A method for measuring and adjusting the backlash hysteresis characteristics of a nonlinear transmission mechanism for flight products.

Abstract

This invention belongs to the field of transmission stability measurement technology for transmission mechanisms, specifically relating to a method for measuring and adjusting the backlash hysteresis characteristics of a nonlinear transmission mechanism in flight products. The apparatus includes a control console, a servo amplifier, a servo, a transmission mechanism, control surfaces, and a potentiometer. The control console inputs a signal to the servo amplifier, which amplifies the control signal. The servo amplifier outputs a signal to control the servo's movement, which is then transmitted to the control surfaces via the transmission mechanism. The potentiometer measures the servo's actuation angle and feeds it back to the control console. The specific steps include: S1 setting up a reference station; S2 determining the measurement point and establishing the product coordinate system; S3 determining the servo's electrical zero position; S4 adjusting the control surface's mechanical zero position; S5 measuring the no-load state and loading the transmission system; S6 measuring the execution of a step signal; S7 measuring the execution of a sinusoidal signal; S8 plotting the curve; and S9 controlling overshoot.

Description

Technical Field

[0001] This invention belongs to the field of transmission stability measurement technology of transmission mechanisms, and specifically relates to a method for measuring and adjusting the backlash hysteresis characteristics of nonlinear transmission mechanisms in flight products. Background Technology

[0002] In recent years, China's aviation industry has developed rapidly, raising the bar for transmission precision and system stability design in high-speed products. Due to structural limitations, a series of transmission components are needed to transmit the motion of the power system to the actuators. To change the mode of motion, transmission mechanisms such as worm gears and hinges are employed to convert the rotation of the power system into the oscillation of the actuator. These transmission mechanisms have inherent errors during manufacturing and assembly, resulting in certain backlashes. For systems where the rotation angle of the power system and the oscillation angle of the actuator have a non-linear relationship, the impact of these backlashes on the entire motion system is complex.

[0003] In the specific mechanism and control relationship of a product, the servo motor acts as the power component, the servo shaft as the transmission mechanism, and the servo surface as the actuator. Backlash in the transmission mechanism increases the static error of the system and affects the dynamic performance of the actuator. When a step signal is input to the control system, the servo surface output changes in accordance with the servo motor input, but the angle of change of the servo surface lags behind the output angle of the servo motor. When a sinusoidal reciprocating signal is input to the control system, due to the transmission backlash, the servo motor's reverse output will cause the servo surface output angle to remain inactive within a certain range until the backlash is eliminated.

[0004] Due to the presence of clearance in the transmission system, and the non-linear relationship between the rudder surface tilt angle and the servo motor rotation angle, the rudder surface position is highly random when executing servo motor output actions, making it difficult to determine the system's motion characteristics. Summary of the Invention

[0005] The technical problem solved by this invention is to provide a method for measuring the transmission backlash characteristics of a nonlinear transmission mechanism in order to understand the motion characteristics of complex transmission systems.

[0006] This invention proposes a method for measuring and adjusting the backlash hysteresis characteristics of a nonlinear transmission mechanism in flight products. The device used includes a control console, a servo amplifier, a servo motor, a transmission mechanism, control surfaces, and a potentiometer. The control console inputs a signal to the servo amplifier, which amplifies the control signal. The servo amplifier outputs a signal to control the servo motor's movement, which is then transmitted to the control surfaces via the transmission mechanism. The potentiometer measures the servo motor's actuation angle and feeds it back to the control console. The method specifically includes the following steps:

[0007] S1. Set up the reference station: After the servo motor, servo shaft, and servo surface are installed and fixed, a measurement reference station is set up near the servo surface to be measured; the measurement range of the measurement reference station can cover the servo surface;

[0008] S2 Determine measurement points and establish product coordinate system: Select no less than 4 measurement points on the rudder surface, and the measurement points are not on the same plane; and establish a three-dimensional spatial coordinate system of the product based on the measurement points;

[0009] S3 Determine the servo motor's electrical zero position: Adjust the servo motor's initial position via the control panel, check the potentiometer feedback signal, and adjust the servo motor to the electrical zero position;

[0010] S4: Adjust the mechanical zero position of the control surface: Measure the measurement points on the control surface using the measurement reference station, calculate the optimal plane and fit it with the theoretical plane; then adjust the connecting rod to adjust the control surface to the mechanical zero position;

[0011] S5 measures the execution status of step signal: The console outputs a step signal to control the servo to execute a series of angle position commands from negative to positive angles, and measures the step signal servo surface position and the step signal servo execution angle fed back by the potentiometer at each angle;

[0012] S6 measures the execution of the sinusoidal signal: Return the control surface to the mechanical zero position and reset the servo motor's electrical zero position; send a sinusoidal signal from the control console to control the servo motor to execute a series of angle position commands from negative to positive angles, and measure the sinusoidal signal control surface position and the servo motor execution angle fed back by the potentiometer at each angle; record the servo motor input angle, servo motor output angle, and control surface execution angle under the sinusoidal signal.

[0013] S7 Curve Plotting: Based on the S7 data, a deviation curve is plotted using the point plotting method with the servo output angle as the abscissa and the control surface execution angle as the ordinate; the overshoot curve measurement curve is plotted using the least squares method with the servo input angle as the abscissa and the control surface execution angle as the ordinate.

[0014] S8 control overshoot: Feeds back the deviation curve and overshoot curve measurement curve to the controller, writes control functions based on the relationship between the servo control signal and the control surface execution, and performs overshoot adjustment on the transmission mechanism to realize the actual action control of the control surface.

[0015] Preferably, before performing step S6, a load is applied to the flight product according to the operating conditions of the flight product, so that the product simulates the stress state in flight.

[0016] Preferably, in step S8, after overshooting the transmission mechanism, the movement of the actuator is retested; if the control standard is not met, the measurement point in step S2 or the angle in steps S5 and S6 is increased, and the measurement and adjustment are continued.

[0017] Preferably, the series of angles in step S6 at least covers the range of the series of angles in step S5.

[0018] Furthermore, the angles in steps S5 and S6 are both -25° to +25°.

[0019] Furthermore, the gradient interval of the angles in steps S5 and S6 is 5°.

[0020] Preferably, the transmission mechanism is connected by a pin, and the overshoot process is to eliminate the gap by adjusting the pin size.

[0021] Preferably, in step S2, the selected measurement point is a horizontal measurement point on the rudder surface.

[0022] Preferably, the measurement reference station is a laser tracker.

[0023] Preferably, before measuring the execution status of the step signal in S5, a level is used to measure the idle travel of the transmission system under no-load conditions, and the measurement result is loaded into the control system.

[0024] The beneficial effects achieved by this invention are: by suppressing defects in the large-area thermal protection bonding assembly process, the bonding strength, effective bonding area, surface contour accuracy, and step accuracy of the thermal protection system for flight products are improved, thus meeting the requirements of high-quality, reusable, and highly reliable bonding assembly of the thermal protection system. Attached Figure Description

[0025] Figure 1 This is a structural diagram of the measurement and control system of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the following embodiments.

[0027] It should be noted that the present invention is not limited to the following embodiments. Unless otherwise specified, all methods described are conventional methods. Unless otherwise specified, all raw materials are available from publicly available commercial sources.

[0028] Example 1

[0029] After the servo motor, servo shaft, and servo surface are installed on the product, the transmission clearance characteristics of the transmission mechanism are measured. The specific implementation process of the measurement is as follows:

[0030] 1) After confirming that the product is securely fixed, place a laser tracker near the specific rudder surface to be measured as a measurement base station;

[0031] 2) Four horizontal measurement points are determined on the rudder surface. These measurement points are not on the same plane; the theoretical coordinates of the selected horizontal measurement points can be used directly.

[0032] 3) Use a laser tracker to measure the product reference and establish the product coordinate system;

[0033] 4) Adjust the servo's initial position via the control panel, check the potentiometer feedback signal, and then adjust the servo to the electrical zero position;

[0034] 5) Measure four horizontal measurement points on the control surface using a laser tracker, calculate the optimal plane and fit it with the theoretical plane, and then adjust the connecting rod to adjust the control surface to the mechanical zero position;

[0035] 6) Use a level to measure the idle travel of the transmission mechanism under no-load conditions, and input the measurement result into the control system;

[0036] 7) The console outputs a step signal to control the servo to execute position commands from -25° to +25° with a gradient difference of 5°. Laser tracking is used to measure the servo surface position at each angle and the servo execution angle fed back by the potentiometer.

[0037] 8) Select the loading position on the actuator, apply load according to the product's operating conditions, and simulate the stress state of the product in flight.

[0038] 9) The console outputs a sinusoidal signal to control the servo motor to execute position commands from -25° to +25° with a gradient difference of 5°. Laser tracking is used to measure the servo surface position at each angle and the servo motor execution angle fed back by the potentiometer.

[0039] 10) Through the above measurements, record the servo motor input angle, servo motor output angle, and control surface execution angle when a sinusoidal signal is received;

[0040] 11) Plot the deviation curve using the point plotting method with the servo output angle as the abscissa and the control surface execution angle as the ordinate; plot the overshoot curve measurement curve using the least squares method with the servo input angle as the abscissa and the control surface execution angle as the ordinate.

[0041] 12) Feed the curve back to the controller, write the control function, and perform overshoot;

[0042] 13) Retest the movement of the actuator after control overshoot.

Claims

1. A method for measuring and adjusting the backlash hysteresis characteristics of a nonlinear transmission mechanism for flight products, characterized in that, The device used includes a control console, a servo amplifier, a servo motor, a transmission mechanism, a control surface, and a potentiometer. The control console inputs a signal to the servo amplifier, which amplifies the control signal. The servo amplifier outputs a signal to control the servo motor's movement, which is then transmitted to the control surface via the transmission mechanism. The potentiometer measures the servo motor's angle of action and feeds it back to the control console. Specifically, the device includes the following steps: S1. Set up the reference station: After the servo motor, servo shaft, and servo surface are installed and fixed, a measurement reference station is set up near the servo surface to be measured; the measurement range of the measurement reference station can cover the servo surface; S2 Determine measurement points and establish product coordinate system: Select no less than 4 measurement points on the rudder surface, and the measurement points are not on the same plane; and establish a three-dimensional spatial coordinate system of the product based on the measurement points; S3 Determine the servo motor's electrical zero position: Adjust the servo motor's initial position via the control panel, check the potentiometer feedback signal, and adjust the servo motor to the electrical zero position; S4 Adjusting the mechanical zero position of the control surface: The measurement points on the control surface are measured by the measurement reference station, and the optimal plane is calculated and fitted with the theoretical plane; then the connecting rod is adjusted to adjust the control surface to the mechanical zero position; S5 measures the execution status of step signal: The console outputs a step signal to control the servo to execute a series of angle position commands from negative to positive angles, and measures the step signal servo surface position and the step signal servo execution angle fed back by the potentiometer at each angle; S6 Measurement of Sinusoidal Signal Execution: Return the control surface to the mechanical zero position and reset the servo motor's electrical zero position; send a sinusoidal signal from the control console to control the servo motor to execute a series of angle position commands from negative to positive angles, and measure the sinusoidal signal control surface position and the sinusoidal signal servo motor execution angle fed back by the potentiometer at each angle; record the servo motor input angle, servo motor output angle, and control surface execution angle under the sinusoidal signal. S7 Curve Plotting: Based on the S7 data, use the point plotting method to plot the deviation curve with the servo output angle as the abscissa and the control surface execution angle as the ordinate; use the least squares method to plot the overshoot curve measurement curve with the servo input angle as the abscissa and the control surface execution angle as the ordinate. S8 Control Overshoot: Feeds back the deviation curve and overshoot curve measurement curve to the controller, writes control functions based on the relationship between the servo control signal and the control surface execution, and performs overshoot adjustment on the transmission mechanism to realize the actual action control of the control surface.

2. The method according to claim 1, characterized in that, Before performing step S6, loads are applied to the flight product according to the operating conditions of the flight product, so that the product simulates the stress state in flight.

3. The method according to claim 1, characterized in that, In step S8, after overshooting the transmission mechanism, the movement of the actuator is retested; if the control standard is not met, the measurement point in step S2 or the angle in steps S5 and S6 is added, and the measurement and adjustment are continued.

4. The method according to claim 1, characterized in that, The series of angles in step S6 at least cover the range of the series of angles in step S5.

5. The method according to claim 4, characterized in that, The angles in steps S5 and S6 are both -25° to +25°.

6. The method according to claim 5, characterized in that, The gradient interval of the angles in steps S5 and S6 is 5°.

7. The method according to claim 1, characterized in that, The transmission mechanism is connected by a pin, and the overshoot adjustment process is to eliminate the gap by adjusting the size of the pin.

8. The method according to claim 1, characterized in that, In step S2, the selected measurement point is the horizontal measurement point on the rudder surface.

9. The method according to claim 1, characterized in that, The measurement reference station is a laser tracker.

10. The method according to claim 1, characterized in that, Before the S5 measures the execution of the step signal, a level is used to measure the idle travel of the transmission mechanism under no-load conditions, and the measurement results are loaded into the control system.

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