An angle compensation control method and system for a slat fatigue test follow-up system of an airplane

Abstract

The application belongs to the field of aircraft fatigue test design, and particularly relates to a kind of aircraft slat fatigue test servo system angle compensation control method and device.The method comprises obtaining the displacement value fed back by actuator cylinder, and calculating the first deflection angle of the deflection of servo frame caused by the extension and retraction of actuator cylinder based on the displacement value and pre-set displacement angle model;Intercept the second deflection angle sent by current slat surface driving system to surface driving mechanism;Determine the angle difference value of the first deflection angle and the second deflection angle;The displacement compensation amount is obtained by displacement angle model inversion to the angle difference value;The displacement compensation amount is superimposed to displacement instruction, and angle compensation control of servo system is realized.The application realizes accurate angle compensation control.

Description

An angle compensation control method and system for a servo system in aircraft slat fatigue testing Technical Field

[0001] This application belongs to the field of aircraft fatigue test design, and specifically relates to an angle compensation control method and device for an aircraft slat fatigue test follow-up system. Background Technology

[0002] In full-scale fatigue tests of aircraft slats, the wing deflection motion is usually accomplished by an AC servo motor drive system, while the wing load is applied by the control system through a swing-arm servo frame. The two systems need to be synchronized. The smaller the error between the wing deflection angle fed back by the drive system and the tilt angle of the servo frame, the better. Therefore, the angle error can be used as the most important criterion for the servo system to track the wing deflection, which is of great value for studying the angle control of the swing-arm servo system.

[0003] Currently, the servo system employs a swing-arm type servo mechanism, driven by a hydraulic actuator to rotate around the deflection center axis of the airfoil. Based on the approximate linear relationship between the actuator displacement elongation and the tilt angle in the servo mechanism's geometric model, the actuator displacement is calculated from the airfoil deflection angle and input into the control system as the controlled physical quantity. This ensures that the tilt angle of the servo mechanism remains consistent with the airfoil deflection angle, and angle error is used as a safety protection measure. However, this displacement-based angle control method, due to its approximate linear relationship, theoretically inherently contains angle errors. Using angle error as a safety protection measure cannot resolve the servo correlation between the two systems, resulting in a prolonged period of asynchronous loading during the loading process. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides an angle compensation control method and device for a servo system in an aircraft slat fatigue test, which reduces the error between the tilt angle of the servo mechanism and the rotation angle of the wing surface during the test.

[0005] The first aspect of this application provides an angle compensation control method for a servo system in an aircraft slat fatigue test, mainly including:

[0006] Step S1: Obtain a preset linear load spectrum for loading the actuator cylinder of the follower frame, wherein the linear load spectrum uses the actuator cylinder displacement as the controlled variable.

[0007] Step S2: Calculate the real-time load spectrum displacement command based on the linear load spectrum, and send the displacement command to the displacement controller, which then drives the actuator cylinder to extend or retract.

[0008] Step S3: Obtain the displacement value fed back by the actuator cylinder, and calculate the first deflection angle of the follower frame caused by the extension and retraction of the actuator cylinder based on the displacement value and the preset displacement angle model.

[0009] Step S4: Intercept the second deflection angle sent from the slat surface drive system to the wing surface drive mechanism;

[0010] Step S5: Determine the angle difference between the first deflection angle and the second deflection angle;

[0011] Step S6: Calculate the displacement compensation amount from the angle difference using the displacement angle model;

[0012] Step S7: The displacement compensation amount is superimposed on the displacement command, and the displacement controller drives the actuator to perform the next length extension control based on the compensated displacement command.

[0013] Preferably, step S1 further includes determining the linear load spectrum, specifically including:

[0014] Step S11: Obtain the relationship between the deflection angle of the servo system and the extension / retraction amount of the actuator cylinder that drives the deflection of the servo system, and construct a displacement angle model;

[0015] Step S12: Perform linear fitting on multiple angle values ​​in the displacement angle model, including at least the maximum deflection angle and the minimum deflection angle, and their corresponding displacement values ​​to obtain the linear relationship of displacement angle, thereby obtaining the linear load spectrum with displacement as the controlled variable.

[0016] Preferably, in step S2, the extension and retraction of the actuator cylinder driven by the displacement controller is achieved through a displacement control closed loop, by superimposing the displacement feedback value of the extension and retraction of the actuator cylinder onto the displacement command.

[0017] Preferably, step S3 further includes:

[0018] Step S31: Obtain the angle deflection value given by the tilt sensor set on the follower frame;

[0019] Step S32: Correct the first deflection angle based on the angle deflection value.

[0020] The second aspect of this application provides an angle compensation control system for a fatigue testing servo system of an aircraft slat, mainly comprising:

[0021] The load spectrum acquisition module is used to acquire a preset linear load spectrum for loading the actuator cylinder of the follower frame, wherein the linear load spectrum uses the actuator cylinder displacement as the controlled variable.

[0022] The displacement command generation module is used to calculate the real-time load spectrum displacement command based on the linear load spectrum, and send the displacement command to the displacement controller, which drives the actuator cylinder to extend and retract.

[0023] The first deflection angle calculation module is used to obtain the displacement value fed back by the actuator cylinder, and calculate the first deflection angle of the follower frame caused by the extension and retraction of the actuator cylinder based on the displacement value and the preset displacement angle model.

[0024] The second deflection angle acquisition module is used to intercept the second deflection angle sent by the current slat surface drive system to the surface drive mechanism.

[0025] An angle difference calculation module is used to determine the angle difference between the first deflection angle and the second deflection angle;

[0026] The displacement compensation calculation module is used to inversely calculate the displacement compensation amount from the angle difference using a displacement angle model.

[0027] The displacement correction module is used to superimpose the displacement compensation amount into the displacement command, and the displacement controller drives the actuator to perform the next length extension control based on the compensated displacement command.

[0028] Preferably, the load spectrum acquisition module further includes a load spectrum determination unit, the load spectrum determination unit comprising:

[0029] The displacement angle model acquisition unit is used to acquire the relationship between the deflection angle of the follower system and the extension and retraction of the actuator cylinder that drives the deflection of the follower system, and to construct a displacement angle model.

[0030] The linear fitting unit is used to perform linear fitting on multiple angle values ​​and their corresponding displacement values ​​in the displacement angle model, including at least the maximum and minimum deflection angles, to obtain the linear relationship of the displacement angle, thereby obtaining the linear load spectrum with displacement as the controlled variable.

[0031] Preferably, in the displacement command generation module, the extension and retraction of the actuator cylinder driven by the displacement controller is achieved through a displacement control closed loop, by superimposing the displacement feedback value of the extension and retraction of the actuator cylinder onto the displacement command.

[0032] Preferably, the first deflection angle calculation module includes:

[0033] The sensor parameter acquisition unit is used to acquire the angle deflection value given by the tilt sensor set on the follower frame;

[0034] The first deflection angle correction unit is used to correct the first deflection angle based on the angle deflection value.

[0035] This application solves the theoretical angle error problem of model linearization by using compensation, thereby improving the control accuracy of the servo system. Attached Figure Description

[0036] Figure 1 is a schematic diagram of a preferred embodiment of the angle compensation control method of the aircraft slat fatigue test follow-up system of this application.

[0037] Figure 2 is a schematic diagram of the loading principle of the slat follower mechanism. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. 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 only some, not all, of the embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0039] The first aspect of this application provides an angle compensation control method for a servo system in an aircraft slat fatigue test, as shown in Figure 1, which mainly includes:

[0040] Step S1: Obtain a preset linear load spectrum for loading the actuator cylinder of the follower frame, wherein the linear load spectrum uses the actuator cylinder displacement as the controlled variable.

[0041] Step S2: Calculate the real-time load spectrum displacement command based on the linear load spectrum, and send the displacement command to the displacement controller, which then drives the actuator cylinder to extend or retract.

[0042] Step S3: Obtain the displacement value fed back by the actuator cylinder, and calculate the first deflection angle of the follower frame caused by the extension and retraction of the actuator cylinder based on the displacement value and the preset displacement angle model.

[0043] Step S4: Intercept the second deflection angle sent from the slat surface drive system to the wing surface drive mechanism;

[0044] Step S5: Determine the angle difference between the first deflection angle and the second deflection angle;

[0045] Step S6: Calculate the displacement compensation amount from the angle difference using the displacement angle model;

[0046] Step S7: The displacement compensation amount is superimposed on the displacement command, and the displacement controller drives the actuator to perform the next length extension control based on the compensated displacement command.

[0047] This application employs a displacement-based angle control method. The tilt angle of the servo mechanism is calculated using a displacement-angle model based on displacement feedback. The slat deflection angle is then incorporated into the control system, and an angle error is generated through comparison. This error is then processed using an inverse displacement-angle model to obtain the displacement compensation amount, which is applied to the displacement command. This process corrects the angle error in real time, achieving angle compensation control for the servo system. This method only changes the control system, achieving precise angle compensation control without altering the experimental hardware, load spectrum, or control law.

[0048] In some alternative implementations, step S1 further includes determining the linear load spectrum, specifically including:

[0049] Step S11: Obtain the relationship between the deflection angle of the servo system and the extension / retraction amount of the actuator cylinder that drives the deflection of the servo system, and construct a displacement angle model;

[0050] Step S12: Perform linear fitting on multiple angle values ​​in the displacement angle model, including at least the maximum deflection angle and the minimum deflection angle, and their corresponding displacement values ​​to obtain the linear relationship of displacement angle, thereby obtaining the linear load spectrum with displacement as the controlled variable.

[0051] In this embodiment, firstly, in step S11, a model of actuator displacement elongation and tilt angle, referred to as the displacement angle model, is established based on the geometric model of the servo mechanism. Then, in step S12, according to the requirements of the test control system, the increase in elongation is defined as negative, and the maximum and minimum values ​​of the deflection angle are linearly processed to obtain the linear load spectrum of the position-controlled actuator elongation.

[0052] In some alternative implementations, as shown in FIG1, in step S2, the extension and retraction of the actuator cylinder by the displacement controller includes implementation through a displacement control closed loop, whereby the displacement feedback value of the extension and retraction of the actuator cylinder is superimposed on the displacement command.

[0053] In some alternative implementations, step S3 further includes:

[0054] Step S31: Obtain the angle deflection value given by the tilt sensor set on the follower frame;

[0055] Step S32: Correct the first deflection angle based on the angle deflection value.

[0056] As shown in Figure 2, in addition to determining the first deflection angle through calculation, the deflection angle can also be measured by a sensor, which can also obtain the measured first deflection angle. The two first deflection angles can be calculated into the final first deflection angle by a weighted method.

[0057] The second aspect of this application provides an angle compensation control system for an aircraft slat fatigue test servo system corresponding to the above method, mainly including:

[0058] The load spectrum acquisition module is used to acquire a preset linear load spectrum for loading the actuator cylinder of the follower frame, wherein the linear load spectrum uses the actuator cylinder displacement as the controlled variable.

[0059] The displacement command generation module is used to calculate the real-time load spectrum displacement command based on the linear load spectrum, and send the displacement command to the displacement controller, which drives the actuator cylinder to extend and retract.

[0060] The first deflection angle calculation module is used to obtain the displacement value fed back by the actuator cylinder, and calculate the first deflection angle of the follower frame caused by the extension and retraction of the actuator cylinder based on the displacement value and the preset displacement angle model.

[0061] The second deflection angle acquisition module is used to intercept the second deflection angle sent by the current slat surface drive system to the surface drive mechanism.

[0062] An angle difference calculation module is used to determine the angle difference between the first deflection angle and the second deflection angle;

[0063] The displacement compensation calculation module is used to inversely calculate the displacement compensation amount from the angle difference using a displacement angle model.

[0064] The displacement correction module is used to superimpose the displacement compensation amount into the displacement command, and the displacement controller drives the actuator to perform the next length extension control based on the compensated displacement command.

[0065] In some optional embodiments, the load spectrum acquisition module further includes a load spectrum determination unit, the load spectrum determination unit comprising:

[0066] The displacement angle model acquisition unit is used to acquire the relationship between the deflection angle of the follower system and the extension and retraction of the actuator cylinder that drives the deflection of the follower system, and to construct a displacement angle model.

[0067] The linear fitting unit is used to perform linear fitting on multiple angle values ​​and their corresponding displacement values ​​in the displacement angle model, including at least the maximum and minimum deflection angles, to obtain the linear relationship of the displacement angle, thereby obtaining the linear load spectrum with displacement as the controlled variable.

[0068] In some optional embodiments, in the displacement command generation module, the extension and retraction of the actuator cylinder by the displacement controller is achieved through a displacement control closed loop, by superimposing the displacement feedback value of the extension and retraction of the actuator cylinder onto the displacement command.

[0069] In some optional implementations, the first deflection angle calculation module includes:

[0070] The sensor parameter acquisition unit is used to acquire the angle deflection value given by the tilt sensor set on the follower frame;

[0071] The first deflection angle correction unit is used to correct the first deflection angle based on the angle deflection value.

[0072] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for angle compensation control of a servo system in an aircraft slat fatigue test, wherein the servo system is used to follow the deflection angle of the wing surface driven by the wing surface drive mechanism, and the servo system is driven by an actuator to deflect, characterized in that, The method includes: Step S1, acquiring a preset linear load spectrum for loading the actuator cylinder onto the follower frame, wherein the linear load spectrum uses the actuator cylinder displacement as the controlled variable; Step S2, calculating a real-time load spectrum displacement command based on the linear load spectrum, and sending the displacement command to a displacement controller, which drives the actuator cylinder to extend or retract; Step S3, acquiring the displacement value fed back by the actuator cylinder, and calculating a first deflection angle of the follower frame caused by the extension or retraction of the actuator cylinder based on the displacement value and a preset displacement angle model; Step S4, intercepting a second deflection angle sent by the current slat surface drive system to the wing surface drive mechanism; Step S5, determining the angle difference between the first deflection angle and the second deflection angle; Step S6, further... The angle difference is used to calculate the displacement compensation amount through the displacement angle model; step S7: the displacement compensation amount is superimposed on the displacement command, and the displacement controller drives the actuator to perform the next length extension control based on the compensated displacement command; wherein, step S1 further includes determining the linear load spectrum, specifically including: step S11: obtaining the relationship between the deflection angle of the follower system and the extension amount of the actuator that drives the deflection of the follower system, and constructing a displacement angle model; step S12: linearly fitting multiple angle values ​​in the displacement angle model, including at least the maximum deflection angle and the minimum deflection angle, and their corresponding displacement values ​​to obtain the linear relationship of the displacement angle, thereby obtaining the linear load spectrum with displacement as the controlled variable.

2. The angle compensation control method for the aircraft slat fatigue test servo system as described in claim 1, characterized in that, In step S2, the extension and retraction of the actuator cylinder driven by the displacement controller is achieved through a displacement control closed loop, by superimposing the displacement feedback value of the extension and retraction of the actuator cylinder onto the displacement command.

3. The angle compensation control method for the aircraft slat fatigue test servo system as described in claim 1, characterized in that, Step S3 further includes: Step S31, obtaining the angle deflection value given by the tilt sensor set on the follower frame; Step S32, correcting the first deflection angle based on the angle deflection value.

4. An angle compensation control system for a fatigue testing servo system of an aircraft slat, characterized in that, include: The load spectrum acquisition module is used to acquire a preset linear load spectrum for loading the actuator cylinder of the follower frame, wherein the linear load spectrum uses the actuator cylinder displacement as the controlled variable. The displacement command generation module is used to calculate the real-time load spectrum displacement command based on the linear load spectrum and send the displacement command to the displacement controller, which drives the actuator cylinder to extend and retract. The first deflection angle calculation module is used to obtain the displacement value fed back by the actuator cylinder and calculate the first deflection angle of the follower 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 to intercept the second deflection angle sent by the current slat surface drive system to the wing surface drive mechanism. The angle difference calculation module is used to determine the angle difference between the first deflection angle and the second deflection angle. The displacement compensation calculation module is used to inversely calculate the displacement compensation amount from the angle difference using a displacement angle model. The displacement correction module is used to superimpose the displacement compensation amount into the displacement command, and the displacement controller drives the actuator to perform the next length extension control based on the compensated displacement command. The load spectrum acquisition module further includes a load spectrum determination unit, which includes: a displacement angle model acquisition unit, used to acquire the relationship between the deflection angle of the servo system and the extension / retraction amount of the actuator driving the servo system to deflect, and construct a displacement angle model; and a linear fitting unit, used to perform linear fitting on multiple angle values ​​in the displacement angle model, including at least the maximum and minimum deflection angles, and their corresponding displacement values, to obtain a linear relationship of displacement angles, thereby obtaining a linear load spectrum with displacement as the controlled variable.

5. The angle compensation control system for the aircraft slat fatigue test follow-up system as described in claim 4, characterized in that, In the displacement command generation module, the extension and retraction of the actuator cylinder driven by the displacement controller is achieved through a displacement control closed loop, by superimposing the displacement feedback value of the extension and retraction of the actuator cylinder onto the displacement command.

6. The angle compensation control system for the aircraft slat fatigue test servo system as described in claim 4, characterized in that, The first deflection angle calculation module includes: a sensor parameter acquisition unit, used to acquire the angle deflection value given by the tilt sensor set on the follower frame; and a first deflection angle correction unit, used to correct the first deflection angle based on the angle deflection value.

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