Control method of aircraft radome test motion platform and energy recovery device

Abstract

The invention belongs to the technical field of aircraft component motion control, and particularly relates to an aircraft radome test motion platform control method and an energy recovery device, and the method comprises the steps: S1, building an aircraft radome test motion platform model through employing an Euler numerical integration method; s2, constructing a control model of an aircraft radome test motion platform by using a PI D control algorithm, and adjusting a differential control coefficient; s3, controlling the aircraft radome test motion platform to move according to the control model of the aircraft radome test motion platform, and judging whether an energy recovery mode is started or not; and S4, controlling an overshoot phenomenon in combination with an energy recovery mode, and realizing stable control of the aircraft radome test motion platform. The control algorithm provided by the invention can correspond to position and corner targets, significantly reduces long-time angle fluctuation caused by overshoot, plays a role of a system damper through an energy recovery mode, inhibits the angle fluctuation, improves the working efficiency, and reduces the jitter of a heavy-load test motion platform at the same time.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft component test motion control, and in particular relates to a control method and an energy recovery device for an aircraft radome test motion platform. Background Art

[0002] The front tip of the aircraft is called the aircraft radome. Its function is to protect the radar system inside the radome and maintain the aerodynamic shape of the whole aircraft without affecting the detection performance. One of the important parameters in the electrical performance design of the aircraft radome is the insertion phase delay of the radome wall, so the electrical thickness of the radome must be monitored. The advanced radome structure has an irregular and complex shape, which places high demands on the electrical thickness test system.

[0003] The mechanical positioning subsystem is one of the important components of the radome test system. It is used to install and position the radome and its equivalent flat plate and ensure that it moves according to the test requirements. During the test, in order to keep the measured point on the radome wall coincident with the microwave focus and avoid the influence of the radome wall reflection on the electrical thickness measurement accuracy, the transmitting horn and the receiving horn need to maintain the lowest reflection incident angle with the radome wall, so that the microwave focus position, beam incident angle, positioning accuracy and other indicators meet the requirements. Therefore, the positioning accuracy and motion response control of each degree of freedom of the mechanical positioning subsystem are extremely high. Especially when the radome is installed to form a cantilevered load structure, in order to accurately reach the target posture in a very short time and quickly stabilize the state to ensure the test accuracy and efficiency, a more stable control strategy is required to meet the following requirements: First, it has the ability to respond quickly and can quickly move to the target posture in the shortest or shorter time; second, while having the corresponding, it can reduce the overshoot oscillation phenomenon, that is, avoid the problem of long-term angle fluctuations to prevent the test accuracy and test efficiency from being affected; third, it can have the function of energy recovery to improve energy utilization; fourth, the system has an overcharge protection function to prevent the battery from causing safety accidents due to overcharge. The current research and patents on energy recovery control mainly focus on the structure and control of hydraulic systems and energy recovery during vehicle braking. This technology has not yet been used in the field of high-precision motion control of motion platforms. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a control method for an aircraft radome test motion platform. The provided control algorithm can respond to position and angle targets and significantly reduce long-term angle fluctuations caused by overshoot. The energy recovery device plays the role of a system damper to suppress angle fluctuations, thereby improving work efficiency and reducing the jitter of the large-load test motion platform.

[0005] To achieve the above object, the first aspect of the present invention discloses a control method for an aircraft radome test motion platform, which comprises:

[0006] S1: Use the Euler numerical integration method to build an aircraft radome test motion platform model, and calculate the angular acceleration α of the aircraft radome test motion platform under the action of external force:

[0007]

[0008] Among them, α is the angular acceleration of the aircraft radome test motion platform; τ is the external torque of the aircraft radome test motion platform; b is the damping coefficient of the aircraft radome test motion platform; ω is the angular velocity of the aircraft radome test motion platform; k is the elastic recovery coefficient; θ is the angular displacement of the aircraft radome test motion platform; I is the moment of inertia of the aircraft radome test motion platform;

[0009] S2: Use PID control algorithm to build a control model of the aircraft radome test motion platform, and dynamically adjust the external torque τ of the aircraft radome test motion platform in step S1 to achieve the corresponding and overshoot control of the aircraft radome test motion platform. The control model of the aircraft radome test motion platform is:

[0010]

[0011] Where, u(t) is the controller output; K p is the proportional control coefficient of the motion platform; e(t) is the error at the current time; K i is the integral control coefficient of the motion platform; e(τ) is the external torque input; K d is the differential control coefficient of the motion platform; t is the time parameter; de(t) is the error differential at the current moment; dτ is the external torque differential; dt is the time differential; is the integral term of the controller output error; is the differential term of the controller output error;

[0012] When the pitch motor drive responds quickly, overshoot occurs and the vehicle reaches stability after oscillation. According to the angular displacement overshoot value θ of the motion platform tested by the aircraft radome before adjustment O , adjust the motion platform differential control coefficient K d for:

[0013]

[0014] Among them, K d2 is the differential control coefficient of the adjusted motion platform; θ O θ is the angular displacement overshoot value of the aircraft radome test motion platform; T Target value of angular displacement of motion platform for aircraft radome testing;

[0015] S3: In the multi-axis equipment working condition control module, the motor drive torque M is controlled according to the control model of the aircraft radome test motion platform in step S2. D Overcoming structural friction torque M f and load eccentric torque M G The resultant force M m , driving the aircraft radome test motion platform to perform variable acceleration motion; real-time detection of the angular velocity ω of the aircraft radome test motion platform to determine whether to start the energy recovery mode; determining the current angular velocity ω i and the angular velocity ω at the previous moment i-1 Whether they are of different signs, when ω i and ω i-1 When the sign is opposite, return to step S2; when ω i and ω i-1 If the signs are the same, determine the current angular velocity ω i and the angular velocity ω at the previous moment i-1 The absolute value difference relationship of: when |ω i |-|ω i-1 |>0, return to step S2; when |ω i |-|ω i-1 When |<0, start energy recovery mode: preset battery status threshold SOC TH ; Energy recovery mode obtains the battery signal SOC sent by the battery controller <SOC TH =97%, enter the feedback sub-mode; if SOC≥SOC TH =97%, then enter the braking sub-mode;

[0016] S4: Control the overshoot phenomenon of the PID control algorithm by controlling the control model of the aircraft radome test motion platform through step S2, and realize stable control of the aircraft radome test motion platform in combination with the energy recovery mode in step S3.

[0017] Preferably, the control model of the aircraft radome test motion platform in step S2 judges the motion position of the current aircraft radome test motion platform under test; if the aircraft radome test motion platform reaches the target position and angle, the motor driving force is adjusted to keep the aircraft radome test motion platform at the target position; if the aircraft radome test motion platform does not reach the target angle, a signal is sent to the multi-axis equipment operating condition control module, and the multi-axis operating condition controller is called to perform further operating condition control.

[0018] Preferably, in step S3, the multi-axis equipment working condition control module reads the input signal of the position sensor, calculates the speed and acceleration of the current position and target position of the aircraft radome test motion platform, and determines whether to enter the drive control mode or the energy recovery mode; the drive control mode refers to a mode in which the control algorithm instructs the driven aircraft radome test motion platform to accelerate toward the target, and the motor drive drives the aircraft radome test motion platform by converting electrical energy into kinetic energy, and the absolute value of the speed increases; the energy recovery mode includes a feedback sub-mode and a braking sub-mode, both of which are in which the control algorithm instructs the driven component to decelerate and reduce the system kinetic energy.

[0019] Preferably, the drive control mode transmits the drive demand to the bidirectional motor controller, and feeds back the torque and current rotation angle output by the motor controller to the control model of the aircraft radome test motion platform, while being able to perform energy recovery through energy recovery conditions.

[0020] Preferably, the energy recovery mode is performed according to the energy recovery mode to convert mechanical energy into electrical energy; the energy recovery mode obtains the battery SOC signal sent by the battery controller, and in order to prevent overcharging from causing battery failure, the system presets the battery state threshold SOC TH ; When the battery state SOC is less than the preset value SOC TH When the battery state SOC is greater than the preset value SOC TH When the energy recovery mode is , the energy recovery mode is the braking sub-mode, that is, the bidirectional motor uses bidirectional operation to brake.

[0021] The second aspect of the present invention proposes a control method for establishing an energy recovery device based on an aircraft radome test motion platform, which includes: a multi-axis motion component control system, a power battery, a bidirectional motor, a transmission system, a position sensor, and a driven component;

[0022] The multi-axis motion component control system is based on the PID control algorithm to realize the control of the aircraft radome test motion platform, receive the signal of the position sensor, and control the bidirectional motor;

[0023] The power battery is responsible for storing and providing electric energy. The battery management system will feed back the SOC of the battery to the multi-axis motion component control system in real time, so that the multi-axis motion component control system can compare the SOC with the preset value in the energy recovery condition, thereby selecting the feedback sub-mode and the braking sub-mode.

[0024] The bidirectional motor is an electric motor capable of reciprocating motion, is controlled by a multi-axis motion component control system, and can be used for driving or generating electricity;

[0025] An angle sensor is provided in the transmission system, which feeds back the rotation angle output by the bidirectional motor rotor to the multi-axis motion component control system in real time, so that the multi-axis device controller PID algorithm module can obtain the current rotation angle information and make overshoot judgment;

[0026] The position sensor is installed in the transmission system, and feeds back the rotation angle output by the bidirectional motor rotor to the multi-axis motion component control system in real time, so that the multi-axis equipment controller PID algorithm module can obtain the current bidirectional motor rotor output rotation angle information, calculate the position, angle and corresponding speed and acceleration of the driven component, and make overshoot judgment.

[0027] Preferably, the bidirectional motor controller receives a torque output signal transmitted by a multi-axis motion assembly control system.

[0028] Preferably, the bidirectional motor is generating electricity and also feeds back the current generating torque to the multi-axis motion assembly control system.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] (1) The control algorithm provided by the present invention can respond to position and angle targets. Compared with the overshoot control scheme of the traditional radome test motion platform, it avoids the long-term angle fluctuation caused by excessive overshoot. The fluctuation problem can be recovered through energy recovery conditions, thereby improving work efficiency.

[0031] (2) After the feedback sub-mode is turned on, the motor can convert mechanical energy into electrical energy regardless of whether it is rotating forward or reverse. After the driven component reaches the target and overshoot occurs, the energy recovery condition acts as a system damper, which can suppress angle fluctuations and solve the jitter problem of the large-load test motion platform.

[0032] (3) The device of the present invention can effectively recover the surplus kinetic energy during the movement process, and cooperate with the motion platform control method of the device of the present invention to achieve energy feedback, and is a physical implementation tool for the damper function of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a flow chart of the control method of the aircraft radome test motion platform of the present invention;

[0034] Figure 2 It is the PID control strategy flow chart of the present invention;

[0035] Figure 3 The energy recovery system structure diagram of the present invention;

[0036] Figure 4 This is a mechanical structure diagram of an electrical performance test motion bench according to an embodiment of the present invention;

[0037] Figure 5 It is a schematic diagram of judging the corner mode of the present invention;

[0038] Figure 6 It is a schematic diagram of speed mode determination of the present invention;

[0039] Figure 7 A schematic diagram of a large overshoot phenomenon of the present invention;

[0040] Figure 8 It is a schematic diagram of the oscillation narrowing of the present invention.

[0041] Main figure marks: 1. Multi-axis motion component control system; 2. Power battery; 3. Bidirectional motor; 4. Transmission system; 5. Position sensor; 6. Driven component; 7. Load mounting surface; 8. Pitch axis; 9. Load center of mass; 10. Roll axis. DETAILED DESCRIPTION

[0042] The exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0043] The present invention provides a control method for an aircraft radome test motion platform. Figure 1 As shown, the Euler numerical integration method is used to build an aircraft radome test motion platform model; the PID control algorithm is used to build a control model of the aircraft radome test motion platform, and the differential control coefficient is adjusted; the aircraft radome test motion platform is controlled according to the control model of the aircraft radome test motion platform, and it is determined whether to start the energy recovery mode; the overshoot phenomenon is controlled in combination with the energy recovery mode to achieve stable control of the aircraft radome test motion platform; it includes:

[0044] Step S1: Use the Euler numerical integration method to build an aircraft radome test motion platform model, and calculate the angular acceleration α of the aircraft radome test motion platform under the action of external force:

[0045]

[0046] Among them, α is the angular acceleration of the aircraft radome test motion platform; τ is the external torque applied to the aircraft radome test motion platform; b is the damping coefficient of the aircraft radome test motion platform; ω is the angular velocity of the aircraft radome test motion platform; k is the elastic recovery coefficient; θ is the angular displacement of the aircraft radome test motion platform; I is the moment of inertia of the aircraft radome test motion platform.

[0047] Step S2: Use the PID control algorithm to build a control model of the aircraft radome test motion platform, such as Figure 2 The PID control strategy flow chart of the present invention is shown; the corresponding and overshoot control of the aircraft radome test motion platform is realized by dynamically adjusting the external torque τ received by the aircraft radome test motion platform in step S1, and the control model of the aircraft radome test motion platform is:

[0048]

[0049] Where, u(t) is the controller output; K p is the proportional control coefficient of the motion platform; e(t) is the error at the current time; K i is the integral control coefficient of the motion platform; e(τ) is the external torque input; K d is the differential control coefficient of the motion platform; t is the time parameter; de(t) is the error differential at the current moment; dτ is the external torque differential; dt is the time differential; is the integral term of the controller output error; is the differential term of the controller output error.

[0050] The control model of the aircraft radome test motion platform determines the motion position of the current aircraft radome test motion platform under test; if the aircraft radome test motion platform reaches the target position and angle, the motor driving force is adjusted to keep the aircraft radome test motion platform at the target position; if the aircraft radome test motion platform does not reach the target angle, a signal is sent to the multi-axis equipment working condition control module, and the multi-axis working condition controller is called to perform further working condition control.

[0051] The control model of the aircraft radome test motion platform determines the motion position of the current aircraft radome test motion platform under test; if the aircraft radome test motion platform reaches the target position and angle, the motor driving force is adjusted to keep the aircraft radome test motion platform at the target position; if the aircraft radome test motion platform does not reach the target angle, a signal is sent to the multi-axis equipment working condition control module, and the multi-axis working condition controller is called to perform further working condition control.

[0052] The present invention realizes the response and overshoot control by dynamically adjusting the external torque τ. When work is required, the response can be realized by outputting a larger external torque τ, and the overshoot can be mitigated by offsetting the force through the reverse external torque τ. The torque direction is controlled by the dynamic PID algorithm, and the torque is output or recovered by the actuator (bidirectional motor) to adjust the posture. Figure 4 It is a mechanical structure diagram of the electrical performance test motion bench of an embodiment of the present invention, which has two rotational degrees of freedom, namely, pitch rotation around the pitch axis and roll motion around the roll axis.

[0053] When the pitch motor drive responds quickly, overshoot occurs and the vehicle reaches stability after oscillation. According to the angular displacement overshoot value θ of the motion platform tested by the aircraft radome before adjustment O , adjust the motion platform differential control coefficient K d for:

[0054]

[0055] Among them, K d2 is the differential control coefficient of the adjusted motion platform; θ O θ is the angular displacement overshoot value of the aircraft radome test motion platform; T It is the target value of angular displacement of the motion platform for aircraft radome testing.

[0056] Step S3: In the multi-axis equipment working condition control module, the motor drive torque M is controlled according to the control model of the aircraft radome test motion platform in step S2. D Overcoming structural friction torque M f and load eccentric torque M G The resultant force M m , driving the aircraft radome test motion platform to perform variable acceleration motion.

[0057] like Figure 5 This is a schematic diagram of the angle mode judgment of the present invention. When the target is set to the rolling ring end face normal vector moving from 0° to +10°, the aircraft radome test motion platform is driven to perform variable acceleration motion. The angular velocity ω of the aircraft radome test motion platform is detected in real time to determine whether to start the energy recovery mode. The operating mode judgment standard is shown in Table 1. First, the angular velocity ω at the current moment is determined. i and the angular velocity ω at the previous moment i-1 Whether the sign is different: When ω i and ω i-1 When the sign is opposite, return to step S2; when ω i and ω i-1 When the signs are the same, determine the absolute values ​​of the two: when |ω i |-|ω i-1 |>0, return to step S2; when |ω i |-|ω i-1 When |<0, start energy recovery mode: preset battery status threshold SOC TH ; Energy recovery mode obtains the battery signal SOC sent by the battery controller <SOC TH =97%, enter the feedback sub-mode; if SOC≥SOC TH =97%, it enters the braking sub-mode.

[0058] Table 1 Operation mode judgment standard table

[0059]

[0060] When the motion is in region I, the absolute value of the speed increases, the acceleration is positive, and the process returns to step S2. When the motion is in region II, the absolute value of the speed decreases, the acceleration is negative, and the process determines that the energy recovery mode has been entered. When the motion is in region III, the absolute value of the speed increases, and the process returns to step S2. When the motion is in region IV, the absolute value of the speed decreases, and the process determines that the energy recovery mode has been entered.

[0061] like Figure 6 This is a schematic diagram of the rotation speed mode judgment of the present invention, which detects the angular velocity ω of the aircraft radome test motion platform in real time to judge whether to enter the drive control mode or the energy recovery mode.

[0062] The multi-axis equipment working condition control module reads the input signal of the position sensor, calculates the speed and acceleration of the current position and target position of the aircraft radome test motion platform, and determines whether to enter the drive control mode or the energy recovery mode; the drive control mode refers to a mode in which the control algorithm instructs the driven aircraft radome test motion platform to accelerate toward the target, and the motor drive converts electrical energy into kinetic energy to push the aircraft radome test motion platform, and the absolute value of the speed increases; the energy recovery mode includes a feedback sub-mode and a braking sub-mode, both of which are controlled by the control algorithm to instruct the driven component to decelerate and reduce the system kinetic energy.

[0063] In the drive control mode, the pitch motor drive responds quickly, overshoot occurs, and it reaches stability after oscillation, such as Figure 7 The figure shows a schematic diagram of the large overshoot phenomenon of the present invention; the drive control mode transmits the drive demand to the bidirectional motor controller, and feeds back the torque and current rotation angle output by the motor controller to the control model of the aircraft radome test motion platform, so that the pitch component responds faster and reaches the preset value in a short time to improve work efficiency; at the same time, it can recover energy through the energy recovery condition and suppress angle fluctuations well.

[0064] The energy recovery mode is used to convert mechanical energy into electrical energy according to the energy recovery mode. The energy recovery mode obtains the battery SOC signal sent by the battery controller. To prevent overcharging and battery failure, the system presets the battery status threshold SOC TH ; When the battery state SOC is less than the preset value SOC TH When the battery state SOC is greater than the preset value SOC TH The energy recovery mode is the braking sub-mode, that is, the bidirectional motor can still use its bidirectional operation capability for braking.

[0065] Step S4: Control the overshoot phenomenon of the PID control algorithm through the control model of the aircraft radome test motion platform in step S2, and further weaken the overshoot phenomenon in combination with the energy recovery mode in step S3 to achieve stable control of the aircraft radome test motion platform.

[0066] like Figure 8 The diagram shows the oscillation narrowing schematic diagram of the present invention. The response effect after using the patent control method is that the angle overshoot fluctuation is quickly narrowed through the energy recovery function of the bidirectional motor 3 of the aircraft radome test motion platform, so as to realize the stable control of the aircraft radome test motion platform. The load product to be tested is installed on the end face of the rolling ring, and the rolling ring is driven by the rolling motor to drive the load to be tested to rotate 360°; the horizontal normal vector of the rolling ring end face is used as the reference 0°, and the motion range is -60°~+60°. The pitch motor drives the rolling ring frame to carry out the specified pitch motion with the load to be tested. The center of mass of the load is far away from the end face, so that except for the vertical upward or vertical downward posture of the end face, there is an eccentric load moment on the pitch axis in all other postures. In order to control the pitch axis drive motor to drive the frame and the load to be tested to accurately reach the target posture and quickly stabilize in a very short time to ensure the test accuracy and efficiency, a multi-axis motion component control system 1 and control strategy are adopted: the current normal vector of the rolling ring end face is located at the horizontal reference 0°, and the target is set to be the movement of the normal vector of the rolling ring end face from 0° to +10°.

[0067] The second aspect of the embodiment of the present invention proposes to establish an energy recovery device based on the control method of the aircraft radome test motion platform, such as Figure 3 The figure shows the structural principle diagram of the energy recovery system of the present invention; it includes: a multi-axis motion component control system 1, a power battery 2, a bidirectional motor 3, a transmission system 4, a position sensor 5 and a driven component 6.

[0068] The multi-axis motion component control system 1 controls the aircraft radome test motion platform based on a PID control algorithm, receives signals from a position sensor 5 , and controls a bidirectional motor 3 .

[0069] The power battery 2 is responsible for storing and providing electrical energy. The battery management system will feed back the battery SOC to the multi-axis motion component control system 1 in real time, so that the multi-axis motion component control system 1 can compare it with the preset value of SOC in the energy recovery condition, so as to select the feedback sub-mode and the braking sub-mode.

[0070] The bidirectional motor 3 is an electric motor capable of reciprocating motion and can be used for driving or generating electricity; the bidirectional motor 3 controller receives the torque output signal transmitted by the multi-axis motion component control system 1; when the bidirectional motor 3 is generating electricity, it will also feed back the current generating torque to the multi-axis motion component control system 1.

[0071] There is an angle sensor in the transmission system 4, which feeds back the rotation angle output by the rotor of the bidirectional motor 3 to the multi-axis motion component control system 1 in real time, so that the multi-axis device controller PID algorithm module can obtain the current rotation angle information and make overshoot judgment.

[0072] The position sensor 5 is installed in the transmission system 4, and feeds back the rotation angle output by the rotor of the bidirectional motor 3 to the multi-axis motion component control system 1 in real time, so that the aforementioned multi-axis equipment controller PID algorithm module can obtain the current bidirectional motor 3 rotor output rotation angle information, calculate the position, angle and corresponding speed and acceleration of the driven component 6, and make overshoot judgment.

[0073] The beneficial effects of the present invention are as follows: the present invention provides a control method for an aircraft radome test motion platform, and the provided control algorithm can respond to position and angle targets. Compared with the overshoot control scheme of the traditional radome test motion platform, there is no need to worry about long-term angle fluctuations caused by excessive overshoot, and the fluctuation problem can be recovered through energy recovery conditions to improve work efficiency; after the feedback sub-mode is turned on in the embodiment of the present invention, the motor can convert mechanical energy into electrical energy regardless of forward or reverse rotation. After the driven component reaches the target and overshoot occurs, the energy recovery condition plays the role of a system damper, which can well suppress angle fluctuations and solve the jitter problem of the large-load test motion platform.

[0074] The embodiments described above are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A control method for an aircraft radome test motion platform, characterized in that: It includes: S1: Use the Euler numerical integration method to build an aircraft radome test motion platform model, and calculate the angular acceleration α of the aircraft radome test motion platform under the action of external force: Among them, α is the angular acceleration of the aircraft radome test motion platform; τ is the external torque of the aircraft radome test motion platform; b is the damping coefficient of the aircraft radome test motion platform; ω is the angular velocity of the aircraft radome test motion platform; k is the elastic recovery coefficient; θ is the angular displacement of the aircraft radome test motion platform; I is the moment of inertia of the aircraft radome test motion platform; S2: Use PID control algorithm to build a control model of the aircraft radome test motion platform, and dynamically adjust the external torque τ of the aircraft radome test motion platform in step S1 to achieve the corresponding and overshoot control of the aircraft radome test motion platform. The control model of the aircraft radome test motion platform is: Where, u(t) is the controller output; K p is the proportional control coefficient of the motion platform; e(t) is the error at the current time; K i is the integral control coefficient of the motion platform; e(τ) is the external torque input; K d is the differential control coefficient of the motion platform; t is the time parameter; de(t) is the error differential at the current moment; dτ is the external torque differential; dt is the time differential; is the integral term of the controller output error; is the differential term of the controller output error; According to the angular displacement overshoot value θ of the aircraft radome test motion platform before adjustment O , adjust the motion platform differential control coefficient K d for: Among them, K d2 is the differential control coefficient of the adjusted motion platform; θ O θ is the angular displacement overshoot value of the aircraft radome test motion platform; T Target value of angular displacement of motion platform for aircraft radome testing; S3: In the multi-axis equipment working condition control module, the motor drive torque M is controlled according to the control model of the aircraft radome test motion platform in step S2. D Overcoming structural friction torque M f and load eccentric torque M G The resultant force M m , driving the aircraft radome test motion platform to perform variable acceleration motion; real-time detection of the angular velocity ω of the aircraft radome test motion platform determines whether to start the energy recovery mode, and determines the current angular velocity ω i and the angular velocity ω at the previous moment i-1 Whether the sign is different: When ω i and ω i-1 When the sign is opposite, return to step S2; when ω i and ω i-1 If the signs are the same, determine the current angular velocity ω i and the angular velocity ω at the previous moment i-1 The absolute value relationship of: when |ω i |-|ω i-1 |>0, return to step S2; when |ω i |-|ω i-1 When |<0, start energy recovery mode: preset battery status threshold SOC TH ; Energy recovery mode obtains the battery signal SOC sent by the battery controller <SOC TH =97%, enter the feedback sub-mode; if SOC≥SOC TH =97%, then enter the braking sub-mode; S4: Control the overshoot phenomenon of the PID control algorithm by controlling the control model of the aircraft radome test motion platform through step S2, and realize stable control of the aircraft radome test motion platform in combination with the energy recovery mode in step S3.

2. The control method of the aircraft radome test motion platform according to claim 1, characterized in that: In step S2, the control model of the aircraft radome test motion platform determines the motion position of the current aircraft radome test motion platform under test; if the aircraft radome test motion platform reaches the target position and angle, the motor driving force is adjusted to keep the aircraft radome test motion platform at the target position; if the aircraft radome test motion platform does not reach the target angle, a signal is sent to the multi-axis equipment operating condition control module, and the multi-axis operating condition controller is called to perform further operating condition control.

3. The control method of the aircraft radome test motion platform according to claim 1, characterized in that: In step S3, the multi-axis equipment working condition control module reads the input signal of the position sensor, calculates the speed and acceleration of the current position and target position of the aircraft radome test motion platform, and determines whether to enter the drive control mode or the energy recovery mode; the drive control mode refers to a mode in which the control algorithm instructs the driven aircraft radome test motion platform to accelerate toward the target, and the motor drive converts electrical energy into kinetic energy to push the aircraft radome test motion platform, and the absolute value of the speed increases; the energy recovery mode includes a feedback sub-mode and a braking sub-mode.

4. The control method of the aircraft radome test motion platform according to claim 3, characterized in that: The drive control mode transmits the drive demand to the bidirectional motor controller, and feeds back the torque and current rotation angle output by the motor controller to the control model of the aircraft radome test motion platform. At the same time, energy is recovered through the energy recovery condition.

5. The control method of the aircraft radome test motion platform according to claim 3, characterized in that: The energy recovery mode is used to convert mechanical energy into electrical energy. The energy recovery mode obtains the battery SOC signal sent by the battery controller. To prevent overcharging from causing battery failure, the system presets the battery status threshold SOC TH ; When the battery state SOC is less than the preset value SOC TH When the battery state SOC is greater than the preset value SOC TH When the energy recovery mode is in braking mode, the bidirectional motor can use bidirectional operation for braking.

6. An energy recovery device based on the control method of the aircraft radome test motion platform according to any one of claims 1 to 5, characterized in that: It includes a multi-axis motion component control system, a power battery, a bidirectional motor, a transmission system, a position sensor and a driven component; The multi-axis motion component control system is based on the PID control algorithm to realize the control of the aircraft radome test motion platform, receive the signal of the position sensor, and control the bidirectional motor; The power battery is responsible for storing and providing electric energy. The battery management system will feed back the SOC of the battery to the multi-axis motion component control system in real time, so that the multi-axis motion component control system can compare the SOC with the preset value in the energy recovery condition, thereby selecting the feedback sub-mode and the braking sub-mode. The bidirectional motor is an electric motor capable of reciprocating motion, is controlled by a multi-axis motion component control system, and can be used for driving or generating electricity; An angle sensor is provided in the transmission system, which feeds back the rotation angle output by the bidirectional motor rotor to the multi-axis motion component control system in real time, so that the multi-axis device controller PID algorithm module can obtain the current rotation angle information and make overshoot judgment; The position sensor is installed in the transmission system, and feeds back the rotation angle output by the bidirectional motor rotor to the multi-axis motion component control system in real time, so that the multi-axis equipment controller PID algorithm module can obtain the current bidirectional motor rotor output rotation angle information, calculate the position, angle, corresponding speed and acceleration of the driven component, and make overshoot judgment.

7. The energy recovery device according to claim 6, characterized in that: The bidirectional motor controller receives a torque output signal transmitted by a multi-axis motion assembly control system.

8. The energy recovery device according to claim 6, characterized in that: When the bidirectional motor generates electricity, it will feed back the current generating torque to the multi-axis motion component control system.

Images