Figure 3 It is the principle diagram of the photoelectric code disk of the present invention. DETAILED DESCRIPTION

[0013] The following is a further detailed description of the specific implementation of the present invention, such as the shape, structure, mutual position and connection relationship between the various components involved, the function and working principle of each part, the manufacturing process and the operation method, etc., through the description of the embodiments with reference to the accompanying drawings, so as to help those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solution of the present invention:

[0014] like Figure 1 As shown, a helicopter rotor control matrix automatic calibration system includes an angle sensor, a slip ring, a photoelectric encoder, multiple sets of actuator displacement sensors, a data acquisition system and a main control computer. The test blade model is fixed on the rotor test model support mechanism, and a balance is installed inside the test blade model to collect the air load acting on the test model. The angle sensor is installed on the upper surface of the blade root of the test blade model to measure the pitch angle of the test blade model. The cable of the angle sensor is connected to the slip ring electrical signal, and the slip ring is installed on the output shaft of the rotor test model support mechanism. The main control computer is respectively connected to the rotor rotation and control control system, the rotor test model support mechanism, and the rotor control actuator electrical signal. Each rotor control actuator is installed with an actuator displacement sensor, and the data acquisition system is respectively connected to the slip ring, the photoelectric encoder, the actuator displacement sensor, and the main control computer electrical signal; the photoelectric encoder includes a rotor A rotating disc and a photoelectric sensor, wherein the rotating disc is mounted on the output shaft of the rotor test model support mechanism and rotates synchronously with the test blade model, an inner ring of the rotating disc is provided with an inner ring hole corresponding to the test blade model angle of 0°, and 64 outer ring holes are provided at equal intervals on the outer ring, and each time the test blade model rotates one circle, an angle sensor zero-position trigger signal is generated by the inner ring hole and transmitted to the data acquisition system, and 64 angle sensor acquisition signals are sent out by the outer ring hole and transmitted to the data acquisition system, and the data acquisition system excites the angle sensor to collect angle data corresponding to 64 azimuth angles; according to multiple sets of actuator displacement value parameters, the rotor rotation and control system displaces all actuators to corresponding positions, and repeatedly collects angle sensor data under all actuator displacement value parameters, and the main control computer obtains the helicopter rotor control matrix through multiple sets of actuator displacement values, azimuth angles and the test blade model pitch angles corresponding to the azimuth angles.

[0015] Among them, the pitch angle of the test blade model is calculated from the blade azimuth angle and the corresponding control angle. The control angle includes the total pitch angle, longitudinal pitch change and lateral pitch change. The longitudinal pitch change and lateral pitch change are collectively called cyclic pitch change. The blade azimuth angle is the angle between the position of the blade and the rear of the helicopter.

[0016] The photoelectric encoder used in this embodiment includes a rotating disc and a photoelectric sensor, and also includes a power supply cable, a transmission cable and a standard power supply. The photoelectric sensor includes a transmitter, a receiver and a transmission cable. The +5V DC power output by the standard power supply supplies power to the photoelectric sensor through the power supply cable. The photoelectric sensor is connected to the data acquisition system, and the acquisition trigger signal is transmitted to the data acquisition system through the transmission cable. The rotating disc is divided into two circles along the circumference, with a plurality of small holes distributed in two circles. The inner circle has only one inner circle hole, and the outer circle has 64 outer circle holes distributed at equal intervals. The rotating disc and the test blade model can rotate synchronously.

[0017] The data acquisition system used in this embodiment includes a chassis, a controller, a signal input module and a junction box. The chassis, controller, signal input module and junction box are connected in sequence. The junction box is used to connect the angle sensor. The signal input module performs signal conditioning and data acquisition on the analog signal transmitted by the angle sensor, and the collected data is output to the controller for storage and processing.

[0018] The signal input module used in this embodiment is internally provided with an analog-to-digital converter, a signal conditioner and two PFI lines for digital input triggering. The analog-to-digital converter converts the analog signal transmitted by the angle sensor into a digital signal, and the signal conditioner conditions the parsed digital signal. The two PFI lines for digital input triggering are used to receive the digital trigger signal generated by the photoelectric encoder.

[0019] The pitch angle range of the test blade model collected by the angle sensor used in this embodiment is -30° to +30°, and the analog signal output by the angle sensor to the signal input module is a 0-10V DC voltage signal.

[0020] like Figure 2 As shown, this embodiment also provides a method for automatically calibrating a helicopter rotor control matrix, comprising the following steps:

[0021] Step 1: Install the test blade model on the rotor test model support mechanism, set the angle sensor on the upper surface of the root of the test blade model, connect the angle sensor cable to the slip ring, connect the rotor rotation and control system to the rotor test model support mechanism, the rotor control actuator and the main control computer respectively, connect the actuator displacement sensor to the rotor control actuator, and connect the data acquisition system to the slip ring, the photoelectric encoder and the main control computer respectively;

[0022] Step 2: Set the network addresses of the main control computer, rotor rotation and manipulation control system, and data acquisition system to the same Ethernet segment;

[0023] Step 3: Set the blade model speed, multiple sets of actuator displacement values, angle sensor K / B coefficient, file storage path and other parameter information. The main control computer transmits the above parameter information to the rotor rotation and manipulation control system and the data acquisition system respectively.

[0024] Step 4: The main control computer sends the rotor rotation start command to the rotor rotation and control system, and the rotor rotation and control system drives the rotor test model support mechanism to drive the test blade model to rotate, and at the same time, the actuator moves the actuator to the target position according to the actuator displacement value parameter;

[0025] Step 5: When the test blade model rotates stably, start the data acquisition system to measure the pitch angle of the test blade model. When the test blade model passes through the 0° azimuth angle during rotation, the photoelectric sensor corresponding to the inner ring hole in the rotating disk is triggered to generate a 0° azimuth angle start acquisition trigger signal, which is input to the 0° azimuth angle start acquisition trigger PFI line corresponding to the signal input module of the data acquisition system, and the data acquisition system starts to collect the angle sensor analog signal;

[0026] When the test blade model rotates one circle, that is, passes through the azimuth angle of 0° to 360°, the photoelectric sensors corresponding to the 64 outer ring holes evenly spaced on the outer ring of the rotating disk are triggered to generate azimuth trigger acquisition signals. This signal is input to the PFI line corresponding to the signal input module of the data acquisition system. The data acquisition system can collect the angle sensor analog voltage signals corresponding to 64 azimuth angles during the rotation of the test blade model.

[0027] The actuator position remains unchanged, the test blade model rotates 20 times, and the data acquisition system collects and stores all the analog voltage signals of the angle sensors within 20 times.

[0028] Step 6: According to the multiple sets of actuator displacement value parameters in step 3, the rotor rotation and manipulation control system moves the actuator to the corresponding position in turn, and repeats the operation in step 5 until all the required angle sensor analog voltage signals are collected;

[0029] Step 7: The data acquisition system transmits all stored angle sensor analog voltage signals to the main control computer, and the main control computer converts the angle sensor analog voltage signals into the test blade model pitch angle through the angle sensor K / B coefficient in step 3. The main control computer calculates the helicopter rotor control matrix through multiple sets of actuator displacement values, azimuth angles, and the test blade model pitch angles corresponding to the azimuth angles.

Claims

1. A helicopter rotor control matrix automatic calibration system, comprising an angle sensor, a slip ring, a photoelectric encoder, multiple sets of actuator displacement sensors, a data acquisition system and a main control computer, wherein a test blade model is fixed on a rotor test model support mechanism, and a balance is installed inside the test blade model to collect air loads acting on the test model, and the system is characterized in that: The angle sensor is installed on the upper surface of the blade root of the test blade model to measure the pitch angle of the test blade model. The cable of the angle sensor is connected to the slip ring electrical signal. The slip ring is installed on the rotating shaft of the rotor test model support mechanism. The main control computer is respectively connected to the rotor rotation and control system, the rotor test model support mechanism, and the rotor control actuator. Each rotor control actuator is equipped with an actuator displacement sensor. The data acquisition system is respectively connected to the slip ring, the photoelectric encoder, the actuator displacement sensor, and the main control computer electrical signal; the photoelectric encoder includes a rotating disc and a photoelectric sensor. The inner ring of the rotating disc has an inner ring hole for the photoelectric sensor to generate an angle trigger acquisition signal of the angle sensor with an azimuth angle of 0°. The outer ring of the rotating disc has 64 outer rings distributed at equal intervals. The hole is used for the photoelectric sensor to generate a trigger acquisition signal for the angle sensor to collect 64 azimuth angles. The rotating disc is installed on the test blade model and rotates synchronously with it. The acquisition trigger signal sent by the photoelectric sensor is transmitted to the data acquisition system. When the test blade model rotates stably, the data acquisition system collects the pitch angle data of the test blade model through the angle sensor, and collects the angle sensor data corresponding to 64 azimuth angles during the rotation of the test blade model. According to multiple sets of actuator displacement value parameters, the rotor rotation and control system sequentially moves the actuator to the corresponding position, and repeatedly collects the angle sensor data under all actuator displacement value parameters. The main control computer calculates the helicopter rotor control matrix through multiple sets of actuator displacement values, azimuth angles and the test blade model pitch angles corresponding to the azimuth angles.

2. The helicopter rotor control matrix automatic calibration system according to claim 1, characterized in that: The pitch angle range of the test blade model collected by the angle sensor is -30° to +30°, and the analog signal output by the angle sensor to the signal input module is a 0-10V DC voltage signal.

3. A calibration method obtained by the helicopter rotor control matrix automatic calibration system according to claim 1 or 2, characterized in that: The blade model rotation speed, multiple sets of actuator displacement values, and the K / B coefficient of the angle sensor are set. The main control computer transmits the above parameter information to the rotor rotation and manipulation control system and the data acquisition system respectively. The main control computer sends the rotor rotation start instruction to the rotor rotation and manipulation control system, thereby driving the rotor test model support mechanism to drive the test blade model to rotate, and at the same time, the actuator is moved to the target position according to the actuator displacement value parameter; When the test blade model rotates stably, the data acquisition system is started to measure the pitch angle of the test blade model. When the test blade model passes through the 0° azimuth during rotation, the photoelectric sensor corresponding to the inner ring hole in the rotating disk is triggered to generate a 0° azimuth to start collecting trigger signals. This trigger signal is input to the 0° azimuth corresponding to the signal input module of the data acquisition system, and the data acquisition system starts to collect the angle sensor analog voltage signal. When the test blade model rotates one circle, that is, passes through the azimuth of 0° to 360°, the photoelectric sensors corresponding to the 64 outer ring holes evenly distributed on the outer ring of the rotating disk are triggered to generate azimuth trigger acquisition signals, which are input into the data acquisition system. The data acquisition system acquires the angle sensor analog voltage signals corresponding to 64 azimuths during the test blade model rotates one circle; the position of the actuator remains unchanged, the test blade model rotates N circles, and the data acquisition system acquires and stores all the angle sensor analog voltage signals within N circles; according to multiple sets of actuator displacement value parameters, the rotor rotation and control system sequentially moves the actuator to the corresponding position, and repeatedly acquires the angle sensor analog voltage signals under all actuator displacement value parameters until all required angle sensor analog voltage signals are acquired; the acquisition system transmits all the stored angle sensor analog voltage signals to the main control computer, and the main control computer converts the angle sensor analog voltage signals into the test blade model pitch angle through the angle sensor K / B coefficient. The main control computer calculates the helicopter rotor control matrix through multiple sets of actuator displacement values, azimuths and the test blade model pitch angles corresponding to the azimuths.

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