Steering engine testing method and device

Abstract

The invention belongs to the technical field of missile system testing and data processing, and particularly relates to a steering engine testing method and device, and the method comprises the steps: respectively testing a controller, a driver, an actuator, a cable and all parts of accessories which form a steering engine system; all the component units are assembled; carrying out matching test on each composition unit; the steering engine is assembled, and system electrical communication is completed; performing function test and performance test on the steering engine in a normal temperature state; performing performance test on the steering engine under various environment test conditions; testing the limits of the steering engine under various boundary conditions; carrying out local abnormal value detection and elimination on all test data; and analyzing the test data to obtain a steering engine test result, and generating a test report. By improving the testing method, coverage of ground testing content of the steering engine is guaranteed, and the reliability of the steering engine is improved; by designing a data processing and data analysis method, steering engine test data are processed, and the test efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of missile system testing and data processing, and in particular relates to a steering gear testing method and device. Background Art

[0002] As the actuator for missiles to complete guidance actions, the servo is an important part of the missile weapon system and plays a very important role on the missile. Its working status and performance directly determine whether the weapon system can complete the given task. In order to ensure that the servo can successfully complete the flight test, it is necessary to conduct sufficient and complete testing and verification of the servo on the ground. The existing means mainly send commands manually, some test contents cannot be covered and the test efficiency is low; at the same time, no data processing and data analysis are performed during the test process. Summary of the invention

[0003] 1. Technical issues to be resolved

[0004] The technical problem to be solved by the present invention is: how to provide a steering gear testing method and device.

[0005] (II) Technical solution

[0006] In order to solve the above technical problems, the present invention provides a steering gear testing method, which comprises the following steps:

[0007] Step S1, testing the controller, driver, actuator, cable and accessories of the steering gear system respectively;

[0008] Step S2, assembling each component unit;

[0009] Step S3, each component unit performs a matching test;

[0010] Step S4, assemble the steering gear and complete the electrical connection of the system;

[0011] Step S5, performing function test and performance test on the steering gear at normal temperature;

[0012] Step S6, performing performance tests on the steering gear under various environmental test conditions;

[0013] Step S7, performing limit tests on the servo under various boundary conditions;

[0014] Step S8: Detect and remove local outliers on all test data;

[0015] Step S9, analyzing the test data, subtracting the processed data curve from the command curve, and comparing and analyzing with the required value, obtaining the steering gear test result, and generating a test report as the test conclusion;

[0016] Among them, step S1 includes: testing each component; completing a static impedance test and an electrical performance test on the control circuit of the controller, and performing a mechanical interface test on the controller housing; completing a static impedance test on the drive circuit in the driver, and performing a mechanical interface test on the driver housing; performing electrical and mechanical interface tests on the motors, sensors, and transmission components that constitute the actuator; and performing electrical and mechanical interface tests on cables and accessories.

[0017] Wherein, the step S3 includes: performing matching tests on each component unit, including controller dimension chain and connector test, driver dimension chain and connector test, actuator dimension chain and connector test, cable length and docking test.

[0018] Among them, step S5 includes: according to the designed test cases, automatically sending function test commands and performance test instructions, including sine instructions, square wave instructions, and triangle wave instructions, and automatically reading the servo return information after completion, and storing the normal temperature test data.

[0019] Wherein, step S6 includes: performance testing under various environmental test conditions, including the following specific steps:

[0020] Step S6.1: Construct test cases under different environmental tests according to the servo test requirements;

[0021] Step S6.2: Use the corresponding test cases of the environmental test to complete the tests of the servo under the conditions of low temperature operation, low temperature storage, high temperature storage, high temperature operation, transportation vibration test, launch impact test, and flight vibration test, and store the environmental test data.

[0022] Wherein, the step S7 includes: completing the test of the servo under the power boundary, performance boundary and environmental boundary respectively according to the designed boundary test cases, and storing the boundary test data.

[0023] Wherein, the step S8 includes: detecting and eliminating local outliers in the test data, and the specific steps included are:

[0024] Step S8.1: For the test data X = {X1, X2, ..., X m}, i = 1, 2, ..., m, K takes a very small constant, and the distance from all test data points to the sample point X is calculated according to the following formula i The local density ρ i :

[0025]

[0026] Step S8.2: Calculate the local density of all points in X according to the following formula, and take its average value as ρ-mean:

[0027] ρ-mean=ρ1+ρ2+…+ρ m

[0028] Step S8.3: Calculate each sample point X according to the following formula: i Anomaly score:

[0029] score i =ρ-mean / ρ i

[0030] Step S8.4: According to the score i The value range of is, and outliers are eliminated according to the following formula:

[0031]

[0032] In addition, the present invention also provides a servo test device, which is used to execute the method of claim 1, and the servo test device includes a host computer, a simulated flight control, and a power supply module.

[0033] The host computer is used to send different types of instructions to the simulated flight control; the host computer receives and stores the servo test status information from the simulated flight control, and completes the detection and elimination of abnormal values ​​in the test data. After all tests are completed, data processing is performed, and the test results are interpreted and a test report is generated by comparing the index requirements;

[0034] The host computer hardware includes a computer and a serial communication board;

[0035] The upper computer software includes: a module for displaying status, which is used to display the waveform of the collected data; a test unit for configuring test cases and sending instructions; a storage module for data storage, which automatically stores test data; a module for data processing, which can analyze and eliminate outliers to obtain processed data; a module for data analysis and report generation, which packages several test data, analyzes them according to the requirements of different test indicators, and completes the interpretation to obtain test reports; a communication module, which is used to communicate with the simulated flight control according to communication requirements.

[0036] After receiving the command from the host computer, the simulated flight control periodically sends the corresponding command to the servo according to the requirements of the communication protocol; the servo test status information is received and processed by the simulated flight control and then sent to the host computer;

[0037] The analog flight control includes a microprocessor unit, a power management unit, and an interface unit. The microprocessor unit needs to regularly complete communication with the servo to ensure real-time performance. At the same time, it processes the information returned by the servo and then forwards it to the host computer. The power management unit converts the input DC power to meet the power supply needs of the microprocessor unit. The interface unit can meet the electrical connection requirements with the servo.

[0038] The power supply module is used to meet the internal power supply requirements of the entire test device and the power supply requirements of the tested steering gear, and includes multiple DC conversion modules.

[0039] (III) Beneficial effects

[0040] Compared with the prior art, the present invention provides a steering gear testing method and device, which ensures the coverage of steering gear ground test content and improves the reliability of the steering gear by improving the testing method; and processes the steering gear test data and improves the testing efficiency by designing data processing and data analysis methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a flow chart of the steering gear testing method of the present invention.

[0042] Figure 2 Schematic diagram of the test device.

[0043] Figure 3 This is a schematic diagram of the upper computer software unit composition. DETAILED DESCRIPTION

[0044] In order to make the purpose, content, and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the accompanying drawings and examples.

[0045] In order to solve the above technical problems, the present invention provides a steering gear testing method, which comprises the following steps:

[0046] Step S1, testing the controller, driver, actuator, cable and accessories of the steering gear system respectively;

[0047] Step S2, assembling each component unit;

[0048] Step S3, each component unit performs a matching test;

[0049] Step S4, assemble the steering gear and complete the electrical connection of the system;

[0050] Step S5, performing function test and performance test on the steering gear at normal temperature;

[0051] Step S6, performing performance tests on the steering gear under various environmental test conditions;

[0052] Step S7, performing limit tests on the servo under various boundary conditions;

[0053] Step S8: Detect and remove local outliers on all test data;

[0054] Step S9, analyzing the test data, subtracting the processed data curve from the command curve, and comparing and analyzing with the required value, obtaining the steering gear test result, and generating a test report as the test conclusion;

[0055] Among them, step S1 includes: testing each component; completing a static impedance test and an electrical performance test on the control circuit of the controller, and performing a mechanical interface test on the controller housing; completing a static impedance test on the drive circuit in the driver, and performing a mechanical interface test on the driver housing; performing electrical and mechanical interface tests on the motors, sensors, and transmission components that constitute the actuator; and performing electrical and mechanical interface tests on cables and accessories.

[0056] Wherein, the step S3 includes: performing matching tests on each component unit, including controller dimension chain and connector test, driver dimension chain and connector test, actuator dimension chain and connector test, cable length and docking test.

[0057] Among them, step S5 includes: according to the designed test cases, automatically sending function test commands and performance test instructions, including sine instructions, square wave instructions, and triangle wave instructions, and automatically reading the servo return information after completion, and storing the normal temperature test data.

[0058] Wherein, step S6 includes: performance testing under various environmental test conditions, including the following specific steps:

[0059] Step S6.1: Construct test cases under different environmental tests according to the servo test requirements;

[0060] Step S6.2: Use the corresponding test cases of the environmental test to complete the tests of the servo under the conditions of low temperature operation, low temperature storage, high temperature storage, high temperature operation, transportation vibration test, launch impact test, and flight vibration test, and store the environmental test data.

[0061] Wherein, the step S7 includes: completing the test of the servo under the power boundary, performance boundary and environmental boundary respectively according to the designed boundary test cases, and storing the boundary test data.

[0062] Wherein, the step S8 includes: detecting and eliminating local outliers in the test data, and the specific steps included are:

[0063] Step S8.1: For the test data X = {X1, X2, ..., Xm}, i = 1, 2, ..., m, K takes a very small constant, and the distance from all test data points to the sample point X is calculated according to the following formula i The local density ρ i :

[0064]

[0065] Step S8.2: Calculate the local density of all points in X according to the following formula, and take its average value as ρ-mean:

[0066] ρ-mean=ρ1+ρ2+…+ρ m

[0067] Step S8.3: Calculate each sample point X according to the following formula: i Anomaly score:

[0068] score i =ρ-mean / ρ i

[0069] Step S8.4: According to the score i The value range of is, and outliers are eliminated according to the following formula:

[0070]

[0071] In addition, the present invention also provides a servo test device, which is used to execute the method of claim 1, and the servo test device includes a host computer, a simulated flight control, and a power supply module.

[0072] The host computer is used to send different types of instructions to the simulated flight control; the host computer receives and stores the servo test status information from the simulated flight control, and completes the detection and elimination of abnormal values ​​in the test data. After all tests are completed, data processing is performed, and the test results are interpreted and a test report is generated by comparing the index requirements;

[0073] The host computer hardware includes a computer and a serial communication board;

[0074] The upper computer software includes: a module for displaying status, which is used to display the waveform of the collected data; a test unit for configuring test cases and sending instructions; a storage module for data storage, which automatically stores test data; a module for data processing, which can analyze and eliminate outliers to obtain processed data; a module for data analysis and report generation, which packages several test data, analyzes them according to the requirements of different test indicators, and completes the interpretation to obtain test reports; a communication module, which is used to communicate with the simulated flight control according to communication requirements.

[0075] After receiving the command from the host computer, the simulated flight control periodically sends the corresponding command to the servo according to the requirements of the communication protocol; the servo test status information is received and processed by the simulated flight control and then sent to the host computer;

[0076] The analog flight control includes a microprocessor unit, a power management unit, and an interface unit. The microprocessor unit needs to regularly complete communication with the servo to ensure real-time performance. At the same time, it processes the information returned by the servo and then forwards it to the host computer. The power management unit converts the input DC power to meet the power supply needs of the microprocessor unit. The interface unit can meet the electrical connection requirements with the servo.

[0077] The power supply module is used to meet the internal power supply requirements of the entire test device and the power supply requirements of the tested steering gear, and includes multiple DC conversion modules.

[0078] Example 1

[0079] The process of the steering gear testing method provided in this embodiment is as follows: Figure 1 As shown, the specific steps are as follows:

[0080] First, test each component. Complete static impedance test and electrical performance test on the controller's control circuit, and conduct mechanical interface test on the controller housing; complete static impedance test on the drive circuit in the driver, and conduct mechanical interface test on the driver housing; conduct electrical interface and mechanical interface test on the motor, sensor, and transmission components that make up the actuator; conduct electrical interface and mechanical interface test on the cables and accessories;

[0081] Further, assembling each component unit;

[0082] Furthermore, the matching test is carried out on each component unit, including the controller dimension chain and connector test, the driver dimension chain and connector test, the actuator dimension chain and connector test, and the cable length and docking test;

[0083] Further, assemble the steering gear and complete the electrical connection of the system;

[0084] Furthermore, according to the designed test cases, function test commands and performance test commands are automatically sent, including sine commands, square wave commands, triangle wave commands, etc. After completion, the return information of the servo is automatically read and the test data of the normal temperature test is stored;

[0085] Further, the specific steps of performance testing under various environmental test conditions are as follows:

[0086] According to the requirements of the servo test, build test cases under different environmental tests; use the corresponding test cases of the environmental test to complete the test of the servo under low temperature operation, low temperature storage, high temperature storage, high temperature operation, transportation vibration test, launch impact test, flight vibration test and other conditions, and store the environmental test test data;

[0087] Further, according to the designed boundary test cases, the servo is tested under the power boundary, performance boundary and environmental boundary respectively, and the boundary test data is stored;

[0088] Furthermore, the specific steps involved in detecting and removing local outliers in the test data are as follows:

[0089] For the test data X = {X1, X2, ..., X m}, i = 1, 2, ..., m, K takes a very small constant, and the distance from all test data points to the sample point X is calculated according to the following formula i The local density ρ i :

[0090]

[0091] The local density of all points in X is calculated according to the following formula, and its average value is recorded as ρ-mean:

[0092] ρ-mean=ρ1+ρ2+…+ρ m

[0093] Calculate each sample point X according to the following formula i Anomaly score:

[0094] score i =ρ-mean / ρ i

[0095] According to score i The value range of is, and outliers are eliminated according to the following formula:

[0096]

[0097] Further, the test data is analyzed, the processed data curve is subtracted from the command curve, and after comparison and analysis with the required value, the servo test result is obtained, and a test report is generated as the test conclusion.

[0098] The steering gear testing device provided by the present invention is as follows Figure 2 The technical solution includes three parts: host computer, simulated flight control and power supply module.

[0099] Specifically, the host computer hardware includes a computer and a serial communication board. The host computer can send different types of instructions to the simulated flight control. The host computer receives and stores test data, and completes the detection and elimination of abnormal values ​​in the test data. After all tests are completed, data processing is performed, and the test results are interpreted and a test report is generated by comparing the index requirements.

[0100] Specifically, the simulated flight control includes a microprocessor unit, a power management unit, and an interface unit. After receiving the command, the simulated flight control periodically sends the corresponding command to the servo according to the requirements of the communication protocol. The servo test status information is received and processed by the simulated flight control, and then sent to the host computer. The microprocessor unit needs to complete the communication with the servo regularly to ensure real-time performance; at the same time, it processes the information returned by the servo and then forwards it to the host computer. The power management unit converts the input DC power to meet the power supply needs of the microprocessor unit. The interface unit can meet the electrical connection requirements with the servo.

[0101] Specifically, the power supply module needs to meet the internal power supply requirements of the entire test device and the power supply requirements of the servo under test, and includes multiple DC conversion modules.

[0102] The host computer software of the steering gear test device provided by the present invention is as follows Figure 3 As shown. The upper computer software has a module for displaying the status, which can display the waveform of the collected data; a test unit for configuring test cases and sending instructions; a storage module for data storage, which automatically stores test data; a data processing module, which can analyze and remove outliers to obtain processed data; a data analysis and report generation module, which packages several test data, analyzes them according to the requirements of different test indicators, and completes the interpretation to obtain test reports; and a communication module, which completes communication with the simulated flight control according to the communication requirements.

[0103] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A steering gear testing method, characterized in that: The steering gear testing method comprises the following steps: Step S1, testing the controller, driver, actuator, cable and accessories of the steering gear system respectively; Step S2, assembling each component unit; Step S3, each component unit performs a matching test; Step S4, assemble the steering gear and complete the electrical connection of the system; Step S5, performing function test and performance test on the steering gear at normal temperature; Step S6, performing performance tests on the steering gear under various environmental test conditions; Step S7, performing limit tests on the servo under various boundary conditions; Step S8: Detect and remove local outliers on all test data; Step S9: Analyze the test data, subtract the processed data curve from the command curve, and compare and analyze them with the required value to obtain the steering gear test result, and generate a test report as the test conclusion.

2. The steering gear testing method according to claim 1, characterized in that: The step S1 includes: testing each component; completing a static impedance test and an electrical performance test on the control circuit of the controller, and performing a mechanical interface test on the controller housing; completing a static impedance test on the drive circuit in the driver, and performing a mechanical interface test on the driver housing; performing electrical and mechanical interface tests on the motor, sensor, and transmission components that constitute the actuator; and performing electrical and mechanical interface tests on cables and accessories.

3. The steering gear testing method according to claim 1, characterized in that: The step S3 includes: performing matching tests on each component unit, including controller dimension chain and connector test, driver dimension chain and connector test, actuator dimension chain and connector test, and cable length and docking test.

4. The steering gear testing method according to claim 1, characterized in that: The step S5 includes: automatically sending function test commands and performance test instructions, including sine wave instructions, square wave instructions, and triangle wave instructions according to the designed test cases, and automatically reading the steering gear return information after completion, and storing the normal temperature test data.

5. The steering gear testing method according to claim 1, characterized in that: The step S6 includes: performance testing under various environmental test conditions, including the following specific steps: Step S6.1: Construct test cases under different environmental tests according to the servo test requirements; Step S6.2: Use the corresponding test cases of the environmental test to complete the tests of the servo under the conditions of low temperature operation, low temperature storage, high temperature storage, high temperature operation, transportation vibration test, launch impact test, and flight vibration test, and store the environmental test data.

6. The steering gear testing method according to claim 1, characterized in that: The step S7 includes: completing the test of the servo under the power boundary, performance boundary and environmental boundary respectively according to the designed boundary test cases, and storing the boundary test data.

7. The steering gear testing method according to claim 1, characterized in that: The step S8 includes: detecting and eliminating local outliers in the test data, and the specific steps included are: Step S8.1: For the test data X = {X1, X2, ..., X m }, i = 1, 2, ..., m, K takes a very small constant, and the distance from all test data points to the sample point X is calculated according to the following formula i The local density ρ i : Step S8.2: Calculate the local density of all points in X according to the following formula, and take its average value as ρ-mean: p-mean=p1+p2+…+p m Step S8.3: Calculate each sample point X according to the following formula: i Anomaly score: score i =ρ-mean / ρ i Step S8.4: According to the score i The value range of is, and outliers are eliminated according to the following formula:

8. A steering gear testing device, characterized in that: The servo test device is used to execute the method of claim 1, and the servo test device includes a host computer, a simulated flight control, and a power supply module.

9. The steering gear testing device according to claim 8, characterized in that: The host computer is used to send different types of instructions to the simulated flight control; the host computer receives and stores the servo test status information from the simulated flight control, and completes the detection and elimination of abnormal values ​​in the test data. After all tests are completed, data processing is performed, and the test results are interpreted and a test report is generated by comparing the index requirements; The host computer hardware includes a computer and a serial communication board; The upper computer software includes: a module for displaying status, which is used to display the waveform of the collected data; a test unit for configuring test cases and sending instructions; a storage module for data storage, which automatically stores test data; a module for data processing, which can analyze and eliminate outliers to obtain processed data; a module for data analysis and report generation, which packages several test data, analyzes them according to the requirements of different test indicators, and completes the interpretation to obtain test reports; a communication module, which is used to communicate with the simulated flight control according to communication requirements.

10. The steering gear testing device according to claim 9, characterized in that: After receiving the command from the host computer, the simulated flight control periodically sends the corresponding command to the servo according to the requirements of the communication protocol; the servo test status information is received and processed by the simulated flight control and then sent to the host computer; The simulated flight control includes a microprocessor unit, a power management unit, and an interface unit. The microprocessor unit needs to regularly complete communication with the servo to ensure real-time performance. At the same time, it processes the information returned by the servo and then forwards it to the host computer. The power management unit converts the input DC power to meet the power supply needs of the microprocessor unit. The interface unit can meet the electrical connection requirements with the servo; The power supply module is used to meet the internal power supply requirements of the entire test device and the power supply requirements of the tested steering gear, and includes multiple DC conversion modules.

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