Aircraft slat fatigue test follow-up system and angle tracking control method

Abstract

The application provides a kind of aircraft slat fatigue test servo system, including servo loading mechanism and angle tracking control system;Servo loading mechanism includes frame support, hinged servo frame with frame support, drive actuator for driving servo frame rotation and hinged loading actuator on servo frame and connected with wing test piece;Angle tracking control system includes coordinated loading control system, force sensor and inclination sensor installed on servo frame, coordinated loading control system receives drive actuator displacement signal, force sensor force signal, inclination sensor angle measurement signal, deflection angle signal of slat wing drive system and angle difference signal, the relationship between the deflection angle signal and the wing deflection angle is obtained by correcting the deflection angle signal through angle measurement signal, and the action of drive actuator is controlled by coordinated loading control system according to the relationship between the corrected drive actuator displacement elongation and the wing deflection angle.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of aircraft slat fatigue test, and particularly relates to a kind of aircraft slat fatigue test servo system and angle tracking control method. BACKGROUND

[0002] In the full-size fatigue test of aircraft slat, the wing surface deflection motion is usually completed by an AC servo motor driving system, and the wing surface load is applied by a swing arm servo frame controlled by a control system. The two systems move independently, and the digital IO is used as the synchronous motion interaction judgment signal. The error between the wing surface deflection angle and the tilt angle of the servo frame is used as the most important criterion for precision control and safety protection. Therefore, it is of great value to minimize the angle error for the angle tracking control of the servo system.

[0003] The current servo system adopts a swing arm servo mechanism, which drives the rotation around the wing surface deflection center axis by a hydraulic actuator. According to the approximate linear relationship between the displacement elongation of the hydraulic actuator and the tilt angle in the geometric model of the servo mechanism (hereinafter referred to as the "displacement-angle" model), the displacement of the hydraulic actuator is calculated from the wing surface deflection angle as the controlled physical quantity, which is input into the control system load spectrum to keep the tilt angle of the servo mechanism consistent with the wing surface deflection angle at all times. The angle error is used as a safety protection measure. This angle control method based on displacement control only uses time as the basis for synchronous motion and does not directly control the angle, which cannot realize real-time tracking control of the angle. Various angle values are only used as monitoring quantities or intermediate quantities, which are affected by factors such as the accuracy of the servo mechanism position control, the accuracy of the slat wing surface driving system, and the time difference. Through a large amount of debugging work, the angle error can be kept within the range required by the test accuracy, but it has not been fundamentally controlled and reduced effectively. SUMMARY

[0004] The purpose of the present application is to provide a kind of aircraft slat fatigue test servo system and angle tracking control system to solve or reduce at least one problem in the background art.

[0005] The technical solution of the present application is: a kind of aircraft slat fatigue test servo system, the servo system includes servo loading mechanism and angle tracking control system;

[0006] The servo loading mechanism includes a frame support, a servo frame hinged to the frame support, a driving actuator for driving the servo frame to rotate, and a loading actuator hinged to the servo frame and connected to the wing surface test piece;

[0007] The angle tracking control system comprises a coordinated loading control system, a force sensor between the driving cylinder and the follow-up frame, and an inclination sensor installed on the follow-up frame, the coordinated loading control system receives a displacement signal of the driving cylinder, a force signal of the force sensor, an angle measurement signal of the inclination sensor, a deflection angle signal of the slat wing driving system for driving the wing test piece to deflect, and an angle difference signal of the angle measurement signal and the deflection angle signal, the deflection angle signal is corrected by the angle measurement signal to obtain the relationship between the driving cylinder displacement extension and the wing deflection angle, and the coordinated loading control system controls the driving cylinder according to the relationship between the driving cylinder displacement extension and the wing deflection angle.

[0008] Preferably, the driving cylinder is a displacement driving cylinder.

[0009] Preferably, the loading driving cylinder comprises a first loading driving cylinder and a second loading driving cylinder, the first loading driving cylinder is connected to the outer surface of the wing test piece, and the second loading driving cylinder is connected to the leading edge of the wing test piece.

[0010] Preferably, the first loading driving cylinder and the second loading driving cylinder are force control driving cylinders.

[0011] Preferably, the angle tracking control system interacts with the slat wing driving system through an IO interface to obtain the deflection angle of the wing test piece.

[0012] Preferably, before the coordinated loading control system controls the driving cylinder according to the angle difference signal, the angle difference signal is corrected according to the displacement signal of the driving cylinder, the angle measurement signal of the inclination sensor, and the deflection angle signal of the slat wing driving system.

[0013] In another aspect, the technical scheme provided by the present application is an angle tracking control method of the aircraft slat fatigue test follow-up system, comprising:

[0014] An analog input channel is used to introduce the deflection angle of the wing driving mechanism 111 into the coordinated loading control system through the slat wing driving system, and the inclination sensor is installed on the follow-up frame.

[0015] The geometric parameters are obtained according to the structure model of the follow-up frame, a relationship model of the driving cylinder displacement extension and the wing test piece deflection angle is established, and a load spectrum is established with the displacement as the controlled variable and the deflection angle as the target variable according to the relationship model.

[0016] making the output signal of the driving cylinder, the displacement input of the driving cylinder, the force input of the force sensor, the angle measurement input of the tilt angle sensor, the deflection angle input of the slat wing surface driving system and the angle error input between the angle measurement input of the tilt angle sensor and the deflection angle input of the slat wing surface driving system in a loading channel of a coordinated loading control system generate a driving action;

[0017] taking the displacement input in the driving cylinder as a main feedback, driving the follow-up frame by the driving cylinder, calibrating the angle feedback value of the tilt angle sensor at different detent positions according to the respective detent states of the slat wing surface driving system, and determining the corresponding relationship between the displacement of the driving cylinder and the deflection angle of the wing surface;

[0018] taking the angle measurement input of the tilt angle sensor as a main feedback, giving an angle command, setting the angle control PID parameters, establishing a load spectrum with the angle as the controlled variable of the driving cylinder, and running the load spectrum in a loop to adjust the followability and accuracy of the angle control.

[0019] Preferably, the method further comprises:

[0020] setting the angle error input as a main feedback, establishing a load spectrum with the angle error as the controlled variable, setting all the load spectrum values as zero, starting the slat wing surface driving system, verifying the angle change tracking situation of the follow-up system to the driving system, and appropriately adjusting the PID control parameters to obtain a better control quality of the real-time angle tracking.

[0021] In the follow-up system and the angle tracking control method of the application, the driving cylinder takes the angle as the controlled physical variable, the control principle is simple, the structure design of the follow-up loading frame has no additional requirements on the basis of keeping the hardware resources unchanged, the test cost is saved, the economy is high, and finally the angle tracking control can be realized, the follow-up angle error in the whole test process can be effectively reduced, the influence of the detent state of the test piece is ignored, and the function implementation is simpler. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions provided by the application, the following will briefly introduce the drawings. Obviously, the drawings described below are only some embodiments of the application.

[0023] Figure 1 a schematic diagram of a follow-up loading mechanism of the application.

[0024] Figure 2 a schematic diagram of an angle tracking control system of the follow-up system of the application.

[0025] Figure 3 a schematic diagram of an angle tracking control process in the application.

[0026] REFERENCE SIGNS:

[0027] 101-follow-up frame

[0028] 102-Frame Support

[0029] 103-Drive Actuator

[0030] 104-First Loading Actuator

[0031] 105-Second Loading Actuator

[0032] 106-Airfoil Test Specimen

[0033] 107-Force Sensor

[0034] 108-Tilt Sensor

[0035] 109-Coordinated Loading Control System

[0036] 110-Slatted Surface Drive System

[0037] 111-Airfoil Drive 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.

[0039] Based on displacement control-based angle tracking control, this application introduces the slat deflection angle into the control system as one angle feedback signal, uses the tilt sensor of the servo mechanism as another angle feedback signal, and uses the angle error between the two as the controlled physical quantity to establish a new angle control load spectrum, thereby realizing real-time angle tracking control.

[0040] Therefore, this application provides a follow-up system for fatigue testing of aircraft slats, the follow-up system including a follow-up loading mechanism and an angle tracking control system.

[0041] Firstly, as Figure 1 A schematic diagram of the follow-up loading mechanism is shown. The lower right corner of the follow-up frame 101 is hinged to the frame support 102. One end of the drive actuator 103 is hinged to the side of the follow-up frame 101, and the other end is hinged to the frame support 102. The drive actuator 103 uses a position-controlled actuator instead of a traditional hydraulic actuator. The upper side and leading edge of the wing test piece 106 are connected to the follow-up frame 101 via a first loading actuator 104 and a second loading actuator 105, respectively. Forces are applied to the upper side and leading edge of the wing test piece 106 via the first loading actuator 104 and the second loading actuator 105 to simulate aerodynamic loads on various parts of the wing. Both the first loading actuator 104 and the second loading actuator 105 are force-controlled actuators.

[0042] likeFigure 2 The angle tracking control system shown in the schematic diagram can be used to realize real-time high-precision tracking driving based on angle error. The angle tracking control system comprises a force sensor 107, an inclination sensor 108, and a coordinated loading control system 109.

[0043] The force sensor 107 is arranged between the driving cylinder 103 and the follower frame 101, and is used to measure the driving force of the driving cylinder 103 acting on the follower frame 101. The measurement value of the force sensor 107 is transmitted to the coordinated loading control system 109 as a physical input.

[0044] The inclination sensor 108 is arranged on the follower frame 101, and is used to measure the deflection angle of the follower frame 101. The measurement value of the inclination sensor 108 is also transmitted to the coordinated loading control system 109 as a physical input.

[0045] The coordinated control loading system 109 and the slat wing driving system 110 exchange information through an I / O interface. The slat wing driving system 110 can control the wing test piece 106 to deflect through the wing driving structure 111. In this process, the deflection angle of the wing can be obtained by analog quantity collection of voltage, and the angle is transmitted to the coordinated loading control system 109 as a virtual input.

[0046] The driving cylinder 103 in the follower loading mechanism is connected to the coordinated loading control system 109. The coordinated loading control system 109 can control the driving cylinder 103 to generate a displacement amount through an output displacement control signal, and drive the follower frame 101 to move synchronously with the wing test piece 106 controlled by the wing driving mechanism 111 to deflect, so that the two remain relatively stationary.

[0047] The input signals received by the coordinated loading control system 109 include the displacement value generated by the driving cylinder 103, the force value measured by the force sensor 107, the inclination angle feedback value of the follower frame 101 measured by the inclination sensor 108, and the deflection angle of the wing test piece 106 sent by the slat wing driving system 110 and the angle difference value according to the deflection angle and the inclination angle force value. The coordinated loading control system 109 generates a displacement control instruction of the driving cylinder 103 according to the angle difference value to make the driving cylinder 103 generate a corresponding displacement.

[0048] When the slat drive system 110 controls the movement of the wing test piece 106 through the wing drive mechanism 111, in order to achieve relative static loading of the wing test piece 106 by the first loading actuator 104 and the second loading actuator 105, the follower frame 101 needs to drive the two loading actuators under the drive of the drive actuator 103 in the "displacement-angle" loading spectrum. The change in the deflection angle of the wing controlled by the wing drive mechanism 106 causes an angle error. The drive actuator 103 performs corresponding retraction and extension actions, causing a change in the angle feedback of the tilt sensor 108, reducing the angle error. When the error approaches zero, the two systems are in a relatively static state. This application uses the angle error as the controlled variable, disregarding the locking state. The follower system implements tracking control based on the angle change of the drive system. The angle error can not only be kept within the required error range but also continuously decrease. This application, while maintaining the original experimental hardware resources, changes the load spectrum and control law, achieving high-precision real-time angle tracking control and realizing true follower control.

[0049] Based on Figure 2 The diagram shown illustrates the angle tracking control system of the servo system. This application also provides the angle tracking control process of the aforementioned servo system, including the following steps:

[0050] S1. Obtain the deflection angle of the slat drive system 110: Using an analog input channel, the deflection angle of the slat drive mechanism 111 is introduced into the coordinated loading control system 109. After filtering, a smooth deflection angle is obtained to avoid fluctuations that cause system oscillation. An angle sensor 108 is installed on the follower frame 101. Its angle feedback is consistent with the direction of the slat deflection angle, that is, the positive and negative signs are consistent with the deflection angle of the slat drive system 110 (both are positive).

[0051] S2. Establish a mathematical model: Based on Figure 1 The mechanical structure diagram of the follower frame 101 and the loading point position shown are used to obtain the geometric model and various parameters in the numerical modeling software. A relationship model between the displacement elongation of the driving actuator 103 and the tilt angle of the airfoil test piece 106 (hereinafter referred to as the "displacement-angle" model) is established. Based on this relationship model, a load spectrum with the displacement as the controlled variable is established for the early stage of installation and debugging. At this time, the force-loaded actuator can be temporarily not installed.

[0052] S3, in Figure 2The load channel of the coordinated load control system shown is provided with an output of a driving cylinder 103, an input 1 of a displacement sensor (the driving cylinder 103 is internally provided with a displacement sensor), an input 2 of a force sensor 107, an input 3 of an inclination sensor 108, an angle error virtual input 4 (the deflection angle of the wing surface is filtered and called through programming), and an angle error virtual input 5 (the angle error virtual input 4-inclination sensor input 3), a total of 1 physical output, 3 physical inputs, and 2 virtual inputs, and a certain input can be set as a main feedback for correction.

[0053] S4, the input 1 of the displacement sensor is used as the main feedback, the driving cylinder 103 drives the follow-up frame 101, the initial clamping state of the slat wing surface driving system 110 is reached, the inclination sensor 108 is zeroed, and is calibrated as the initial clamping, the angle feedback value of the inclination sensor 108 at different clamping positions is calibrated, the accurate correspondence between the displacement of the driving cylinder 103 and the deflection angle of the wing surface is determined, the load spectrum is corrected, and the feedback of the inclination sensor 108 is ensured to be real and accurate.

[0054] S5, the input 3 of the inclination sensor 108 is used as the main feedback, and the control principle is as shown in Figure 3 The angle command is manually given, the angle control PID parameter is set, a load spectrum with the angle as the controlled variable of the driving cylinder 103 is established, the load spectrum is cyclically run, and the followability and accuracy of the angle control are adjusted.

[0055] S6, finally, the angle error virtual input 5 is set as the main feedback, a load spectrum with the angle error as the controlled variable is established, the load spectrum values are all set to zero, the slat wing surface driving system 110 is started, the angle change of the follow-up system tracking the driving system is verified, the PID control parameter is appropriately adjusted, and the optimal control quality of the angle real-time tracking is obtained.

[0056] S7, test verification: according to the above steps, other installation and debugging work of the multi-section slat follow-up system is completed, the feasibility and accuracy of the method are verified through multi-system joint debugging, the angle error monitoring protection action is set, and the test is ensured to be stable and safe through digital IO information interaction.

[0057] The driving cylinder in the follow-up system and the control method adopts the angle as the controlled physical variable, the control principle is simple, the structure design of the follow-up loading frame has no additional requirements on the basis of keeping the hardware resources unchanged, the test cost is saved, the economy is high, the angle tracking control can be finally realized, the follow-up angle error in the whole test process can be effectively reduced, the influence of the clamping state of the test piece is ignored, and the function is more simply realized.

[0058] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An aircraft slat fatigue test follow-up system, characterized by, The servo system comprises a servo loading mechanism and an angle tracking control system; The servo loading mechanism comprises a frame support, a servo frame hinged to the frame support, a driving actuator for driving the servo frame to rotate, and a loading actuator hinged to the servo frame and connected to the airfoil test piece; The angle tracking control system comprises a coordinated loading control system, a force sensor between the driving actuator and the servo frame, and an inclination sensor mounted on the servo frame, the coordinated loading control system receiving a displacement signal of the driving actuator, a force signal of the force sensor, an angle measurement signal of the inclination sensor, a deflection angle signal of the slat airfoil driving system for driving the airfoil test piece to deflect, and an angle difference signal between the angle measurement signal and the deflection angle signal, the deflection angle signal being corrected by the angle measurement signal to obtain a relationship between the displacement extension of the driving actuator and the airfoil deflection angle, and the coordinated loading control system controlling the action of the driving actuator according to the relationship between the displacement extension of the driving actuator and the airfoil deflection angle after correction.

2. The aircraft slat fatigue test follow-up system of Claim 1, wherein, The driving actuator is a displacement actuator.

3. The fly-by-wire fatigue test follow-up system of claim 1 or 2, wherein, The loading actuator comprises a first loading actuator and a second loading actuator, the first loading actuator being connected to the profile of the airfoil test piece, and the second loading actuator being connected to the leading edge of the airfoil test piece.

4. The slat fatigue test follow-up system for an aircraft as defined in claim 3, wherein, The first loading actuator and the second loading actuator are force-controlled actuators.

5. The aircraft slat fatigue test follow-up system according to Claim 1, wherein, The angle tracking control system exchanges data with the slat airfoil driving system through an IO interface to obtain the deflection angle of the airfoil test piece by the slat airfoil driving system.

6. The slat fatigue test follow-up system for an aircraft as defined in claim 5, wherein, Before the coordinated loading control system controls the action of the driving actuator according to the angle difference signal, the angle difference signal is corrected by the displacement signal of the driving actuator, the angle measurement signal of the inclination sensor, and the deflection angle signal of the slat airfoil driving system.

7. An angle tracking control method for a fly-by-wire fatigue test follow-up system of a slat of an aircraft as claimed in any one of claims 1 to 6, characterized in that, It comprises: An analog input channel is used to introduce the deflection angle of the airfoil driving mechanism into the coordinated loading control system through the slat airfoil driving system, and the inclination sensor is mounted on the servo frame; Geometric parameters are obtained according to the structural model of the servo frame, a relationship model between the displacement extension of the driving actuator and the deflection angle of the airfoil test piece is established, and a load spectrum is established with displacement as the controlled variable and deflection angle as the target variable according to the relationship model; The output signal of the driving actuator, the displacement input of the driving actuator, the force input of the force sensor, the angle measurement input of the inclination sensor, the deflection angle input of the slat airfoil driving system, and the angle error input between the angle measurement input and the deflection angle input are generated in the loading channel of the coordinated loading control system; The displacement input in the driving actuator is taken as the main feedback, the driving actuator drives the servo frame, the angle feedback values of the inclination sensor at different detent positions are calibrated by comparing the detent states of the slat airfoil driving system, and the corresponding relationship between the displacement of the driving actuator and the airfoil deflection angle is determined; The angle measurement of the tilt sensor is input as a main feedback, a given angle command is given, the angle control PID parameters are set, a load spectrum with the angle as a driven cylinder controlled variable is established, the load spectrum is run in a loop, and the following property and accuracy of the angle control are adjusted.

8. The angular tracking control method of claim 7, wherein, Also includes: The angle error input is set as a main feedback, a load spectrum with the angle error as a controlled variable is established, the load spectrum values are all set to zero, the slat surface driving system is started, the angle change of the follow-up system in tracking the driving system is verified, the PID control parameters are appropriately adjusted, and the optimal control quality of the angle real-time tracking is obtained.

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