A uniform speed control method and system for a full-mold curved blade mechanism based on a single cylinder drive

Abstract

The present invention discloses a method and system for controlling the uniform speed operation of a full-mold scimitar mechanism based on a single oil cylinder drive, and relates to the field of aerospace wind tunnel tests. In a sub-transonic wind tunnel test, the running speed of the oil cylinder is fixed, so as to control the high-frequency change of the oil cylinder displacement through a uniform speed operation control algorithm, and complete the uniform speed operation control of the scimitar mechanism in a wide speed range. The present invention provides a method and system for controlling the uniform speed operation of a full-mold scimitar mechanism based on a single oil cylinder drive, which uses a single set of oil cylinder speed control parameters to achieve uniform speed operation of the scimitar mechanism in a wide speed range, avoids frequent switching of the oil cylinder speed control parameters during use, and improves the convenience of system use.

Description

Technical Field

[0001] The present invention relates to the field of aerospace wind tunnel testing, and more specifically, to a method and system for controlling the uniform speed operation of a full-mold scimitar mechanism based on single-cylinder drive in a wide speed range of a subsonic wind tunnel. Background Art

[0002] Continuous aerodynamic measurement test technology has gradually become an important test technology for advanced aircraft aerodynamic tests. One of the key issues that need to be solved in conducting continuous aerodynamic measurement tests is: the wind tunnel test model can achieve uniform speed operation in a wide speed range (0.5° / s~8° / s) at an angle of attack, such as Figure 2 As shown in FIG. 1 , in a subsonic wind tunnel test, the model is mounted on a scimitar mechanism, which is driven by a single oil cylinder. Therefore, in order to control the model's angle of attack to achieve uniform speed operation within a wide speed range, it is necessary to control the cylinder to extend and retract to drive the scimitar mechanism to move along the arc guide rail to change the angle of attack position of the model connected to the scimitar mechanism. The conventional method for controlling the uniform speed operation of the scimitar mechanism is to control the oil cylinder to perform variable speed operation so that the scimitar mechanism connected to the control cylinder is in a uniform speed operation state, such as the patent application number 202210162157.9. An electro-hydraulic servo system for driving a scimitar support mechanism adopts a two-stage oil cylinder drive mode. During the control process, the above-mentioned control oil cylinder is used for speed change operation, so that the scimitar mechanism connected to the control oil cylinder is in a uniform speed operation state; but this method has high requirements on the cylinder speed control parameters. A set of oil cylinder speed control parameters can only be applied to the uniform speed operation of the scimitar mechanism in a smaller speed range. For the uniform speed operation condition of the scimitar mechanism in a wide speed range, multiple sets of oil cylinder speed control parameters need to be adjusted. When using, the oil cylinder speed control parameters need to be frequently changed, which is inconvenient during use. Summary of the invention

[0003] An object of the present invention is to solve at least the above problems and / or disadvantages and to provide at least the advantages which will be described hereinafter.

[0004] In order to achieve these objectives and other advantages of the present invention, a method for uniform speed operation control of a full-mold scimitar mechanism based on single-cylinder drive is provided. In a subsonic wind tunnel test, the operating speed of the cylinder is fixed to control the rapid change of the cylinder displacement through a uniform speed operation control algorithm, thereby completing the uniform speed operation control of the scimitar mechanism in a wide speed range.

[0005] Preferably, the uniform speed operation control algorithm includes:

[0006] S1, control cycle T , Scimitar uniform running speed V Set up and collect data through sensors k The angle of the scimitar is always reflectedα k and cylinder displacement value f ( k );

[0007] S2, based on the following formula k The growth rate corresponding to the scimitar angle at each moment r k Perform the calculation:

[0008] ;

[0009] In the above formula, α k for k The angle of the scimitar at the moment, a i is the coefficient, i =1,2,3,4,5,6;

[0010] S3, based on the following formula, the scimitar angle increment within a control cycle Perform the calculation:

[0011] ;

[0012] S4, based on the following formula k The displacement increment of the cylinder at the moment Perform the calculation:

[0013] ;

[0014] S5, based on the following formula k+T Displacement value at time f ( k + T ) is calculated and the displacement value is output to the cylinder drive system so that the cylinder displacement can be moved to the desired position within the next control cycle time:

[0015] ;

[0016] In the formula, f ( k + T )for k + T The cylinder displacement value at the moment, f ( k )for k The cylinder displacement value at the moment.

[0017] Preferably, the actual operating speed of the scimitar mechanism V k Obtained by the following formula:

[0018] Vk = ( α k+T ﹣α k ) / T ;

[0019] In the above formula, α k+T for k+T The angle of the scimitar at the moment.

[0020] A uniform speed operation control system for a full-mold curved blade mechanism based on a single oil cylinder drive, which is applied to a uniform speed operation control method for a full-mold curved blade mechanism based on a single oil cylinder drive, comprising:

[0021] A controller that runs a constant speed control algorithm;

[0022] Convert the cylinder displacement signal sent by the controller into an electrical signal and send it to the control hydraulic module of the electro-hydraulic servo valve;

[0023] According to the received electrical signal, the electro-hydraulic servo valve controls the servo cylinder to extend and retract to the corresponding displacement position;

[0024] A servo cylinder connected to the machete mechanism.

[0025] The present invention includes at least the following beneficial effects: the present invention uses a single set of oil cylinder speed control parameters to achieve uniform speed operation of the scimitar mechanism within a wide speed range, avoids frequent switching of oil cylinder speed control parameters during use, and improves the convenience of system use.

[0026] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a principle diagram of the uniform speed operation control method of the scimitar mechanism of the present invention;

[0028] Figure 2 It is a schematic diagram of the structural layout of the scimitar mechanism of the present invention;

[0029] Among them, servo cylinder-1, support-2, curved knife mechanism-3, arc guide rail-4, model-5. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0031] For the uniform speed operation condition of a scimitar mechanism in a sub-transonic wind tunnel over a wide speed range, a uniform speed operation control method is provided. By fixing the cylinder operation speed and controlling the cylinder displacement to change rapidly, the uniform speed operation of the scimitar mechanism over a wide speed range is achieved.

[0032] The uniform speed control algorithm mainly uses the following formula:

[0033] (1)

[0034] (2)

[0035] (3)

[0036] (4)

[0037] In the above formula, for k The cylinder displacement increment at time T To control the cycle, is the scimitar angle increment within one control cycle, V is the uniform running speed of the scimitar, r k for k The growth rate corresponding to the scimitar angle at each moment ， Right now k The ratio of the cylinder stroke increment to the scimitar angle increment at the moment, a i is a coefficient, which can be obtained by processing the corresponding relationship between the cylinder displacement value and the curved knife angle value. α k for k The angle of the scimitar at the moment, i =1,2,3,4,5,6.

[0038] In the specific implementation, Figure 1 As shown in FIG. 1 , the control process of uniform speed operation of the scimitar mechanism includes:

[0039] First, set the control period T , Scimitar uniform running speed V , collecting sensors k The angle of the scimitar is always reflected α k and cylinder displacement value f ( k ) and other parameters;

[0040] Then, the controller calculates the displacement value of the cylinder according to the uniform speed operation control algorithm, and the calculation process is as follows:

[0041] S1. According to k The angle of the scimitar at the momentα k And formula (4), calculate k The growth rate corresponding to the scimitar angle at the moment r k ;

[0042] S2. Calculate the speed change of the scimitar in one control cycle according to formula (3) ;

[0043] S3. Calculate the displacement increment of the cylinder according to formula (2) ;

[0044] S4, according to formula (1) to calculate the cylinder k+T Displacement value at time f ( k + T ), and outputs the displacement value to the cylinder drive system, which moves the cylinder to the desired position within the next control cycle, and the controller k Moment and k+T The scimitar angle difference and control cycle at the moment T The actual running speed of the scimitar mechanism can be obtained V k , to achieve uniform speed control of the scimitar mechanism.

[0045] A method for controlling the uniform speed operation of a scimitar mechanism in a sub-transonic wind tunnel over a wide speed range, involving devices such as Figure 2 As shown, it includes: a controller, a control hydraulic module, a high-frequency electro-hydraulic servo valve, a servo cylinder 1, and a scimitar mechanism 3.

[0046] Controller: Runs the uniform speed control algorithm, calculates the displacement of servo cylinder 1 in real time, and sends it to the control hydraulic module, using the Rexroth MLC 45 controller;

[0047] Control hydraulic module: convert the displacement signal of servo cylinder 1 into an electrical signal and send it to the high-frequency electro-hydraulic servo valve, using Rexroth R-ILB hydraulic module;

[0048] High-frequency electro-hydraulic servo valve: controls the servo cylinder 1 to extend and retract to the corresponding displacement according to the received electrical signal, using MOOG D662-4659;

[0049] Servo cylinder 1: It is set on the installation position through the support 2. The servo cylinder 1 adopts Rexroth cylinder with built-in displacement sensor to feed back the cylinder displacement value to the controller in real time;

[0050] Scimitar mechanism 3: The scimitar mechanism 3 is installed on the arc guide rail 4, and the lower end of the scimitar mechanism 3 is connected to the servo cylinder 1. When the servo cylinder 1 performs telescopic movement, the scimitar mechanism 3 is pushed to move along the arc guide rail 4, changing the angle of the model 5 connected to the scimitar mechanism 3.

[0051] The above solution is only an illustration of a preferred embodiment, but is not limited thereto. When implementing the present invention, appropriate replacement and / or modification can be performed according to user needs.

[0052] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and the embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily realized. Therefore, without departing from the general concept defined by the claims and equivalent scope, the present invention is not limited to the specific details and the illustrations shown and described here.

Claims

1. A method for controlling the uniform speed operation of a full-mold curved blade mechanism based on a single cylinder drive, characterized in that: In the subsonic wind tunnel test, the cylinder's running speed is fixed so that the rapid change of the cylinder's displacement can be controlled by the uniform speed control algorithm, thus completing the uniform speed control of the scimitar mechanism in a wide speed range. The uniform speed operation control algorithm includes: S1, control cycle T , Scimitar uniform running speed V Set up and collect data through sensors k The angle of the scimitar is always reflected α k and cylinder displacement value f ( k ); S2, based on the following formula k The growth rate corresponding to the scimitar angle at each moment r k Perform the calculation: ； In the above formula, α k for k The angle of the scimitar at the moment, a i is the coefficient, i =1,2,3,4,5,6; S3, based on the following formula, the scimitar angle increment within a control cycle Perform the calculation: ； S4, based on the following formula k The displacement increment of the cylinder at the moment Perform the calculation: ； S5, based on the following formula k+T Displacement value at time f ( k + T ) is calculated and the displacement value is output to the cylinder drive system so that the cylinder displacement can be moved to the desired position within the next control cycle time: ； In the formula, f ( k + T )for k + T The cylinder displacement value at the moment, f ( k )for k The cylinder displacement value at the moment; Actual operating speed of the scimitar mechanism V k Obtained by the following formula: V k = （ α k+T ﹣α k ） / T ； In the above formula, α k+T for k+T The angle of the scimitar at the moment.

2. A uniform speed operation control system for a full-mold curved blade mechanism based on a single oil cylinder drive, which is applied to the uniform speed operation control method for a full-mold curved blade mechanism based on a single oil cylinder drive as claimed in claim 1, characterized in that: include: A controller that runs a constant speed control algorithm; Convert the cylinder displacement signal sent by the controller into an electrical signal and send it to the control hydraulic module of the electro-hydraulic servo valve; According to the received electrical signal, the electro-hydraulic servo valve controls the servo cylinder to extend and retract to the corresponding displacement position; A servo cylinder connected to the machete mechanism.

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