Methods, apparatus, equipment and storage media for evaluating the elastic properties of pneumatic servo systems

Abstract

This disclosure relates to the field of aerospace technology, and more particularly to a method, apparatus, device, and storage medium for evaluating aerodynamic servoelastic characteristics. The method includes: when an aircraft reaches a preset flight state, simultaneously inputting excitation signals to the left and right control surfaces of the aircraft. Recording a first control command signal and a second control command signal received by the left and right control surfaces after the aircraft receives the input excitation signals, wherein the first control command signal is output by the aircraft's flight control system, and the second control command signal is obtained by superimposing the first control command signal and the excitation signals. Based on the first and second control command signals, calculating the aerodynamic servoelastic characteristics evaluation result of the aircraft in the preset flight state. This method can accurately evaluate the aerodynamic servoelastic characteristics of multi-control surface coupled control aircraft.

Description

Technical Field

[0001] This disclosure relates to the field of aerospace technology, and in particular to a method, apparatus, device and storage medium for evaluating aerodynamic servo elastic characteristics. Background Technology

[0002] Aero-servo-elastic flight testing is the final step in verifying the aero-servo-elastic design of an aircraft. Aero-servo-elastic flight testing is conducted using real aircraft under real flight conditions, offering the unique advantage of not being limited by various simplifications and assumptions.

[0003] Current methods for evaluating aerodynamic servo-elastic flight tests can only be applied to aircraft with conventional layouts and are not suitable for aircraft with multi-control surface coupling. Summary of the Invention

[0004] This disclosure provides a method, apparatus, device, and storage medium for evaluating aerodynamic servoelastic characteristics, which can be used to evaluate aerodynamic servoelastic flight tests on multi-control surface coupled control aircraft.

[0005] According to a first aspect of this disclosure, an aerodynamic servo-elastic characteristic evaluation method is applied to a multi-control surface coupled control aircraft, including:

[0006] When the aircraft reaches the preset flight state, excitation signals are simultaneously input to the left and right control surfaces. The first and second control command signals received by the aircraft on the left and right control surfaces after receiving the input excitation signals are recorded. The first control command signal is output by the aircraft's flight control system, and the second control command signal is obtained by superimposing the first control command signal and the excitation signal. Based on the first and second control command signals, the aerodynamic servoelastic characteristics evaluation results of the aircraft in the preset flight state are calculated.

[0007] In some implementations, excitation signals are simultaneously input to the left and right control surfaces of the aircraft, including: simultaneously inputting symmetrical excitation signals to the left and right control surfaces of the aircraft; and simultaneously inputting anti-symmetrical excitation signals to the left and right control surfaces of the aircraft.

[0008] In some implementations, symmetrical excitation signals have the same phase and similar amplitude. Antisymmetrical excitation signals have opposite phases and similar amplitudes.

[0009] In some implementations, the frequency ranges of the symmetrical excitation signal and the antisymmetrical excitation signal include the modal frequencies covering the vibrations of the aircraft's main wing surface structure connected to the left and right control surfaces.

[0010] In some implementations, the aerodynamic servoelastic characteristic evaluation result of the aircraft in a preset flight state is calculated based on the first control command signal and the second control command signal, including: calculating the aerodynamic servoelastic characteristic evaluation result of the aircraft in a preset flight state based on the first control command signal and the second control command signal when a symmetrical excitation signal is input, and the first control command signal and the second control command signal when an antisymmetric excitation signal is input.

[0011] In some implementations, the aerodynamic servo-elasticity characteristic evaluation results of the aircraft under a preset flight state are calculated, including: obtaining the first control loop parameters of the left control surface and the second control loop parameters of the right control surface. The first control loop parameters of the left control surface are obtained based on the first and second control command signals received by the left control surface when symmetrical excitation signals are simultaneously input to the left and right control surfaces of the aircraft. The second control loop parameters of the right control surface are obtained based on the first and second control command signals received by the right control surface when symmetrical excitation signals are simultaneously input to the left and right control surfaces of the aircraft. The parameters of the third control loop for the side control surface and the fourth control loop for the right control surface are determined. The third control loop parameters for the left control surface are obtained based on the first and second control command signals received by the left control surface when anti-symmetric excitation signals are simultaneously input to both the left and right control surfaces. The fourth control loop parameters for the right control surface are obtained based on the first and second control command signals received by the right control surface when anti-symmetric excitation signals are simultaneously input to both the left and right control surfaces. The aerodynamic servo-elasticity characteristics evaluation results for determining the first or third control loop parameters as the control loop parameters for the left control surface are also determined. The aerodynamic servo-elasticity characteristics evaluation results for determining the second or fourth control loop parameters as the control loop parameters for the right control surface are also determined. Based on the aerodynamic servo-elasticity characteristics evaluation results of the left and right control surface control loops, the aerodynamic servo-elasticity characteristics evaluation results for the aircraft under the preset flight state are obtained.

[0012] In some implementations, the control loop parameters include gain margin and phase margin.

[0013] The evaluation result of the aerodynamic servo-elasticity characteristics of the control loop of the left rudder surface is determined by determining whether the first control loop parameter or the third control loop parameter has the smaller gain margin.

[0014] The evaluation result of the aerodynamic servo-elasticity characteristics of the control loop of the right rudder surface is determined by determining the second control loop parameter or the fourth control loop parameter as the aerodynamic servo-elasticity characteristics evaluation result of the control loop of the right rudder surface.

[0015] In some embodiments, the method further includes: obtaining a first open-loop transfer function corresponding to the left control surface control loop and a second open-loop transfer function corresponding to the right control surface control loop based on a first control command signal and a second control command signal when a symmetrical excitation signal is input; obtaining a third open-loop transfer function corresponding to the left control surface control loop and a fourth open-loop transfer function corresponding to the right control surface control loop based on a first control command signal and a second control command signal when an antisymmetric excitation signal is input; obtaining first control loop parameters and third control loop parameters based on the first and third open-loop transfer functions and a preset theoretical algorithm; and obtaining second and fourth control loop parameters based on the second and fourth open-loop transfer functions and a preset theoretical algorithm.

[0016] According to a second aspect of this disclosure, an aerodynamic servo-elastic characteristic evaluation device is provided, applied to a multi-control surface coupled control aircraft, the device comprising:

[0017] An input module is used to simultaneously input excitation signals to the left and right control surfaces of the aircraft when the aircraft reaches a preset flight state. A recording module is used to record the first control command signal and the second control command signal received by the left and right control surfaces of the aircraft after receiving the input excitation signal. The first control command signal is output by the aircraft's flight control system, and the second control command signal is obtained by superimposing the first control command signal and the excitation signal. A calculation module is used to calculate the aerodynamic servoelastic characteristic evaluation result of the aircraft in the preset flight state based on the first and second control command signals.

[0018] In some implementations, the input module is specifically used to simultaneously input symmetrical excitation signals to the left and right control surfaces of the aircraft. Anti-symmetrical excitation signals are also input simultaneously to the left and right control surfaces of the aircraft.

[0019] In some implementations, symmetrical excitation signals have the same phase and similar amplitude. Antisymmetrical excitation signals have opposite phases and similar amplitudes.

[0020] In some implementations, the frequency ranges of the symmetrical excitation signal and the antisymmetrical excitation signal include the modal frequencies covering the vibrations of the aircraft's main wing surface structure connected to the left and right control surfaces.

[0021] In some implementations, the calculation module is specifically used to calculate the aerodynamic servoelastic characteristic evaluation results of the aircraft in a preset flight state based on the first control command signal and the second control command signal when the symmetrical excitation signal is input, and the first control command signal and the second control command signal when the antisymmetric excitation signal is input.

[0022] In some implementations, the calculation module is specifically used to acquire the first control loop parameters of the left control surface and the second control loop parameters of the right control surface. The first control loop parameters of the left control surface are obtained based on the first and second control command signals received by the left control surface when symmetrical excitation signals are simultaneously input to the left and right control surfaces of the aircraft. The second control loop parameters of the right control surface are obtained based on the first and second control command signals received by the right control surface when symmetrical excitation signals are simultaneously input to the left and right control surfaces of the aircraft. The module also acquires the third control loop parameters of the left control surface and the fourth control loop parameters of the right control surface. The third control loop parameters of the left control surface are obtained based on the first and second control command signals received by the left control surface when antisymmetric excitation signals are simultaneously input to the left and right control surfaces of the aircraft. The fourth control loop parameters of the right control surface are obtained based on the first and second control command signals received by the right control surface when antisymmetric excitation signals are simultaneously input to the left and right control surfaces of the aircraft. The module then determines the first or third control loop parameters as the aerodynamic servo-elastic characteristic evaluation result of the control loop of the left control surface. The aerodynamic servoelastic characteristics evaluation results of the control loop with the second or fourth control loop parameters as the right control surface are determined. Based on the aerodynamic servoelastic characteristics evaluation results of the control loops of the left and right control surfaces, the aerodynamic servoelastic characteristics evaluation results of the aircraft under the preset flight conditions are obtained.

[0023] In some implementations, the control loop parameters include gain margin and phase margin.

[0024] The calculation module is specifically used to evaluate the aerodynamic servo-elasticity characteristics of the control loop of the left rudder surface by taking the parameter with the smaller gain margin between the first and third control loop parameters.

[0025] The calculation module is specifically used to evaluate the aerodynamic servo-elasticity characteristics of the control loop of the right-side control surface by taking the parameter with the smaller gain margin between the second and fourth control loop parameters.

[0026] In some implementations, the calculation module is further configured to: obtain a first open-loop transfer function corresponding to the left control surface control loop and a second open-loop transfer function corresponding to the right control surface control loop based on the first and second control command signals when symmetrical excitation signals are input; obtain a third open-loop transfer function corresponding to the left control surface control loop and a fourth open-loop transfer function corresponding to the right control surface control loop based on the first and second control command signals when antisymmetric excitation signals are input; obtain first control loop parameters and third control loop parameters based on the first and third open-loop transfer functions and a preset theoretical algorithm; and obtain second and fourth control loop parameters based on the second and fourth open-loop transfer functions and a preset theoretical algorithm.

[0027] According to a third aspect of this disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method provided in the first aspect.

[0028] According to a fourth aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions for causing a computer to perform the method provided according to the first aspect.

[0029] According to a fifth aspect of this disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the method provided according to the first aspect.

[0030] This disclosure provides an aerodynamic servoelastic characteristic evaluation method that can accurately evaluate the aerodynamic servoelastic characteristics of a multi-control surface coupled control aircraft by simultaneously inputting excitation signals to the left and right control surfaces when the aircraft reaches a preset flight state, recording the first and second control command signals received by the aircraft after receiving the input excitation signals, and then calculating the aerodynamic servoelastic characteristics evaluation result of the aircraft in the preset flight state based on the first and second control command signals.

[0031] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0032] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0033] Figure 1A schematic flowchart illustrating a method for evaluating aerodynamic servo elastic properties provided in an embodiment of this disclosure;

[0034] Figure 2 A schematic diagram of the data flow of a pneumatic servo elasticity characteristic evaluation method provided in this embodiment of the disclosure;

[0035] Figure 3 A flowchart illustrating another method for evaluating aerodynamic servo elastic properties provided in this embodiment of the disclosure;

[0036] Figure 4 A flowchart illustrating another method for evaluating aerodynamic servo-elastic properties provided in this embodiment of the present disclosure;

[0037] Figure 5 This is a schematic diagram of the control loop for a pneumatic servo elasticity characteristic evaluation method provided in an embodiment of this disclosure.

[0038] Figure 6 This is a schematic diagram of the composition of a pneumatic servo elasticity characteristic evaluation device provided in an embodiment of this disclosure;

[0039] Figure 7 A schematic block diagram of an example electronic device 700 that can be used to implement embodiments of the present disclosure is shown. Detailed Implementation

[0040] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0041] Both newly developed and modified aircraft must undergo aerodynamic servoelastic flight tests to verify that the aircraft does not exhibit aerodynamic servoelastic instabilities or other aerodynamic instabilities. Aerodynamic servoelastic flight testing is the final step in verifying the aerodynamic servoelastic design of an aircraft.

[0042] With the increasing diversity of aircraft layouts and the complexity of fly-by-wire control system designs, the control of roll, pitch, and yaw loops is no longer achieved through independent control surfaces. For example, in a certain type of multi-control surface coupled control aircraft, the primary control surfaces consist of three sets of elevons (inner, middle, and outer) on the wing trailing edge, simultaneously controlling pitch and roll. At low speeds, the inner elevons assist in control. The outermost set of control surfaces on the wing can split vertically to form a split-drag rudder for yaw control, and can also be used for auxiliary pitch and roll control, as well as as speed brakes. The gust load mitigation control surface on the beaver tail along the fuselage centerline can be used to control pitch. In other words, the control surfaces of this type of aircraft no longer control a single aircraft control loop, but rather employ multi-control surface coupled control; for example, the three sets of elevons (inner, middle, and outer) on the wing trailing edge simultaneously control pitch and roll, rather than controlling pitch or yaw individually.

[0043] However, traditional aero-servo-elastic flight tests are only applicable to conventional fly-by-wire aircraft and are not suitable for aircraft with multi-control surfaces coupled to maintain their aero-servo-elastic characteristics. Therefore, there is an urgent need to provide an aero-servo-elastic characteristic evaluation method that can accurately evaluate the aero-servo-elastic characteristics of aircraft with multi-control surfaces coupled to maintain their aero-servo-elastic characteristics.

[0044] In response, this application provides a method for evaluating the aerodynamic servo-elastic characteristics of aircraft with multi-control surface coupled control, including:

[0045] When the aircraft reaches the preset flight state, excitation signals are simultaneously input to the left and right control surfaces. The first and second control command signals received by the aircraft on the left and right control surfaces after receiving the input excitation signals are recorded. The first control command signal is output by the aircraft's flight control system, and the second control command signal is obtained by superimposing the first control command signal and the excitation signal. Based on the first and second control command signals, the aerodynamic servoelastic characteristics evaluation results of the aircraft in the preset flight state are calculated.

[0046] This paper presents an aerodynamic servoelastic characteristic evaluation method for aircraft with multi-control surface coupled control. By simultaneously inputting excitation signals to the left and right control surfaces when the aircraft reaches a preset flight state, and recording the first and second control command signals received by the aircraft after receiving the input excitation signals, the aerodynamic servoelastic characteristics evaluation results of the aircraft in the preset flight state are calculated based on these signals.

[0047] Figure 1This is a flowchart illustrating a method for evaluating the pneumatic servo elastic properties according to an embodiment of this disclosure. This method can be applied to electronic devices, such as servers and computers, which possess data processing capabilities; this disclosure does not limit the scope of the application.

[0048] like Figure 1 As shown, the evaluation method for pneumatic servo elastic characteristics includes:

[0049] S110. When the aircraft reaches the preset flight state, excitation signals are simultaneously input to the left and right control surfaces of the aircraft.

[0050] In some implementations, flight status includes flight altitude, flight speed, etc. Reaching the preset flight status means that the aircraft used for the experiment reaches a preset flight altitude and maintains stable level flight at a preset flight speed.

[0051] In some implementations, excitation signals are simultaneously input to the left and right control surfaces of the aircraft, including: simultaneously inputting symmetrical excitation signals to the left and right control surfaces of the aircraft; and simultaneously inputting anti-symmetrical excitation signals to the left and right control surfaces of the aircraft.

[0052] In some implementations, symmetrical excitation signals can be input simultaneously to the left and right control surfaces of the aircraft first. After the symmetrical excitation signals are input, anti-symmetrical excitation signals can then be input simultaneously to the left and right control surfaces. Alternatively, anti-symmetrical excitation signals can be input simultaneously to the left and right control surfaces first, and symmetrical excitation signals can then be input simultaneously to the left and right control surfaces after the anti-symmetrical excitation signals are input.

[0053] Symmetrical excitation signals have the same phase and similar amplitude. Antisymmetric excitation signals have opposite phases and similar amplitudes.

[0054] For example, the symmetrical excitation signal can be two linear sinusoidal sweep signals, with the two signals having the same phase, the same amplitude, and not exceeding 1°. The duration of the symmetrical excitation signal does not exceed 60 seconds.

[0055] The antisymmetric excitation signal can also be two linear sinusoidal sweep signals, with opposite phases and the same amplitude not exceeding 1°. The duration of the antisymmetric excitation signal does not exceed 60 seconds.

[0056] In some implementations, the frequency ranges of the symmetrical excitation signal and the antisymmetrical excitation signal include the modal frequencies covering the vibrations of the aircraft's main wing surface structure connected to the left and right control surfaces.

[0057] S120. Record the first and second control command signals received by the aircraft's left and right control surfaces after the aircraft receives the input excitation signal.

[0058] The first control command signal is output by the aircraft's flight control system, and the second control command signal is obtained by superimposing the first control command signal and the excitation signal.

[0059] In some implementations, the first control command signal can be the initial control surface control command signal calculated by the aircraft's flight control computer using a control law, i.e., the control command signal for the aircraft's automatic control of the control surfaces without the superimposed excitation signal. The second control command signal can be obtained by superimposing the excitation signal onto the initial control surface control command signal.

[0060] In some implementations, the first control command signal and the second control command signal can be recorded by the aircraft test system.

[0061] S130. Based on the first control command signal and the second control command signal, calculate the evaluation result of the aerodynamic servo-elastic characteristics of the aircraft in the preset flight state.

[0062] In some implementations, the aerodynamic servoelastic characteristics evaluation results of the aircraft in a preset flight state can be calculated based on the first and second control command signals when a symmetrical excitation signal is input, and the first and second control command signals when an antisymmetric excitation signal is input.

[0063] In some implementations, the control signal for the aircraft in a preset flight state is a first control command signal. When an excitation signal is input, the aircraft controls its various control surfaces according to a second control command signal.

[0064] Figure 2 This is a schematic diagram of the data flow of a pneumatic servo elasticity characteristic evaluation method provided in an embodiment of this disclosure.

[0065] refer to Figure 2 The first control command signal includes an initial control surface control command signal for controlling the left elevator and an initial control surface control command signal for controlling the right elevator, both output from the flight control computer. The second control command signal includes a final control surface control command signal obtained by superimposing the initial control surface control command signal for controlling the left elevator with an excitation signal, and a final control surface control command signal obtained by superimposing the initial control surface control command signal for controlling the right elevator with an excitation signal.

[0066] The final control surface control command for the left elevator is input to the left elevator hydraulic servo system, and the final control surface control command for the right elevator is input to the right elevator hydraulic servo system, jointly controlling the control surface flight of the elastic aircraft (i.e., a multi-control surface coupled control aircraft). When the elastic aircraft experiences elastic vibrations during flight, the flight control computer acquires the sensor signals from the roll / pitch feedback sensors at the time of these vibrations and generates a new first control command signal based on these sensor signals.

[0067] Figure 3 This is a flowchart illustrating another method for evaluating aerodynamic servo elastic properties provided in an embodiment of this disclosure.

[0068] In some implementations, reference is made to Figure 3 The aerodynamic servo-elasticity characteristics of the aircraft under preset flight conditions were calculated and evaluated, including:

[0069] S210. Obtain the first control loop parameters of the left control surface and the second control loop parameters of the right control surface.

[0070] The first control loop parameters of the left control surface are obtained based on the first and second control command signals received by the left control surface when symmetrical excitation signals are simultaneously input to the left and right control surfaces of the aircraft. The second control loop parameters of the right control surface are obtained based on the first and second control command signals received by the right control surface when symmetrical excitation signals are simultaneously input to the left and right control surfaces of the aircraft.

[0071] S220. Obtain the third control loop parameters of the left control surface and the fourth control loop parameters of the right control surface.

[0072] The third control loop parameters of the left control surface are obtained based on the first and second control command signals received by the left control surface when antisymmetric excitation signals are simultaneously input to the left and right control surfaces of the aircraft. The fourth control loop parameters of the right control surface are obtained based on the first and second control command signals received by the right control surface when antisymmetric excitation signals are simultaneously input to the left and right control surfaces of the aircraft.

[0073] Figure 4 This is a flowchart illustrating another method for evaluating the pneumatic servo elastic properties provided in an embodiment of this disclosure.

[0074] Some implementation methods, see reference Figure 4 S210 and S220 can be implemented through the following steps:

[0075] S310. Based on the first control command signal and the second control command signal when the symmetrical excitation signal is input, obtain the first open-loop transfer function corresponding to the control loop of the left control surface of the aircraft and the second open-loop transfer function corresponding to the control loop of the right control surface of the aircraft.

[0076] Figure 5 This is a schematic diagram of the control loop for a pneumatic servo elasticity characteristic evaluation method provided in an embodiment of this disclosure.

[0077] In some implementations, Figure 5 The control loops for the left and right control surfaces of the aircraft are shown. Their control mechanisms have been described in S130 and will not be repeated here.

[0078] In this embodiment, the open-loop transfer function refers to the calculation of the open-loop transfer function of the aircraft's aero-servo-elastic system. When calculating the open-loop transfer function of the aircraft's aero-servo-elastic system, the left control surface control loop can be considered as a closed-loop control loop for fitting and estimation of the open-loop transfer function. Similarly, the right control surface control loop can be considered as a closed-loop control loop for fitting and estimation of the open-loop transfer function.

[0079] In some implementations, under symmetrical excitation, the final control command signal of the left elevator is used as the input signal of the aircraft's aero-servo-elastic system, and the initial control command signal of the left control surface is used as the output signal of the aircraft's aero-servo-elastic system. Based on the theory of system transfer function estimation, the open-loop transfer function (first open-loop transfer function) of the aircraft's aero-servo-elastic system corresponding to the left control surface control loop can be calculated. Similarly, the open-loop transfer function (second open-loop transfer function) of the aircraft's aero-servo-elastic system corresponding to the right control surface control loop can be calculated using the same method.

[0080] S320. Based on the first control command signal and the second control command signal when the antisymmetric excitation signal is input, obtain the third open-loop transfer function corresponding to the control loop of the left control surface of the aircraft and the fourth open-loop transfer function corresponding to the control loop of the right control surface of the aircraft.

[0081] In some implementations, under anti-symmetric excitation, the final control surface command signal of the left elevator is used as the input signal of the aircraft's aero-servo-elastic system, and the initial control surface command signal of the left control surface is used as the output signal of the aircraft's aero-servo-elastic system. Based on system transfer function estimation theory, the open-loop transfer function (third open-loop transfer function) of the aircraft's aero-servo-elastic system corresponding to the left control surface control loop can be calculated. Similarly, the open-loop transfer function (fourth open-loop transfer function) of the aircraft's aero-servo-elastic system corresponding to the right control surface control loop can be calculated using the same method.

[0082] S330. Based on the first open-loop transfer function and the third open-loop transfer function, and according to the preset theoretical algorithm, obtain the first control loop parameters and the third control loop parameters.

[0083] In some implementations, the control loop parameters include gain margin and phase margin.

[0084] In some implementations, the parameters of the first control loop and the parameters of the third control loop are obtained according to a preset theoretical algorithm, including:

[0085] Based on the open-loop transfer functions (i.e., the first open-loop transfer function and the third open-loop transfer function) of the aircraft aerodynamic servo elastic system of the two left-side control loops obtained in S310 and S320, and based on the calculation theory of gain margin and phase margin of open-loop transfer functions, the two sets of control loop parameters of the left-side control surface can be calculated, namely the first control loop parameters and the third control loop parameters (that is, the two sets of gain margin and phase margin).

[0086] S340. Based on the second open-loop transfer function and the fourth open-loop transfer function, and according to the preset theoretical algorithm, obtain the second control loop parameters and the fourth control loop parameters.

[0087] Based on the open-loop transfer functions (i.e., the second and fourth open-loop transfer functions) of the aircraft aerodynamic servo-elastic system of the two right-side control loops obtained in S310 and S320, and based on the calculation theory of gain margin and phase margin of the open-loop transfer function, the two sets of control loop parameters of the left-side control surface can be calculated, namely the second control loop parameters and the fourth control loop parameters (which are the two sets of gain margin and phase margin).

[0088] S230. Determine the aerodynamic servo elasticity characteristic evaluation result of the control loop with the parameters of the first or third control loop as the left rudder surface.

[0089] In some implementations, determining the first control loop parameter or the third control loop parameter as the aerodynamic servo-elastic characteristic evaluation result of the control loop of the left control surface includes: taking the one with the smaller gain margin among the first control loop parameter and the third control loop parameter as the aerodynamic servo-elastic characteristic evaluation result of the control loop of the left control surface.

[0090] For example, if the gain margin in the first control loop parameters is 25.46 dB and the gain margin in the third control loop parameters is 19.45 dB, then the third control loop parameters can be used as the evaluation result of the aerodynamic servo-elastic characteristics of the control loop of the left control surface.

[0091] S240. Determine the aerodynamic servo elasticity evaluation results of the control loop with the parameters of the second or fourth control loop as the parameters of the right rudder surface.

[0092] In some implementations, determining the second control loop parameters and the fourth control loop parameters as the aerodynamic servo-elasticity characteristic evaluation results of the control loop of the right control surface includes: taking the one with the smaller gain margin among the second control loop parameters and the fourth control loop parameters as the aerodynamic servo-elasticity characteristic evaluation result of the control loop of the right control surface.

[0093] Similar to S230, for example, if the gain margin in the second control loop parameters is 18.72dB and the gain margin in the fourth control loop parameters is 24.37dB, then the second control loop parameters can be used as the evaluation result of the aerodynamic servo-elastic characteristics of the control loop of the right rudder surface.

[0094] S250. Based on the evaluation results of the aero-servo-elastic characteristics of the control loop of the left control surface and the evaluation results of the aero-servo-elastic characteristics of the control loop of the right control surface, the aero-servo-elastic characteristics evaluation results of the aircraft in the preset flight state are obtained.

[0095] In some implementations, the aerodynamic servoelasticity characteristic evaluation results of the control loop on the left control surface and the aerodynamic servoelasticity characteristic evaluation results of the control loop on the right control surface can be combined to form the aerodynamic servoelasticity characteristic evaluation results of the aircraft in a preset flight state.

[0096] In this application, the open-loop transfer functions of the control loops for the left and right elevator surfaces are obtained separately, and the gain margin and phase margin are derived from these open-loop transfer functions. Finally, the gain margin and phase margin of the left and right elevator surfaces are used as the evaluation results of the aircraft's aerodynamic servoelastic characteristics under preset flight conditions. This approach can accurately evaluate the aerodynamic servoelastic characteristics of aircraft with multi-control surface coupled control.

[0097] Here, the method for evaluating the elastic characteristics of pneumatic servo systems is further illustrated through the following embodiments.

[0098] In this embodiment, the left and right elevators of the multi-control aircraft are used for both pitch and roll attitude feedback control, making it a typical multi-control fly-by-wire aircraft. The preset flight conditions are an altitude of 8000 meters and a speed of 600 km / h.

[0099] Once the aircraft has maintained stable level flight, symmetrical excitation signals are simultaneously injected into the left and right elevators. The symmetrical excitation signals are sinusoidal linear frequency sweep signals with a frequency range of 1Hz-30Hz, an amplitude of 0.6°, and a duration of 30s. The excitation signals on the left and right sides are in phase.

[0100] After the symmetrical excitation signal ends, antisymmetric excitation signals are simultaneously injected into the left and right elevators. The antisymmetric excitation signal is a sinusoidal linear frequency sweep signal with a frequency range of 1Hz-30Hz, an amplitude of 0.6°, and a duration of 30s. The excitation signals on the left and right sides are out of phase.

[0101] According to the aircraft structure (horizontal tail structure), 1Hz-30Hz covers the main structural mode frequency range of the horizontal tail structure.

[0102] During the input of symmetrical and antisymmetrical excitation signals, according to S130 and its related descriptions, the aerodynamic servo-elasticity characteristic evaluation results of the control loop of the left control surface and the aerodynamic servo-elasticity characteristic evaluation results of the control loop of the right control surface are obtained.

[0103] The aero-servo-elasticity characteristic evaluation results of the control loop of the left control surface and the aero-servo-elasticity characteristic evaluation results of the control loop of the right control surface are combined as the aero-servo-elasticity characteristic evaluation results of the aircraft in the preset flight state.

[0104] In this embodiment, the evaluation results of the aerodynamic servo-elasticity characteristics of the control loop of the left control surface and the evaluation results of the aerodynamic servo-elasticity characteristics of the control loop of the right control surface are shown in Table 1:

[0105] Table 1

[0106]

[0107] In this embodiment, the phase margin of all the calculated control loop parameters is greater than 180°, which is not reflected in Table 1.

[0108] Among them, the aerodynamic servo-elasticity characteristic evaluation results obtained using the aerodynamic servo-elasticity characteristic evaluation method provided in this application, as shown in Table 1, are more detailed, accurate, and conservative than those obtained using traditional methods, and can more accurately evaluate the aerodynamic servo-elasticity characteristics of multi-control surface coupled control aircraft.

[0109] In an exemplary embodiment, this disclosure also provides a pneumatic servo elasticity characteristic evaluation device, which can be used to implement the pneumatic servo elasticity characteristic evaluation method provided in the foregoing embodiments.

[0110] Figure 6 This is a schematic diagram of the composition of a pneumatic servo elasticity characteristic evaluation device provided in an embodiment of this disclosure.

[0111] like Figure 6 As shown, this device is used in multi-control surface coupled control aircraft, and the device includes:

[0112] The input module 61 is used to simultaneously input excitation signals to the left and right control surfaces of the aircraft when the aircraft reaches a preset flight state.

[0113] The recording module 62 is used to record the first control command signal and the second control command signal received by the left and right control surfaces of the aircraft after the aircraft receives the input excitation signal. The first control command signal is output by the flight control system of the aircraft, and the second control command signal is obtained by superimposing the first control command signal and the excitation signal.

[0114] The calculation module 63 is used to calculate the aerodynamic servo-elasticity characteristic evaluation result of the aircraft in the preset flight state based on the first control command signal and the second control command signal.

[0115] In some implementations, input module 61 is specifically used to simultaneously input symmetrical excitation signals to the left and right control surfaces of the aircraft. Anti-symmetrical excitation signals are also input simultaneously to the left and right control surfaces of the aircraft.

[0116] In some implementations, symmetrical excitation signals have the same phase and similar amplitude. Antisymmetrical excitation signals have opposite phases and similar amplitudes.

[0117] In some implementations, the frequency ranges of the symmetrical excitation signal and the antisymmetrical excitation signal include the modal frequencies covering the vibrations of the aircraft's main wing surface structure connected to the left and right control surfaces.

[0118] In some implementations, the calculation module 63 is specifically used to calculate the aerodynamic servo-elasticity characteristic evaluation result of the aircraft in a preset flight state based on the first control command signal and the second control command signal when the symmetrical excitation signal is input, and the first control command signal and the second control command signal when the antisymmetric excitation signal is input.

[0119] In some implementations, the calculation module 63 is specifically used to acquire the first control loop parameters of the left control surface and the second control loop parameters of the right control surface. The first control loop parameters of the left control surface are obtained based on the first and second control command signals received by the left control surface when symmetrical excitation signals are simultaneously input to the left and right control surfaces of the aircraft. The second control loop parameters of the right control surface are obtained based on the first and second control command signals received by the right control surface when symmetrical excitation signals are simultaneously input to the left and right control surfaces of the aircraft. The module also acquires the third control loop parameters of the left control surface and the fourth control loop parameters of the right control surface. The third control loop parameters of the left control surface are obtained based on the first and second control command signals received by the left control surface when antisymmetric excitation signals are simultaneously input to the left and right control surfaces of the aircraft. The fourth control loop parameters of the right control surface are obtained based on the first and second control command signals received by the right control surface when antisymmetric excitation signals are simultaneously input to the left and right control surfaces of the aircraft. The module also determines the first or third control loop parameters as the aerodynamic servo-elastic characteristic evaluation result of the control loop of the left control surface. The aerodynamic servoelastic characteristics evaluation results of the control loop with the second or fourth control loop parameters as the right control surface are determined. Based on the aerodynamic servoelastic characteristics evaluation results of the control loops of the left and right control surfaces, the aerodynamic servoelastic characteristics evaluation results of the aircraft under the preset flight conditions are obtained.

[0120] In some implementations, the control loop parameters include gain margin and phase margin.

[0121] The calculation module 63 is specifically used to take the one with the smaller gain margin among the first control loop parameters and the third control loop parameters as the evaluation result of the aerodynamic servo-elastic characteristics of the control loop of the left control surface.

[0122] The calculation module 63 is specifically used to take the one with the smaller gain margin among the second control loop parameters and the fourth control loop parameters as the evaluation result of the aerodynamic servo-elastic characteristics of the control loop of the right rudder surface.

[0123] In some embodiments, the calculation module 63 is further configured to: obtain a first open-loop transfer function corresponding to the left control surface control loop and a second open-loop transfer function corresponding to the right control surface control loop based on the first control command signal and the second control command signal when the symmetrical excitation signal is input; obtain a third open-loop transfer function corresponding to the left control surface control loop and a fourth open-loop transfer function corresponding to the right control surface control loop based on the first control command signal and the second control command signal when the anti-symmetrical excitation signal is input; obtain first control loop parameters and third control loop parameters based on the first and third open-loop transfer functions and a preset theoretical algorithm; and obtain second and fourth control loop parameters based on the second and fourth open-loop transfer functions and a preset theoretical algorithm.

[0124] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0125] An electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the methods provided in the above embodiments.

[0126] In an exemplary embodiment, the readable storage medium may be a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the method provided in the above embodiments.

[0127] In an exemplary embodiment, the computer program product includes a computer program that, when executed by a processor, implements the method provided in the above embodiments.

[0128] Figure 7 A schematic block diagram of an example electronic device 700 that can be used to implement embodiments of the present disclosure is shown.

[0129] Electronic devices are intended to represent various forms of digital computers, such as in-vehicle computers, laptop computers, tablets, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0130] like Figure 7As shown, device 700 includes a computing unit 701, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 702 or a computer program loaded from storage unit 708 into random access memory (RAM) 703. RAM 703 may also store various programs and data required for the operation of device 700. The computing unit 701, ROM 702, and RAM 703 are interconnected via bus 704. Input / output (I / O) interface 705 is also connected to bus 704.

[0131] Multiple components in device 700 are connected to I / O interface 705, including: input unit 706, such as keyboard, mouse, etc.; output unit 707, such as various types of monitors, speakers, etc.; storage unit 708, such as disk, optical disk, etc.; and communication unit 709, such as network card, modem, wireless transceiver, etc. Communication unit 709 allows device 700 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0132] The computing unit 701 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 701 performs the various methods and processes described above, such as page rendering methods. For example, in some embodiments, the page rendering method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 708. In some embodiments, part or all of the computer program may be loaded and / or installed on device 700 via ROM 702 and / or communication unit 709. When the computer program is loaded into RAM 703 and executed by computing unit 701, one or more steps of the page rendering method described above may be performed. Alternatively, in other embodiments, the computing unit 701 may be configured by any other suitable means (e.g., by means of firmware) to perform a pneumatic servo elasticity characteristic evaluation method.

[0133] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0134] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0135] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0136] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0137] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0138] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0139] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0140] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for evaluating the elastic characteristics of pneumatic servo systems, characterized in that, The method, applied to multi-control surface coupled control aircraft, includes: When the aircraft reaches the preset flight state, symmetrical excitation signals and antisymmetric excitation signals are simultaneously input to the left and right control surfaces of the aircraft. Record the first control command signal and the second control command signal received by the left and right control surfaces of the aircraft after the aircraft receives the input symmetrical excitation signal, and record the first control command signal and the second control command signal received by the left and right control surfaces of the aircraft after the aircraft receives the input antisymmetric excitation signal. The first control command signal is output by the flight control system of the aircraft, and the second control command signal is obtained by superimposing the first control command signal and the excitation signal. The first control loop parameters of the left control surface and the second control loop parameters of the right control surface are obtained. The first control loop parameters are obtained based on the first control command signal and the second control command signal received by the left control surface when the symmetrical excitation signal is simultaneously input to the left control surface and the right control surface. The second control loop parameters are obtained based on the first control command signal and the second control command signal received by the right control surface when the symmetrical excitation signal is simultaneously input to the left control surface and the right control surface. The third control loop parameters of the left control surface and the fourth control loop parameters of the right control surface are obtained. The third control loop parameters are obtained based on the first control command signal and the second control command signal received by the left control surface when the anti-symmetric excitation signal is simultaneously input to the left control surface and the right control surface. The fourth control loop parameters are obtained based on the first control command signal and the second control command signal received by the right control surface when the anti-symmetric excitation signal is simultaneously input to the left control surface and the right control surface. The first control loop parameter or the third control loop parameter is determined as the aerodynamic servo-elastic characteristic evaluation result of the control loop of the left rudder surface; The second control loop parameter or the fourth control loop parameter is determined as the aerodynamic servo-elastic characteristic evaluation result of the control loop of the right rudder surface; Based on the aerodynamic servoelasticity evaluation results of the control loop of the left control surface and the aerodynamic servoelasticity evaluation results of the control loop of the right control surface, the aerodynamic servoelasticity evaluation results of the aircraft in the preset flight state are obtained.

2. The method according to claim 1, characterized in that, The symmetrical excitation signals have the same phase and the same or similar amplitude; The antisymmetric excitation signals have opposite phases and the same or similar amplitudes.

3. The method according to claim 1, characterized in that, The frequency range of the symmetrical excitation signal and the antisymmetric excitation signal includes the modal frequencies covering the vibration of the aircraft main wing structure connected to the left and right control surfaces.

4. The method according to claim 1, characterized in that, Control loop parameters include gain margin and phase margin; The evaluation result of the aerodynamic servo-elastic characteristics of the control loop for determining the first control loop parameters or the third control loop parameters as the control loop of the left rudder surface includes: The parameter with the smaller gain margin among the first control loop parameter and the third control loop parameter is taken as the evaluation result of the aerodynamic servo-elasticity characteristics of the control loop of the left control surface. The evaluation result of the aerodynamic servo-elastic characteristics of the control loop for determining the second control loop parameters or the fourth control loop parameters as the control loop of the right rudder surface includes: The parameter with the smaller gain margin between the second and fourth control loop parameters is taken as the evaluation result of the aerodynamic servo-elasticity characteristics of the control loop of the right control surface.

5. The method according to claim 1, characterized in that, The method further includes: Based on the first and second control command signals when the symmetrical excitation signal is input, obtain the first open-loop transfer function corresponding to the control loop of the left control surface of the aircraft and the second open-loop transfer function corresponding to the control loop of the right control surface of the aircraft. Based on the first and second control command signals when the antisymmetric excitation signal is input, obtain the third open-loop transfer function corresponding to the left control surface control loop of the aircraft and the fourth open-loop transfer function corresponding to the right control surface control loop of the aircraft. Based on the first open-loop transfer function and the third open-loop transfer function, and according to a preset theoretical algorithm, the first control loop parameters and the third control loop parameters are obtained; Based on the second open-loop transfer function and the fourth open-loop transfer function, and according to a preset theoretical algorithm, the parameters of the second control loop and the parameters of the fourth control loop are obtained.

6. A pneumatic servo elasticity characteristic evaluation device, characterized in that, The device, used in multi-control surface coupled aircraft, includes: The input module is used to simultaneously input symmetrical excitation signals and antisymmetrical excitation signals to the left and right control surfaces of the aircraft when the aircraft reaches a preset flight state. The recording module is used to record the first control command signal and the second control command signal received by the left and right control surfaces of the aircraft after the aircraft receives the input symmetrical excitation signal, and to record the first control command signal and the second control command signal received by the left and right control surfaces of the aircraft after the aircraft receives the input anti-symmetrical excitation signal. The first control command signal is output by the flight control system of the aircraft, and the second control command signal is obtained by superimposing the first control command signal and the excitation signal. The calculation module is used to acquire the first control loop parameters of the left control surface and the second control loop parameters of the right control surface. The first control loop parameters are obtained based on the first and second control command signals received by the left control surface when the symmetrical excitation signal is simultaneously input to both the left and right control surfaces. The second control loop parameters are obtained based on the first and second control command signals received by the right control surface when the symmetrical excitation signal is simultaneously input to both the left and right control surfaces. The module also acquires the third control loop parameters of the left control surface and the fourth control loop parameters of the right control surface. The third control loop parameters are obtained based on the first and second control command signals received by the left control surface when the anti-symmetrical excitation signal is simultaneously input to both the left and right control surfaces. The first control command signal and the second control command signal are obtained, and the fourth control loop parameters are obtained based on the first control command signal and the second control command signal received by the right control surface when the antisymmetric excitation signal is simultaneously input to the left control surface and the right control surface; the first control loop parameters or the third control loop parameters are determined as the aerodynamic servoelastic characteristic evaluation result of the control loop of the left control surface; the second control loop parameters or the fourth control loop parameters are determined as the aerodynamic servoelastic characteristic evaluation result of the control loop of the right control surface; based on the aerodynamic servoelastic characteristic evaluation results of the control loop of the left control surface and the control loop of the right control surface, the aerodynamic servoelastic characteristic evaluation result of the aircraft in the preset flight state is obtained.

7. An electronic device, characterized in that, include: At least one processor; and a memory communicatively connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the method according to any one of claims 1-5.

8. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-5.

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