A detection method and detection system for an electric hydraulic servo controller of an elevator

Abstract

The present invention relates to a detection method and detection system of an electric hydraulic servo controller of an elevator, and relates to the field of automated detection technology. The method comprises: placing an electric hydraulic servo controller to be tested in a detection system; adopting a static test mode, performing static detection on the electric hydraulic servo controller through a control unit, and determining the zero position deviation, static gain, static torque and internal leakage of the electric hydraulic servo controller through the detection unit; adopting a dynamic test mode, performing dynamic detection on the electric hydraulic servo controller through a control unit, and determining the frequency response, maximum response time, tracking error and dynamic torque of the electric hydraulic servo controller through the detection unit. The method improves the test efficiency and reduces the test difficulty.

Description

Technical Field

[0001] The invention relates to the technical field of automated detection, in particular to a detection method and a detection system for an electric hydraulic servo controller of an elevator. Background Art

[0002] In civil airliners, the elevator is a key controllable part of the horizontal tail of the aircraft and has a vital function for the entire aircraft system. Several air crashes caused by elevator failure in history have highlighted the key role of the stable operation of the elevator in flight safety. The elevator electro-hydraulic servo controller plays the role of the "central nervous system" in the control of the aircraft elevator. After receiving the pitch control instructions processed by the aileron computer, the elevator electro-hydraulic servo controller interprets these instructions and activates the corresponding hydraulic actuator, using the aircraft's hydraulic power to accurately drive the elevator control surface to reach the calculated target position. Whether the control of the elevator electro-hydraulic servo controller is accurate is related to the flight safety of civil aviation. Therefore, the detection of the elevator electro-hydraulic servo controller is an important part of reducing the occurrence of civil aviation safety accidents.

[0003] Research has found that the current inspection method for the electric hydraulic servo controller of the elevator is for the maintenance personnel to move the flight side stick in the cockpit to observe whether the movement of the electric hydraulic servo controller meets the requirements and check the sealing performance of the components. However, this type of inspection can only check the main functions of the electric hydraulic servo controller, and cannot conduct a detailed inspection of the functions of the sub-components, which leads to the inability to fully troubleshoot some invisible faults. Summary of the invention

[0004] In order to solve the above-mentioned problems in the prior art, the present invention provides a detection method and a detection system for an electric hydraulic servo controller of an elevator.

[0005] In a first aspect, an embodiment of the present application provides a method for detecting an electric hydraulic servo controller of an elevator, comprising: placing an electric hydraulic servo controller to be tested in a detection system; wherein the detection system comprises: a control unit, a hydraulic pump unit, an oil supply unit, an oil return unit and a detection unit; the hydraulic pump unit, the oil supply unit and the oil return unit are used to provide an oil source and circulate; a static test method is set, and the electric hydraulic servo controller is statically detected by the control unit, and the zero position deviation, static gain, static torque and internal leakage of the electric hydraulic servo controller are determined by the detection unit; a dynamic test method is set, and the electric hydraulic servo controller is dynamically detected by the control unit, and the frequency response, maximum response time, tracking error and dynamic torque of the electric hydraulic servo controller are determined by the detection unit.

[0006] Optionally, the dynamic test method is set to dynamically detect the electro-hydraulic servo controller through the control unit, including: setting basic route parameters; using six-degree-of-freedom twelve-state Newton-Euler motion equations to simulate aircraft nonlinear dynamics and determine the aircraft state vector; constructing a decision function based on a proximal optimization algorithm; combining the basic route parameters and the aircraft state vector to output a pitch angle control signal through the decision function; using the pitch angle control signal as the dynamic control signal of the control unit to dynamically detect the electro-hydraulic servo control.

[0007] Optionally, the decision function is expressed as: ;in, Indicates obtaining the reward value of the entire route; represents the reward acquisition function, which determines the reward value according to the relationship between the aircraft position and the route point; Indicates that the route is divided into part, Indicates the route part; Indicates The aircraft state vector of the segment; Indicated in The control operation performed by the segment is associated with the control of the pitch angle. represents randomly generated unstable airflow, Represents a function maximization operation.

[0008] Optionally, the detection unit specifically includes an electrical signal detection unit, a torque detection unit and a displacement detection unit; the frequency response, maximum response time, tracking error and dynamic torque of the electric hydraulic servo controller are obtained through the detection unit, including: detecting the frequency response and maximum response time of the electric hydraulic servo controller through the electrical signal detection unit, and generating a frequency response graph and a maximum response time graph; detecting the dynamic torque of the electric servo controller through the torque detection unit, and generating a dynamic torque graph; detecting the simulated trajectory of the electric hydraulic servo controller through the displacement detection unit, generating a flight trajectory graph to determine the tracking error.

[0009] Optionally, combining the basic route parameters, the aircraft state vector, and outputting the pitch angle control signal through the decision function includes: constructing an Euler angle attitude change equation and a linear velocity change equation, and jointly obtaining a motion constraint on the pitch angle; combining the basic route parameters, the aircraft state vector, and the motion constraint on the pitch angle, and outputting the pitch angle control signal through the decision function.

[0010] Optionally, the detection unit includes a displacement detection unit; a static test mode is set to perform static detection on the electric hydraulic servo controller through the control unit, and the zero position deviation of the electric hydraulic servo controller is determined through the detection unit, including: collecting the position of the electric hydraulic servo controller through the displacement detection unit; generating a dive signal and a climb signal based on the control unit; inputting the dive signal and the climb signal into the electric hydraulic servo controller in turn for driving for a preset time, stopping the input signal, and collecting the position of the electric hydraulic servo controller again through the displacement detection unit; and determining the zero position deviation of the electric hydraulic servo controller based on the positions of the electric hydraulic servo controller collected twice by the displacement detection unit.

[0011] Optionally, the detection unit includes a displacement detection unit; a static test method is set to perform static detection on the electric hydraulic servo controller through the control unit, and the static gain of the electric hydraulic servo controller is determined through the detection unit, including: generating signal groups with different angles based on the control unit in a step-by-step manner; each signal group includes a dive signal and a climb signal at the angle; after inputting the signal groups with different angles into the electric hydraulic servo controller for driving, the displacement of the electric hydraulic servo controller is collected through the displacement detection unit; the ratio of the displacement difference between two adjacent signal groups to the input difference between the two adjacent signals is calculated to determine the static gain of the electric hydraulic servo controller.

[0012] Optionally, the detection unit includes a torque detection unit; a static test mode is set to perform static detection on the electro-hydraulic servo controller through the control unit, and the static torque of the electro-hydraulic servo controller is determined through the detection unit, including:

[0013] Based on the control unit, signal groups of different angles are generated by step division; each signal group includes a dive signal and a climb signal at the angle; after the signal groups of different angles are input into the electro-hydraulic servo controller for driving, the torque of the electro-hydraulic servo controller is collected by the torque detection unit; the ratio of the torque difference between two adjacent signal groups to the input difference between the two adjacent signals is calculated to obtain the static torque of the electro-hydraulic servo controller.

[0014] Optionally, a static test method is set to perform static detection on the electric hydraulic servo controller through the control unit, and the internal leakage of the electric hydraulic servo controller is determined by the detection unit, including: randomly generating a control signal based on the control unit; inputting the control signal to the electric hydraulic servo controller to drive it, and determining the internal leakage of the electric hydraulic servo controller based on changes in the oil return unit.

[0015] In a second aspect, the present application provides a detection system for implementing the detection method of the electric hydraulic servo controller of the elevator as described in any one of the first aspects above; the detection system comprises: a control unit, a hydraulic pump unit, an oil supply unit, an oil return unit and a detection unit; the control unit is used to provide a control signal for the electric hydraulic servo controller to be tested; the hydraulic pump unit, the oil supply unit and the oil return unit are used to provide an oil source and circulate it; the detection unit is used to detect the electric hydraulic servo controller to determine the zero position deviation, static gain, static torque and internal leakage of the electric hydraulic servo controller, as well as the frequency response, maximum response time, tracking error and dynamic torque of the electric hydraulic servo controller.

[0016] The beneficial effects of the present invention include:

[0017] First, the embodiment of the present application provides a detection system, which enables the detection of the electric hydraulic servo controller of the elevator to be separated from the aircraft body. The detection system includes a control unit, a hydraulic pump unit, an oil supply unit, an oil return unit and a detection unit, which can provide a test environment and a detection method for testing the electric hydraulic servo control, and can completely separate manual detection from human labor, thereby improving the test efficiency and reducing the test difficulty.

[0018] Second, in terms of detection methods, the embodiments of the present application provide a dual test that combines static testing and dynamic testing, and the comprehensive detection improves the reliability and comprehensiveness of the test for the electric hydraulic servo controller. For static testing, the basic performance of the electric hydraulic servo controller (specifically zero position deviation, static gain, static torque) can be evaluated, and the hardware defects (specifically internal leakage) can be diagnosed. For dynamic testing, the actual working environment and operating status can be simulated, the response capability of the voltage hydraulic servo controller during actual operation (specifically frequency response, minimum response data, dynamic torque) can be evaluated, and dynamic performance defects (specifically tracking error) can be detected. That is, static testing can detect the basic performance of the electric servo controller, and dynamic testing focuses on performance under complex working conditions. The combination of the two can fully cover all key performance indicators of the electric hydraulic servo controller, and thus can achieve a detailed investigation of the electric hydraulic servo controller and timely explain hidden faults. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A module block diagram of a detection system provided by an embodiment of the present invention;

[0020] Figure 2 A module block diagram of another detection system provided by an embodiment of the present invention;

[0021] Figure 3 A flow chart of the steps of a detection method of an electric hydraulic servo controller of an elevator provided by an embodiment of the present invention;

[0022] Figure 4 A flow chart of the steps of a dynamic detection method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0024] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0025] Research has found that the current inspection method for the electric hydraulic servo controller of the elevator is for the maintenance personnel to move the flight side stick in the cockpit to observe whether the movement of the electric hydraulic servo controller meets the requirements and check the sealing performance of the components. However, this type of inspection can only check the main functions of the electric hydraulic servo controller, and cannot conduct a detailed inspection of the functions of the subcomponents, which leads to the inability to fully detect some hidden faults.

[0026] In view of the above problems, the present application proposes the following embodiments to solve the above technical problems.

[0027] First, for the detection of the electric hydraulic servo controller of the elevator, an independent detection system is built in the embodiment of the present application. After the electric hydraulic servo controller on the aircraft is removed, a comprehensive detection can be achieved through the onboard detection system and the test algorithm.

[0028] See also Figure 1 An embodiment of the present application provides a detection system 100 , including: a control unit 10 , a hydraulic pump unit 20 , an oil supply unit 30 , an oil return unit 40 and a detection unit 50 .

[0029] The control unit 10 is used to provide a control signal to the electric hydraulic servo controller to be tested. That is, the control unit 10 can generate a corresponding control signal according to the scene requirements, and then control the electric hydraulic servo controller.

[0030] The hydraulic pump unit 20 , the oil supply unit 30 and the oil return unit 40 are used to provide an oil source and circulate the oil.

[0031] The hydraulic pump unit 20 mainly provides oil pressure to the oil supply unit 30 by electric power. The oil supply unit 30 is connected to the electric hydraulic servo controller to be tested to provide oil source for it. The oil return unit 40 is mainly used to guide the used oil source back to the oil tank through the hydraulic pump unit 20 to complete the circulation of the hydraulic oil.

[0032] The detection unit 50 is used to detect the electro-hydraulic servo controller to determine the zero position deviation, static gain, static torque and internal leakage of the electro-hydraulic servo controller, as well as the frequency response, maximum response time, tracking error and dynamic torque of the electro-hydraulic servo controller.

[0033] See also Figure 2 Optionally, the detection unit 50 may specifically include: an electrical signal detection unit 501 , a torque detection unit 502 and a displacement detection unit 503 .

[0034] The electrical signal detection unit 501 may be specifically used to detect frequency response and maximum response time.

[0035] The displacement measurement unit 503 may be specifically used to detect zero position deviation, static gain, and tracking error.

[0036] In the embodiment of the present application, the displacement measurement unit 503 may be a laser rangefinder.

[0037] The torque measurement unit 502 can be specifically used to detect parameters related to torque, such as the static torque and dynamic torque mentioned above.

[0038] In the embodiment of the present application, the torque measurement unit 502 may adopt a laser torque sensor.

[0039] It should be noted that the internal leakage can be detected by the oil return unit 40 .

[0040] See also Figure 3 The embodiment of the present application provides a method for detecting an electric hydraulic servo controller of an elevator, comprising: steps 301 to 303.

[0041] Step 301: placing the electro-hydraulic servo controller to be tested in a detection system.

[0042] The detection system includes: a control unit, a hydraulic pump unit, an oil supply unit, an oil return unit and a detection unit; the hydraulic pump unit, the oil supply unit and the oil return unit are used to provide an oil source and circulate. The detection system is the detection system described in the above embodiment, and the same parts can be referred to and are not limited here.

[0043] In this step, the electric hydraulic servo controller to be tested is placed in the detection system, and the electric hydraulic servo controller is connected to the control unit, the oil supply unit, the oil return unit and the detection power supply.

[0044] Step 302: adopting a set static test mode, the control unit performs a static test on the electro-hydraulic servo controller, and determines the zero position deviation, static gain, static torque and internal leakage of the electro-hydraulic servo controller through the detection unit.

[0045] Among them, zero deviation is mainly the output deviation when there is no input signal in the electric hydraulic servo control. Static gain is mainly the ratio between the input signal change and the output displacement change. Static torque is mainly the ratio between the input signal change and the output torque change. Internal leakage is mainly the leakage of hydraulic medium in static state.

[0046] Step 303: adopting a set dynamic test mode, dynamically detecting the electro-hydraulic servo controller through the control unit, and determining the frequency response, maximum response time, tracking error and dynamic torque of the electro-hydraulic servo controller through the detection unit.

[0047] Among them, the frequency response mainly refers to the amplitude-frequency and phase-frequency characteristics of the electric hydraulic servo controller under different frequency inputs, the tracking error mainly refers to the ability of the electric hydraulic servo controller to track the desired trajectory, the maximum response time mainly refers to the maximum response time of the electric hydraulic servo controller under a given load, and the dynamic torque mainly refers to the torque generated by the electric hydraulic servo controller during movement.

[0048] It should be noted that the embodiments of the present application are designed with a static test method and a dynamic test method to perform a static drive test on the electric hydraulic servo controller and a performance test during dynamic use.

[0049] In summary, the detection method of the electric hydraulic servo controller of the elevator provided in the embodiment of the present application has the following beneficial effects:

[0050] First, the embodiment of the present application provides a detection system, which enables the detection of the electric hydraulic servo controller of the elevator to be separated from the aircraft body. The detection system includes a control unit, a hydraulic pump unit, an oil supply unit, an oil return unit and a detection unit, which can provide a test environment and a detection method for testing the electric hydraulic servo control, and can completely separate manual detection from human labor, thereby improving the test efficiency and reducing the test difficulty.

[0051] Second, in terms of detection methods, the embodiments of the present application provide a dual test that combines static testing and dynamic testing, and the comprehensive detection improves the reliability and comprehensiveness of the test for the electric hydraulic servo controller. For static testing, the basic performance of the electric hydraulic servo controller (specifically zero position deviation, static gain, static torque) can be evaluated, and the hardware defects (specifically internal leakage) can be diagnosed. For dynamic testing, the actual working environment and operating status can be simulated, the response capability of the voltage hydraulic servo controller during actual operation (specifically frequency response, minimum response data, dynamic torque) can be evaluated, and dynamic performance defects (specifically tracking error) can be detected. That is, static testing can detect the basic performance of the electric servo controller, and dynamic testing focuses on performance under complex working conditions. The combination of the two can fully cover all key performance indicators of the electric hydraulic servo controller, and thus can achieve a detailed investigation of the electric hydraulic servo controller and timely explain hidden faults.

[0052] The static test method provided in the embodiment of the present application is described in detail below:

[0053] Optionally, the detection unit includes a displacement detection unit.

[0054] By setting a static test mode, a static test is performed on the electric hydraulic servo controller through a control unit, and the zero position deviation of the electric hydraulic servo controller is determined through the detection unit, which can specifically include: collecting the position of the electric hydraulic servo controller through a displacement detection unit; generating a dive signal and a climb signal based on the control unit; inputting the dive signal and the climb signal to the electric hydraulic servo controller in turn for driving for a preset time, stopping the input signal, and collecting the position of the electric hydraulic servo controller again through the displacement detection unit; and determining the zero position deviation of the electric hydraulic servo controller based on the positions of the electric hydraulic servo controller collected twice by the displacement detection unit.

[0055] It should be noted that the zero position deviation refers to the deviation between the output position of the servo controller and the theoretical zero point when there is no input signal. In the embodiment of the present application, by adding a dive signal and a climb signal, it is also possible to comprehensively evaluate whether the electro-hydraulic servo controller has a zero point offset problem in forward and reverse operation. This method can eliminate interference caused by external loads, hydraulic system instability and other factors, thereby obtaining more accurate deviation data. In addition, by inputting dive and climb signals, the electro-hydraulic servo controller undergoes a complete operating cycle, and then it can be detected whether the electro-hydraulic servo controller has an asymmetry problem.

[0056] Optionally, the detection unit includes a displacement detection unit; a static test method is set to perform static detection on the electric hydraulic servo controller through the control unit, and the static gain of the electric hydraulic servo controller is determined through the detection unit, including: generating signal groups with different angles based on the control unit through a step-by-step division method; each signal group includes a dive signal and a climb signal at the angle; after the signal groups with different angles are input into the electric hydraulic servo controller for driving, the displacement of the electric hydraulic servo controller is collected through the displacement detection unit; the ratio of the displacement difference between two adjacent signal groups to the input difference between two adjacent signals is calculated to determine the static gain of the electric hydraulic servo controller.

[0057] The different angles mentioned above can be divided into steps of 10°, 20°, and 30°, and the signals mentioned above are all constant signals.

[0058] It should be noted that due to the signal generation method of step division, multiple working intervals can be covered, avoiding ignoring local nonlinear problems due to single-point testing. Each signal group contains a dive signal and a climb signal. By testing the gains in both the forward and reverse directions at the same time, it is possible to detect whether the servo controller is symmetrical during bidirectional operation. That is, if a gain difference is found in the dive and climb directions, it can be determined whether there is a deviation or asymmetry in the mechanical or hydraulic system of the controller. This method can effectively evaluate the static gain of the electro-hydraulic servo controller.

[0059] Optionally, the detection unit includes a torque detection unit; a static test method is set to perform static detection on the electric hydraulic servo controller through the control unit, and the static torque of the electric hydraulic servo controller is determined through the detection unit, including: generating signal groups with different angles based on the control unit through a step-by-step division method; each signal group includes a dive signal and a climb signal at the angle; after the signal groups with different angles are input into the electric hydraulic servo controller for driving, the torque of the electric hydraulic servo controller is collected through the torque detection unit; the ratio of the torque difference between two adjacent signal groups to the input difference between two adjacent signals is calculated to obtain the static torque of the electric hydraulic servo controller.

[0060] Similarly, static torque and static gain adopt the same measurement idea, the difference is that a torque detection unit is used in this step.

[0061] Optionally, a static test method is set to perform static detection on the electric hydraulic servo controller through the control unit, and the internal leakage of the electric hydraulic servo controller is determined through the detection unit, including: randomly generating a control signal based on the control unit; inputting the control signal to the electric hydraulic servo controller for driving, and determining the internal leakage of the electric hydraulic servo controller based on changes in the oil return unit.

[0062] It should be noted that this method realizes accurate internal leakage detection of the electro-hydraulic servo controller by combining random control signals with changes in the oil return unit, and can detect potential leakage problems in advance, thereby ensuring the long-term stability and reliability of the electro-hydraulic servo controller.

[0063] The dynamic testing method provided in the embodiment of the present application is explained below: The dynamic testing method relies on a control signal production unit to generate control signals that simulate pilot operations in different scenarios and feedback signals from other sensors. The signal production of the dynamic test is based on a proximal optimization algorithm.

[0064] See also Figure 4 Optionally, a dynamic test method is set to dynamically detect the electric hydraulic servo controller through the control unit, including: steps 401 to 405.

[0065] Step 401: Set basic route parameters.

[0066] Among them, the basic route parameters may include four parameters: starting point, end point, weather, and probability of air flow disturbance.

[0067] Step 402: Use the six-degree-of-freedom twelve-state Newton-Euler motion equation to simulate the aircraft nonlinear dynamics and determine the aircraft state vector.

[0068] Among them, the expression of the aircraft state vector is:

[0069] ;

[0070] In this formula, represents the aircraft state vector, represents the three-dimensional position of the aircraft (corresponding to the three axes), Represents the attitude based on Euler angles (including roll, pitch, and yaw). Represents the motion component in the body coordinate system (corresponding to three axes), Represents angular velocity (corresponding to three axes).

[0071] Step 403: construct a decision function based on the proximal optimization algorithm.

[0072] Step 404: Combine the basic route parameters and the aircraft state vector and output a pitch angle control signal through a decision function.

[0073] Step 405: Use the pitch angle control signal as a dynamic control signal of the control unit to perform dynamic detection on the electric hydraulic servo control.

[0074] In summary, the embodiment of the present application provides a dynamic detection method. First, by using the six-degree-of-freedom twelve-state Newton-Euler motion equation, the dynamic behavior of the aircraft in complex flight conditions can be accurately simulated, including nonlinear characteristics, aerodynamic effects, attitude changes, etc., so that more real and accurate flight data can be obtained, avoiding the limitations of relying solely on linear models. Secondly, the decision function is constructed using a proximal optimization algorithm, and the pitch angle control signal can be optimized according to actual flight conditions and target tasks. The optimization algorithm continuously adjusts the output of the control signal to achieve the optimal control effect, thereby enhancing the automation under dynamic testing and the comprehensiveness and reliability of data detection.

[0075] Optionally, the decision function is expressed as: ;in, Indicates obtaining the reward value of the entire route; represents the reward acquisition function, which determines the reward value according to the relationship between the aircraft position and the route point; Indicates that the route is divided into part, Indicates the route part; Indicates The aircraft state vector of the segment; Indicated in The control operation performed by the segment (for ), which is associated with the control of the pitch angle, represents randomly generated unstable airflow, Represents a function maximization operation.

[0076] As an example, the reward value may be 3 points if the distance between the aircraft position and the route point is less than 10 meters, 2 points if the distance is greater than 10 meters and less than 50 meters, and 1 point for the rest.

[0077] Optionally, the detection unit specifically includes an electrical signal detection unit, a torque detection unit and a displacement detection unit; the frequency response, maximum response time, tracking error and dynamic torque of the electric hydraulic servo controller are obtained through the detection unit, including: detecting the frequency response and maximum response time of the electric hydraulic servo controller through the electrical signal detection unit, and generating a frequency response graph and a maximum response time graph; detecting the dynamic torque of the electric servo controller through the torque detection unit, and generating a dynamic torque graph; detecting the simulated trajectory of the electric hydraulic servo controller through the displacement detection unit, generating a flight trajectory graph to determine the tracking error.

[0078] It should be noted that the flight trajectory diagram reflects the overall level of the electro-hydraulic servo controller in the simulated flight. The closer the trajectory is to the preset route, the better the overall performance is. This closeness is used as a measure of the tracking error of the electro-hydraulic servo controller (it is difficult to measure the tracking error directly because the control itself is nonlinear). The other three diagrams can reflect the corresponding performance of the electro-hydraulic servo controller under dynamic operation.

[0079] Optionally, in combination with basic route parameters and the aircraft state vector, a pitch angle control signal is output through a decision function, including: constructing an Euler angle attitude change equation and a linear velocity change equation, and jointly obtaining a motion constraint on the pitch angle; in combination with basic route parameters, the aircraft state vector, and the motion constraint on the pitch angle, a pitch angle control signal is output through a decision function.

[0080] Among them, the expression of the constructed Euler angle attitude change equation is:

[0081] ;

[0082] In this formula, It represents the angular velocity around the three axes. The quantity directly related to the elevator is the pitch angle. .

[0083] Among them, the expression of the constructed linear velocity variation equation is:

[0084] ;

[0085] By combining the above two formulas, we can get the motion constraint on the pitch angle.

[0086] It should be noted that, combined with the motion constraint of the pitch angle, it can effectively ensure that the aircraft maintains longitudinal stability during dynamic flight and avoid instability of the aircraft's attitude. That is, the dynamic constraint conditions can ensure that the aircraft remains in a safe and stable flight state at any time and will not deviate excessively from the target trajectory or attitude, so as to further ensure the reliability and rationality of the dynamic detection results.

[0087] It should be noted that the above-mentioned systems, units, etc. are based on the same concept as the method embodiments of the present application. The modules designed for the systems, the steps performed by the equipment, and the technical effects brought about can all be found in the method embodiment part and will not be repeated here.

[0088] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0089] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0090] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0091] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / electronic device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electrical carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0092] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0093] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0094] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0095] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0096] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for detecting an electric hydraulic servo controller of an elevator, characterized in that: include: The electric hydraulic servo controller to be tested is placed in a detection system; wherein the detection system comprises: a control unit, a hydraulic pump unit, an oil supply unit, an oil return unit and a detection unit; the hydraulic pump unit, the oil supply unit and the oil return unit are used to provide an oil source and circulate; By setting a static test mode, the control unit is used to perform a static test on the electro-hydraulic servo controller, and the zero position deviation, static gain, static torque and internal leakage of the electro-hydraulic servo controller are determined by the detection unit; By adopting a set dynamic test mode, the control unit is used to dynamically detect the electro-hydraulic servo controller, and the frequency response, maximum response time, tracking error and dynamic torque of the electro-hydraulic servo controller are determined by the detection unit; The dynamic test method is set to dynamically detect the electro-hydraulic servo controller through the control unit, including: setting basic route parameters; using the six-degree-of-freedom twelve-state Newton-Euler motion equation to simulate the nonlinear dynamics of the aircraft and determine the aircraft state vector; building a decision function based on the proximal optimization algorithm; combining the basic route parameters and the aircraft state vector, outputting a pitch angle control signal through the decision function; using the pitch angle control signal as the dynamic control signal of the control unit to dynamically detect the electro-hydraulic servo control; Wherein, combining the basic route parameters, the aircraft state vector, and outputting the pitch angle control signal through the decision function includes: constructing an Euler angle attitude change equation and a linear velocity change equation, and jointly obtaining a motion constraint on the pitch angle; combining the basic route parameters, the aircraft state vector, and the motion constraint on the pitch angle, and outputting the pitch angle control signal through the decision function.

2. The detection method of the electric hydraulic servo controller of the elevator according to claim 1, characterized in that: The expression of the decision function is: ； in, Indicates obtaining the reward value of the entire route; represents the reward acquisition function, which determines the reward value according to the relationship between the aircraft position and the route point; Indicates that the route is divided into part, Indicates the route part; Indicates The aircraft state vector of the segment; Indicated in The control operation performed by the segment is associated with the control of the pitch angle. represents randomly generated unstable airflow, Represents a function maximization operation.

3. The detection method of the electric hydraulic servo controller of the elevator according to claim 1, characterized in that: The detection unit specifically includes an electrical signal detection unit, a torque detection unit and a displacement detection unit; The frequency response, maximum response time, tracking error and dynamic torque of the electro-hydraulic servo controller are obtained by the detection unit, including: Detecting the frequency response and the maximum response time of the electro-hydraulic servo controller by the electrical signal detection unit, and generating a frequency response graph and a maximum response time graph; detecting the dynamic torque of the electro-hydraulic servo controller by the torque detection unit and generating a dynamic torque map; The displacement detection unit is used to detect the simulated trajectory of the electro-hydraulic servo controller and generate a flight trajectory diagram to determine the tracking error.

4. The detection method of the electric hydraulic servo controller of the elevator according to claim 1, characterized in that: The detection unit includes a displacement detection unit; a static test method is set to perform static detection on the electro-hydraulic servo controller through the control unit, and a zero position deviation of the electro-hydraulic servo controller is determined through the detection unit, including: By means of the displacement detection unit, the position of the electro-hydraulic servo controller is collected; generating a dive signal and a climb signal based on the control unit; After sequentially inputting the dive signal and the climb signal into the electro-hydraulic servo controller for driving for a preset time, the input signal is stopped, and the position of the electro-hydraulic servo controller is collected again through the displacement detection unit; Based on the positions of the electro-hydraulic servo controller acquired twice by the displacement detection unit, a zero position deviation of the electro-hydraulic servo controller is determined.

5. The detection method of the electric hydraulic servo controller of the elevator according to claim 1, characterized in that: The detection unit includes a displacement detection unit; a static test method is set to perform static detection on the electro-hydraulic servo controller through the control unit, and a static gain of the electro-hydraulic servo controller is determined through the detection unit, including: Based on the control unit, signal groups of different angles are generated by step-by-step division; each signal group includes a dive signal and a climb signal at the angle; After inputting signal groups of different angles into the electro-hydraulic servo controller for driving, the displacement of the electro-hydraulic servo controller is collected by the displacement detection unit; The ratio of the displacement difference between two adjacent signal groups to the input difference between the two adjacent signals is calculated to determine the static gain of the electric hydraulic servo controller.

6. The detection method of the electric hydraulic servo controller of the elevator according to claim 1, characterized in that: The detection unit includes a torque detection unit; a static test method is set to perform static detection on the electro-hydraulic servo controller through the control unit, and the static torque of the electro-hydraulic servo controller is determined through the detection unit, including: Based on the control unit, signal groups of different angles are generated by step-by-step division; each signal group includes a dive signal and a climb signal at the angle; After inputting signal groups of different angles into the electro-hydraulic servo controller for driving, the torque of the electro-hydraulic servo controller is collected through the torque detection unit; The ratio of the torque difference between two adjacent signal groups to the input difference between the two adjacent signals is calculated to obtain the static torque of the electric hydraulic servo controller.

7. The detection method of the electric hydraulic servo controller of the elevator according to claim 1, characterized in that: The static test mode is set to perform static detection on the electro-hydraulic servo controller by the control unit, and the internal leakage of the electro-hydraulic servo controller is determined by the detection unit, including: randomly generating a control signal based on the control unit; The control signal is input to the electric hydraulic servo controller to drive it, and internal leakage of the electric hydraulic servo controller is determined based on the change of the oil return unit.

8. A detection system, characterized in that: A detection method for implementing an electric hydraulic servo controller of an elevator according to any one of claims 1 to 7; the detection system comprises: a control unit, a hydraulic pump unit, an oil supply unit, an oil return unit and a detection unit; A control unit for providing a control signal to an electro-hydraulic servo controller to be tested; The hydraulic pump unit, the oil supply unit and the oil return unit are used to provide an oil source and circulate; The detection unit is used to detect the electro-hydraulic servo controller to determine the zero position deviation, static gain, static torque and internal leakage of the electro-hydraulic servo controller, as well as the frequency response, maximum response time, tracking error and dynamic torque of the electro-hydraulic servo controller.

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