Height sensor performance testing device and method

Abstract

The invention provides a height sensor performance testing device, and the device comprises a mechanical rack which comprises two fixed supports, three linear motion assemblies, and a workbench; wherein the linear motion assembly can move up and down along the fixing support, a height sensor is arranged on the linear motion assembly, and the workbench is used for controlling start and stop of a power system; the power system is arranged at the root part of the fixed bracket, and the power system is used for driving the linear motion assembly to move up and down along the fixed bracket; meanwhile, the invention further provides a height sensor performance testing method. Whether the performance of the height sensor meets the system design requirement can be verified.

Description

Technical Field

[0001] The present application belongs to the technical field of ground test of flight control system, and in particular, relates to a device and method for testing the performance of an altitude sensor. Background Art

[0002] The altitude sensor is an important part of the helicopter flight control system. Its performance needs to be fully verified on the ground to ensure the safe use of the helicopter flight control system. Therefore, an altitude sensor performance test device and method are needed to verify whether its performance meets the system design requirements. Summary of the invention

[0003] Purpose of the invention: This application provides a height sensor performance testing device and method to verify whether the height sensor performance meets the system design requirements.

[0004] In a first aspect, the present application provides a height sensor performance testing device, the device comprising:

[0005] A mechanical stand, comprising two fixed supports, three linear motion components and a workbench; wherein the linear motion components can move up and down along the fixed supports, a height sensor is arranged on the linear motion components, and the workbench is used to control the start and stop of the power system;

[0006] The power system is arranged at the root of the fixed bracket, and is used to drive the linear motion component to move up and down along the fixed bracket.

[0007] Preferably, the fixing bracket comprises:

[0008] Column, fixed to the ground;

[0009] A mounting plate is closely attached to one side of the column, and the mounting plate is used to mount the linear motion component.

[0010] Preferably, the linear motion assembly comprises:

[0011] A linear motion shaft, both ends of which are mounted on the mounting plate via fixing earrings;

[0012] A movable slide is mounted on the linear motion shaft;

[0013] A tripod connected to the movable slide, the height sensor is arranged on the lower surface of the tripod, and the height sensor obtains the height value through the reflection of the light source on the ground;

[0014] Wherein, the tripod can move up and down along the linear motion axis along with the movable slide.

[0015] Preferably, the power system comprises:

[0016] A motor is arranged at the root of the column.

[0017] Preferably, the power system further comprises:

[0018] A conversion component includes a pulley and a synchronous belt; wherein the pulley is connected to the output shaft of the motor, the motor drives the pulley to move, the synchronous belt is installed on the pulley, the synchronous belt moves linearly in the same direction as the pulley, the movable slide is connected to the synchronous belt, the movable slide moves linearly in the same direction as the synchronous belt, and the conversion component is used to convert the rotational motion of the output shaft of the motor into linear up and down motion.

[0019] In a second aspect, the present application also provides a method for testing performance of an altitude sensor, the method comprising:

[0020] Static test: Move the height sensor installed on the linear motion axis to the initial position. The flight control system receives the position height feedback from the height sensor and determines whether the position height is consistent with expectations. According to the design requirements of the height sensor, three forward movement points and three reverse movement points are designed respectively. The design rule is that each movement point is 0.5 meters apart. The height sensor on the linear motion axis is controlled to move according to the design requirements. The flight control system receives the position height feedback from the height sensor in real time and determines whether the position height is consistent with expectations.

[0021] Dynamic test: Move the height sensor installed on the linear motion shaft to the initial position. According to the design requirements of the height sensor, design three sets of sinusoidal motion routes with different amplitudes and periods. Drive the height sensor on the linear motion shaft to move according to the design requirements. The flight control system receives the position height feedback from the height sensor in real time and determines whether the position height is consistent with expectations.

[0022] Preferably, the method further comprises:

[0023] Test of multiple altitude sensors: Move the altitude sensor installed on the linear motion axis to the initial position. According to the altitude control strategy requirements of the flight control system, design multiple linear motion axes with movement points in different directions and amplitudes. The flight control system receives the position altitude feedback from each altitude sensor in real time and determines whether there is any fault in the altitude sensors installed on the linear motion axis.

[0024] Preferably, the method further comprises:

[0025] After the internal control test of the test device is completed, the flight control system turns on the altitude holding function and records the current altitude value as the initial altitude value. The altitude of the flight control system changes by a certain amplitude through manual driving. The flight control system sends the altitude change value to the test device in real time. The altitude sensor installed on the test device feeds back the actual altitude obtained to the flight control system. The flight control system compares the current actual altitude value with the initial altitude value and calculates a new altitude change value. The test is completed until the actual altitude value is consistent with the initial altitude value, and the altitude change value is recorded in real time during the movement.

[0026] After the test, read the recorded altitude change value, compare the actual altitude value with the initial altitude value, and calculate the altitude holding accuracy of the flight control system to determine whether the performance of the altitude sensor of the flight control system meets the requirements.

[0027] Beneficial technical effects of this application:

[0028] The altitude sensor performance test device has been successfully applied to the ground test verification of a certain type of helicopter flight control system, ensuring the smooth completion of the altitude sensor performance test verification of this type of helicopter and improving the safety of the helicopter flight control system. At the same time, the altitude sensor performance test device can also be quickly applied to the performance test verification of other types of altitude sensors. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a working principle diagram of the height sensor performance testing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] See also Figure 1 The altitude sensor performance test device is mainly used to fix the altitude sensor and simulate the lifting speed and altitude movement changes of the helicopter. This performance test device checks the mechanical installation interface of the altitude sensor, verifies the data fusion and redundancy management of the altitude sensor, and verifies the control strategy and redundancy management of the altitude channel function of the flight control system to ensure flight safety.

[0031] In the embodiment of the present application, the design scheme of the height sensor performance test device is as follows:

[0032] 1. System composition:

[0033] The height sensor performance test device is mainly composed of a mechanical test bench, a power system and a control system.

[0034] 2. Mechanical stand:

[0035] The mechanical gantry is mainly composed of two fixed brackets, three linear motion axes and a workbench. The basic structure of the fixed bracket adopts a vertical slide, equipped with a servo motor as the driving power, and three linear motion axes as the transmission unit. The linear motion axes can move independently or simultaneously. Each motion axis is driven by a servo motor and closed-loop controlled by the encoder at the tail of the motor for positioning the vertical slide.

[0036] 3. Control system:

[0037] The control system consists of control hardware and control software. The control hardware is installed in the operating console and is used to install high-performance computers, servo drives, filters, control buttons, indicator lights, etc. The control software is installed in the high-performance computer and is used for real-time control and signal tracking of the performance test device, realizing manual control and external control functions and human-computer interaction.

[0038] 4. Powertrain

[0039] The power system is the power source of the height sensor performance test device. The power systems of each subsystem of the test system are independent of each other, and a single power system is powered by 220V / 50Hz.

[0040] Working principle of height sensor performance test device:

[0041] The altitude sensors are installed on the three linear motion axes respectively, and the motion position and motion speed of the linear motion axes are generated by the performance test device. The installed altitude sensors send the measured altitude changes to the flight control system in real time. The flight control system calculates and generates altitude change feedback control quantities based on the altitude changes and combined with the pre-control parameters, and sends the altitude change feedback control quantities to the altitude sensor performance test device in real time. The performance test device calculates and updates the motion position and motion speed of the linear motion axes based on the altitude change feedback control quantities, thereby realizing closed-loop control of altitude changes, and thereby evaluating whether the performance indicators of the altitude sensor meet the design requirements. The working principle diagram of the altitude sensor performance test device is shown in the figure. Figure 1 shown.

[0042] In other embodiments of the present application, a method for testing a height sensor performance test device is provided, comprising the following steps:

[0043] Step 1. Test preparation

[0044] Install four altitude sensors on one of the linear motion axes of the altitude sensor performance test device, and install four altitude sensors on the other two linear motion axes. Connect the flight control system, the altitude sensor performance test device, and the altitude sensor through cables as required by the working principle. Perform power-on self-test on the control system and the altitude sensor of the performance test device on the ground, and after the self-tests are normal, the test preparation is completed.

[0045] Step 2. Test implementation

[0046] Step 2.1 Performance test device external communication test

[0047] There is data interaction between the performance test device and the flight control system. The data interaction test between the devices is carried out as required. After the test results are correct, the data interaction of the test device is in a ready state.

[0048] Step 2.2 Internal control test of performance test device

[0049] Step 2.2.1 Single Linear Motion Axis Height Sensor Test

[0050] Step 2.2.1.1 Static test

[0051] The test device control system moves the height sensor installed on the linear motion axis to the initial position. The flight control system receives the position height feedback from the height sensor and determines whether the position height is consistent with expectations. According to the design requirements of the height sensor, three forward movement points and three reverse movement points are designed respectively. The design rule is that each movement point is 0.5 meters apart. The performance test device controls the height sensor on the linear motion axis to move according to the design requirements. The flight control system receives the position height feedback from the height sensor in real time and determines whether the position height is consistent with expectations.

[0052] Step 2.2.1.2 Dynamic test

[0053] The height sensor installed on the linear motion shaft is moved to the initial position through the control system of the performance test device. According to the design requirements of the height sensor, three groups of sinusoidal motion routes with different amplitudes and periods are designed respectively. The control system of the performance test device drives the height sensor on the linear motion shaft to move according to the design requirements. The flight control system receives the position height feedback from the height sensor in real time and determines whether the position height is consistent with the expected one.

[0054] Step 2.2.2 Multiple Linear Motion Axis Height Sensor Test

[0055] The performance test device control system moves the height sensor installed on the linear motion shaft to the initial position. According to the height control strategy requirements of the flight control system, multiple linear motion axes are designed with movement points in different directions and amplitudes. The flight control system receives the position height feedback from each height sensor in real time and determines whether there is a fault in each height sensor installed on the linear motion shaft.

[0056] Step 2.3 External control test of performance test device

[0057] Step 2.3.1 Testing process

[0058] After the internal control test of the performance test device is completed, the flight control system turns on the altitude hold function and records the current altitude value as the initial altitude value. The altitude of the flight control system changes by a certain amplitude through manual drive. The flight control system sends the altitude change value to the performance test device in real time. The altitude sensor installed on the performance test device feeds back the actual altitude to the flight control system. The flight control system compares the current actual altitude value with the initial altitude value, calculates a new altitude change value, and completes the test until the actual altitude value is consistent with the initial altitude value, and records the altitude change value in real time during the movement.

[0059] Step 2.3.2 Test result analysis

[0060] After the test, read the recorded altitude change value, compare the actual altitude value with the initial altitude value, and calculate the altitude holding accuracy of the flight control system to determine whether the performance of the altitude sensor of the flight control system meets the requirements.

[0061] Step 2.4 Performance test device motion observation

[0062] During the process of testing the flight control system altitude sensor by the performance test device, the real-time altitude change process of the altitude sensor when simulating the movement of the helicopter is manually observed, and a preliminary judgment is made as to whether the current test result is correct.

[0063] In other embodiments of the present application, it should be noted that the performance testing device has high-precision control and the height test points of the performance testing device are designed.

[0064] 1. High-precision control of performance test equipment

[0065] The control system is the core part of the performance test device. It is a closed-loop control system composed of a high-performance computer, a control board, and a servo control. The control board installed on the high-performance computer outputs analog control signals, which are connected to the servo driver through the board interface board to control the performance test device to drive the motor. Through encoder signal feedback, high-precision control of the performance test device is achieved.

[0066] The servo control algorithm runs on the RTX real-time system, a real-time expansion module based on Windows. The servo control algorithm can directly read and write to the control board. The RTX real-time system provides a high-precision timer, and the servo control cycle is less than 1ms, thus ensuring high-precision real-time control of the performance test device.

[0067] 2. Design of height test points of performance test device

[0068] Reasonable design of altitude test points is a prerequisite for testing the performance of the altitude sensor of the flight control system. The altitude test points need to meet the performance test requirements of the altitude sensor within a relatively short time and a relatively short motion stroke. The test points are automatically generated by combining step, sine, pulse and other methods. At the same time, the motion stroke of the test points can be adjusted in real time during the test. The flight control system receives the position altitude feedback from the altitude sensor in real time, and compares the received feedback altitude value with the expected altitude value in real time to quickly test whether the performance of the altitude sensor meets the technical requirements.

Claims

1. A height sensor performance test device, characterized in that: The device comprises: A mechanical stand, comprising two fixed supports, three linear motion components and a workbench; wherein the linear motion components can move up and down along the fixed supports, a height sensor is arranged on the linear motion components, and the workbench is used to control the start and stop of the power system; The power system is arranged at the root of the fixed bracket, and is used for driving the linear motion component to move up and down along the fixed bracket.

2. The device according to claim 1, characterized in that The fixing bracket comprises: Column, fixed to the ground; A mounting plate is closely attached to one side of the column, and the mounting plate is used to mount the linear motion component.

3. The device according to claim 2, characterized in that The linear motion assembly comprises: A linear motion shaft, both ends of which are mounted on the mounting plate via fixing earrings; A movable slide is mounted on the linear motion shaft; A tripod connected to the movable slide, wherein the height sensor is arranged on the lower surface of the tripod, and the height sensor obtains a height value through reflection of a light source on the ground; Wherein, the tripod can move up and down along the linear motion axis along with the movable slide.

4. The device according to claim 3, characterized in that The power system comprises: A motor is arranged at the root of the column.

5. The device according to claim 4, characterized in that The power system further comprises: A conversion component includes a pulley and a synchronous belt; wherein the pulley is connected to the output shaft of the motor, the motor drives the pulley to move, the synchronous belt is installed on the pulley, the synchronous belt moves linearly in the same direction as the pulley, the movable slide is connected to the synchronous belt, the movable slide moves linearly in the same direction as the synchronous belt, and the conversion component is used to convert the rotational motion of the output shaft of the motor into linear up and down motion.

6. A method for testing the performance of an altitude sensor, characterized in that: The method comprises: Static test: Move the height sensor installed on the linear motion axis to the initial position. The flight control system receives the position height feedback from the height sensor and determines whether the position height is consistent with expectations. According to the design requirements of the height sensor, three forward movement points and three reverse movement points are designed respectively. The design rule is that each movement point is 0.5 meters apart. The height sensor on the linear motion axis is controlled to move according to the design requirements. The flight control system receives the position height feedback from the height sensor in real time and determines whether the position height is consistent with expectations. Dynamic test: Move the height sensor installed on the linear motion shaft to the initial position. According to the design requirements of the height sensor, design three sets of sinusoidal motion routes with different amplitudes and periods. Drive the height sensor on the linear motion shaft to move according to the design requirements. The flight control system receives the position height feedback from the height sensor in real time and determines whether the position height is consistent with expectations.

7. The method according to claim 6, characterized in that The method further comprises: Test of multiple altitude sensors: Move the altitude sensor installed on the linear motion axis to the initial position. According to the altitude control strategy requirements of the flight control system, design multiple linear motion axes with movement points in different directions and amplitudes. The flight control system receives the position altitude feedback from each altitude sensor in real time and determines whether there is any fault in the altitude sensors installed on the linear motion axis.

8. The method according to claim 7, characterized in that The method further comprises: After the internal control test of the test device is completed, the flight control system turns on the altitude holding function and records the current altitude value as the initial altitude value. The altitude of the flight control system changes by a certain amplitude through manual driving. The flight control system sends the altitude change value to the test device in real time. The altitude sensor installed on the test device feeds back the actual altitude obtained to the flight control system. The flight control system compares the current actual altitude value with the initial altitude value and calculates a new altitude change value. The test is completed until the actual altitude value is consistent with the initial altitude value, and the altitude change value is recorded in real time during the movement. After the test, read the recorded altitude change value, compare the actual altitude value with the initial altitude value, and calculate the altitude holding accuracy of the flight control system to determine whether the performance of the altitude sensor of the flight control system meets the requirements.

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