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

Abstract

The present application belongs to the technical field of aircraft component motion control, and particularly relates to a control method of an aircraft radar cover test motion platform and an energy recovery device, which comprises: S1, using Euler numerical integration method to build an aircraft radar cover test motion platform model; S2, using PID control algorithm to build a control model of the aircraft radar cover test motion platform, and adjusting a differential control coefficient; S3, controlling the aircraft radar cover test motion platform motion according to the control model of the aircraft radar cover test motion platform, and judging whether to start an energy recovery mode; S4, combining the energy recovery mode to control overshoot phenomenon, and realizing stable control of the aircraft radar cover test motion platform. The control algorithm provided by the present application can correspond to position and angle target, significantly reduce long-time angle fluctuation caused by overshoot, play a role of system damper through the energy recovery mode, inhibit angle fluctuation, improve work efficiency, and reduce shaking of large load test motion platform.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of aircraft component test motion control, and particularly relates to a control method of an aircraft radome test motion platform and an energy recovery device. BACKGROUND

[0002] The front tip part of an aircraft is called an aircraft radome, which protects the radar system inside the radome and maintains the aerodynamic shape of the whole machine without affecting the detection performance. In the electrical performance design of the aircraft radome, one of the important parameters is the insertion phase delay of the radome wall, so the electrical thickness of the radome must be monitored. The advanced radome structure is of an irregular complex shape, which puts high requirements on the electrical thickness test system.

[0003] The mechanical positioning subsystem is one of the important components of the radome test system, which is used for the installation, positioning and motion guarantee of the radome and its equivalent flat plate according to the test requirements. In the test process, in order to keep the measured point on the radome wall coinciding with the microwave focal point and avoid the influence of the radome wall reflection on the electrical thickness measurement accuracy, the transmitting horn and the receiving horn need to keep the lowest reflection angle of incidence with the radome wall, so that the microwave focal point position, the beam incidence angle, the 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 in the case of installing the radome to form a cantilevered load structure, it is necessary to accurately reach the target pose in a very short time and quickly stabilize the state to ensure the test accuracy and efficiency, which requires a more stable control strategy to meet the following requirements: first, it has the ability to respond quickly and can quickly move to the target pose in the shortest or shorter time; second, it can reduce the overshoot oscillation phenomenon while having the corresponding, that is, to avoid the problem of long-term angle fluctuation, to prevent the test accuracy and test efficiency from being affected; third, it can have the function of energy recovery to improve the energy utilization rate; fourth, the system has an overshoot protection function to prevent safety accidents caused by battery overshoot. The current energy recovery control direction research and patents mainly focus on the hydraulic system structure and control, and the energy recovery in the vehicle braking process, and this technology has not been used in the field of high-precision motion control of the motion platform. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides a control method of an aircraft radome test motion platform, and the control algorithm provided can correspond to the position and angle targets, significantly reduce the long-term angle fluctuation caused by overshoot, play the role of the system damper through the energy recovery device, suppress the angle fluctuation, improve the work efficiency and reduce the vibration of the large load test motion platform.

[0005] To achieve the above-mentioned purpose, a first aspect of the present application discloses a control method of an aircraft radome test motion platform, which comprises:

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

[0007]

[0008] Wherein, a 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 realize corresponding and overshoot control of the aircraft radome test motion platform through dynamic adjustment of the external torque τ of the aircraft radome test motion platform in step S1, the control model of the aircraft radome test motion platform is:

[0010]

[0011] Wherein, u(t) is the output of the controller; 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 differential of the error at the current time; dτ is the differential of the external torque; dt is the differential of time; is the integral term of the error of the controller output; is the differential term of the error of the controller output;

[0012] When the pitch motor drive response is fast, overshoot phenomenon occurs, and it reaches stability after oscillation; according to the overshoot value θ O of the angular displacement of the aircraft radome test motion platform before adjustment, the differential control coefficient K d of the motion platform is adjusted as follows:

[0013]

[0014] Wherein, K d2 is the differential control coefficient of the motion platform after adjustment; θ O is the overshoot value of the angular displacement of the aircraft radome test motion platform; θ T is the target value of the angular displacement of the aircraft radome test motion platform;

[0015] S3: In the multi-axis equipment working condition control module, the motor driving torque M is controlled according to the control model of the aircraft radome test motion platform in step S2 D overcome structural friction torque M f and load eccentric torque M G resulting force M m to drive the aircraft radome test motion platform to do 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; whether the angular velocity ω i and the angular velocity ω i-1 of the previous moment are of opposite signs is determined, when ω i and ω i-1 the signs are opposite, return to step S2; when ω i and ω i-1 the signs are the same, the absolute value difference relationship between the angular velocity ω i and the angular velocity ω i-1 of the previous moment is determined: when |ω i |-|ω i-1 |>0, return to step S2; when |ω i |-|ω i-1 |<0, start the energy recovery mode: preset the battery state threshold threshold SOC TH ; the energy recovery mode obtains the battery signal SOC sent by the battery controller SOC TH =97%, it is judged to enter the feedback sub-mode; if SOC≥SOC TH =97%, enter the brake sub-mode;

[0016] S4: The overshoot phenomenon of the PID control algorithm is controlled through the control model of the aircraft radome test motion platform in step S2, and the stable control of the aircraft radome test motion platform is realized 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 being tested; if the aircraft radome test motion platform reaches the target position and angle, adjust the motor driving force 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, send a signal to the multi-axis equipment working condition control module to call the multi-axis working condition controller for further working condition control.

[0018] Preferably, in step S3, the multi-axis equipment working condition control module reads the input signal of the position sensor to calculate the current position and target position of the aircraft radome test motion platform, and then calculates the speed and acceleration, and judges whether to enter the driving control mode or the energy recovery mode; the driving control mode refers to a mode in which the control algorithm instructs the driven aircraft radome test motion platform to accelerate to the target, and the motor driving pushes the aircraft radome test motion platform by converting electric 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 control algorithms that instruct the driven component to decelerate to reduce the kinetic energy of the system.

[0019] Preferably, the driving control mode transmits the driving demand to the bidirectional motor controller, and feeds back the torque output by the motor controller and the current rotation angle to the control model of the aircraft radome test motion platform, and can recover energy through the energy recovery working condition.

[0020] Preferably, the energy recovery mode is performed according to the energy recovery mode, for converting mechanical energy into electric energy; the energy recovery mode acquires the battery SOC signal sent by the battery controller, in order to prevent overshoot from causing battery failure, the system presets a battery state threshold SOC TH ; when the battery state SOC is less than the preset value SOC TH , the energy recovery working condition is the feedback sub-mode, that is, the bidirectional motor works as a generator; when the battery state SOC is greater than the preset value SOC TH , the energy recovery working condition is the braking sub-mode, that is, the bidirectional motor brakes by bidirectional operation.

[0021] The second aspect of the application provides an energy recovery device based on a control method of an aircraft radome test motion platform, which comprises 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 controls the aircraft radome test motion platform based on a PID control algorithm, receives the signal of the position sensor, and controls the bidirectional motor;

[0023] The power battery is responsible for storing and providing electric energy, and the battery management system feeds 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 compares the preset value of the SOC in the energy recovery working condition, and selects the feedback sub-mode and the braking sub-mode;

[0024] The bidirectional motor can realize reciprocating operation of the motor, accepts the control of the multi-axis motion component control system, and can be used for driving or generating electricity;

[0025] The angle sensor in the transmission system feeds back the rotation angle output by the bidirectional motor rotor to the multi-axis motion assembly control system in real time, so that the multi-axis equipment controller PID algorithm module obtains the current rotation angle information and judges the overshoot amount.

[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 assembly control system in real time, so that the multi-axis equipment controller PID algorithm module obtains the current rotation angle information of the bidirectional motor rotor, calculates the position, angle and corresponding speed and acceleration of the driven assembly, and judges the overshoot amount.

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

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

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

[0030] (1) The control algorithm provided by the present application can correspond to the position and rotation angle targets, and compared with the overshoot control scheme of the conventional radar cover test motion platform, the long-time angle fluctuation caused by excessive overshoot is avoided, and the fluctuation problem can be recycled through the energy recovery working condition, thereby improving the working efficiency.

[0031] (2) After the feedback sub-mode is started, the motor can convert mechanical energy into electrical energy regardless of forward rotation or reverse rotation, and after the driven assembly reaches the target and appears overshoot, the energy recovery working condition plays the role of a system damper, can suppress angle fluctuation, and solves the problem of jitter of the large-load test motion platform.

[0032] (3) The device of the present application can effectively recycle the surplus kinetic energy in the motion process, and cooperates with the motion platform control method of the device of the present application to realize energy feedback, which is a physical implementation tool of the system damper. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 The flowchart of the control method of the aircraft radar cover test motion platform of the present application;

[0034] Figure 2 The flowchart of the PID control strategy of the present application;

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

[0036] Figure 4 The mechanical structure diagram of the embodiment of the present application;

[0037] Figure 5 A corner mode determination schematic diagram of the application;

[0038] Figure 6 A rotational speed mode determination schematic diagram of the application;

[0039] Figure 7 A large overshoot phenomenon schematic diagram of the application;

[0040] Figure 8 A shock narrowing schematic diagram of the application.

[0041] Main reference signs: 1, multi-axis motion assembly control system; 2, power battery; 3, bidirectional motor; 4, transmission system; 5, position sensor; 6, driven assembly; 7, load mounting surface; 8, pitch axis; 9, load center of mass; 10, roll axis. DETAILED DESCRIPTION

[0042] Exemplary embodiments, features and aspects of the application will be described in detail below with reference to the accompanying drawings. The same reference signs in the drawings represent functionally identical or similar elements. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0043] The application provides a control method of an aircraft radome test motion platform, as shown in Figure 1 The Euler numerical integration method is used to build an aircraft radome test motion platform model; a PID control algorithm is used to build a control model of the aircraft radome test motion platform, and a differential control coefficient is adjusted; the motion of 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 an energy recovery mode; the overshoot phenomenon is controlled in combination with the energy recovery mode, and stable control of the aircraft radome test motion platform is achieved; and the control method comprises the following steps.

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

[0045]

[0046] Wherein, α is the angular acceleration of the aircraft radome test motion platform; τ is the external torque received by 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: using a PID control algorithm to build a control model of the aircraft radome test motion platform, as shown inFigure 2 PID control strategy flow chart of the present application is shown; the corresponding and overshoot control of the aircraft radome test motion platform is realized by the dynamic adjustment of the external torque τ in step S1, and the control model of the aircraft radome test motion platform is:

[0048]

[0049] Wherein, u(t) is the controller output; K p is the motion platform proportional control coefficient; e(t) is the error at the current time; K i is the motion platform integral control coefficient; e(τ) is the external torque input; K d is the motion platform differential control coefficient; t is the time parameter; de(t) is the error differential at the current time; 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 judges the motion position of the current measured aircraft radome test motion platform; 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 a multi-axis working condition controller is called to further perform working condition control.

[0051] The control model of the aircraft radome test motion platform judges the motion position of the current measured aircraft radome test motion platform; 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 a multi-axis working condition controller is called to further perform working condition control.

[0052] The present application realizes corresponding and overshoot control through dynamic adjustment of the external torque τ. When work is needed, a larger external torque τ is output to realize corresponding, and the reverse external torque τ is used to realize force cancellation to slow down overshoot. The torque direction is controlled through a dynamic PID algorithm, and the actuator (a bidirectional motor) outputs or recovers torque to adjust the attitude. For example Figure 4 It is an embodiment of the mechanical structure diagram of the electrical performance test motion platform of the present application, which has two rotational degrees of freedom, i.e. pitch rotation around the pitch axis and roll motion around the roll axis.

[0053] When the pitch motor drive responds quickly, overshoot occurs, and oscillations occur before stabilization is achieved; based on the angular displacement overshoot value θ of the aircraft radome test motion platform before adjustment. O Adjust the differential control coefficient K of the motion platform d for:

[0054]

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

[0056] Step S3: In the multi-axis equipment operating condition control module, control the motor drive torque M 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 This causes the aircraft radome testing platform to undergo variable acceleration.

[0057] like Figure 5 This is a schematic diagram illustrating the cornering mode determination of the present invention. When the target is set to move from 0° to +10° as the normal vector of the rolling ring end face, it drives the aircraft radome test motion platform 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 activate the energy recovery mode. The operating mode determination criteria are shown in Table 1; firstly, the current angular velocity ω is determined. i and the angular velocity ω at the previous moment i-1 Whether the signs are opposite: when ω i and ω i-1 If the sign is reversed, return to step S2; if ω i and ω i-1 When the signs are the same, determine their absolute values: when |ω i |-|ω i-1 When | > 0, return to step S2; when |ω i |-|ω i-1 When | < 0, energy recovery mode is activated: preset battery state threshold (SOC) TH Energy recovery mode acquires the SOC signal sent by the battery controller. <SOC TH =97%, determine to enter feedback sub-mode; if SOC≥SOC TH If the value is 97%, then the brake mode is entered.

[0058] Table 1. Criteria for Judging Operating Mode

[0059]

[0060] When the motion is in region I, the absolute value of the speed increases, and the acceleration is positive, returning to step S2. When the motion is in region II, the absolute value of the speed decreases, and the acceleration is negative, and it is determined to enter the energy recovery mode. When the motion is in region III, the absolute value of the speed increases, and it is returned to step S2. When the motion is in region IV, the absolute value of the speed decreases, and it is determined to enter the energy recovery mode.

[0061] As shown in FIG. 1, the motion of the aircraft radome test motion platform is divided into four regions, namely, region I, region II, region III and region IV. Figure 6 As shown in FIG. 2, the rotational speed mode judgment schematic diagram of the application is used to determine the angular velocity ω of the aircraft radome test motion platform in real time to determine whether to enter the driving control mode or the energy recovery mode.

[0062] The multi-axis equipment working condition control module reads the input signals of the position sensor, calculates the current position and target position of the aircraft radome test motion platform, and further calculates the speed and acceleration, and determines whether to enter the driving control mode or the energy recovery mode. The driving control mode refers to a mode in which the control algorithm instructs the driven aircraft radome test motion platform to accelerate to the target, and the motor drive pushes 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 control algorithms instructing the driven component to decelerate to reduce the kinetic energy of the system.

[0063] In the driving control mode, the pitch motor drive responds quickly, and overshoot occurs, and after oscillation, it reaches stability, as shown in FIG. 3. Figure 7 As shown in FIG. 4, the large overshoot phenomenon schematic diagram of the application is shown. The driving control mode transmits the driving 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 more quickly, and reaches the preset value in a short time to improve the working efficiency. At the same time, energy recovery can be carried out through the energy recovery working condition, and the angle fluctuation can be well inhibited.

[0064] The energy recovery mode is carried out according to the energy recovery mode, and is used for converting mechanical energy into electrical energy. The energy recovery mode acquires the battery SOC signal sent by the battery controller. In order to prevent overshoot from causing battery failure, the system presets a battery state threshold SOC TH . When the battery state SOC is less than the preset value SOC TH , the energy recovery working condition is the feedback sub-mode, that is, the bidirectional motor works as a generator. When the battery state SOC is greater than the preset value SOC TH , the energy recovery working condition is the braking sub-mode, that is, the bidirectional motor can still use its bidirectional operation ability to brake.

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

[0066] As Figure 8 The response effect after using the control method of the patent is shown in the narrowing diagram of the oscillation, the angle overshoot fluctuation is quickly narrowed by the energy recovery function of the bidirectional motor 3 of the aircraft radome test motion platform, and stable control of the aircraft radome test motion platform is realized. 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 measured load to rotate 360°; the end face normal vector of the rolling ring is horizontal as the reference 0°, and the motion range is-60°~+60°, and the rolling ring frame is driven by the pitching motor to carry out specified pitching motion with the measured load. The load center of mass is away from the end face, so that there is a bias torque on the pitching shaft in addition to the vertical upward or vertical downward position of the end face. In order to control the pitching shaft drive motor to drive the frame and the measured load to accurately reach the target position and quickly stabilize in a very short time, to ensure test accuracy and efficiency, a multi-axis motion assembly control system 1 and a control strategy are adopted: the current end face normal vector of the rolling ring is located at the horizontal reference 0°, and the target is set to be the end face normal vector of the rolling ring moving from 0° to +10°.

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

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

[0069] The power battery 2 is responsible for storing and providing electric energy, and the battery management system will feed back the SOC of the battery to the multi-axis motion assembly control system 1 in real time, so that the multi-axis motion assembly control system 1 compares according to the preset value of the SOC in the energy recovery working condition, and selects the feedback sub-mode and the braking sub-mode.

[0070] The bidirectional motor 3 can realize a reciprocating motor that can be used for driving or generating electricity; the bidirectional motor 3 controller receives the torque output signal transmitted by the multi-axis motion assembly control system 1; the bidirectional motor 3 is generating electricity, and will also feed back the current power generation torque to the multi-axis motion assembly control system 1.

[0071] The angle sensor in the transmission system 4 feeds back the rotation angle output by the rotor of the bidirectional motor 3 to the multi-axis motion assembly control system 1 in real time, so that the multi-axis equipment controller PID algorithm module obtains the current rotation angle information and judges the overshoot.

[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 assembly control system 1 in real time, so that the aforementioned multi-axis equipment controller PID algorithm module obtains the current rotation angle information output by the rotor of the bidirectional motor 3, calculates the position, angle and corresponding speed and acceleration of the driven assembly 6, and judges the overshoot.

[0073] The control method of the aircraft radar cover test motion platform provided by the application can correspond to the position and rotation angle targets, and compared with the overshoot control scheme of the traditional radar cover test motion platform, the long-time angle fluctuation caused by the too high overshoot does not need to be worried, the fluctuation problem can be recycled through the energy recycling working condition, and the working efficiency is improved.

[0074] The above-described embodiments are only used to describe the preferred embodiments of the application, and do not limit the scope of the application, and various modifications and improvements to the technical solutions of the application made by those skilled in the art without departing from the design spirit of the application shall fall within the protection scope of the claims of the application.

Claims

1. A control method for an aircraft radome testing motion platform, characterized in that, It includes: S1: A model of the aircraft radome test motion platform is built using the Euler numerical integration method. The angular acceleration α of the aircraft radome test motion platform under the action of external forces is calculated as follows: Where α is the angular acceleration of the aircraft radome test motion platform; τ is the external torque acting on 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 restitution coefficient; θ is the angular displacement of the aircraft radome test motion platform; and I is the moment of inertia of the aircraft radome test motion platform. S2: A control model for the aircraft radome test motion platform is constructed using a PID control algorithm. The response and overshoot control of the aircraft radome test motion platform are achieved by dynamically adjusting the external torque τ acting on the platform in step S1. The control model for the aircraft radome test motion platform is as follows: Where u(t) is the controller output; K p K represents the proportional control coefficient of the motion platform; e(t) represents the error at the current time; K i K represents the integral control coefficient of the motion platform; e(τ) is the external torque input; K d dτ is the differential control coefficient of the motion platform; t is the time parameter; de(t) is the differential error at the current moment; dτ is the differential external torque; dt is the differential time. This is the integral term of the controller output error; This is the differential term of the controller output error; Based on the angular displacement overshoot θ of the aircraft radome test motion platform before adjustment O Adjust the differential control coefficient K of the motion platform d for: Among them, K d2 The differential control coefficients of the adjusted motion platform; θ O The angular displacement overshoot of the test platform for the aircraft radome; θ T The target value of angular displacement of the test platform for the aircraft radome; S3: In the multi-axis equipment operating 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 This causes the aircraft radome test platform to undergo variable acceleration motion; the angular velocity ω of the aircraft radome test platform is detected in real time to determine whether to activate the energy recovery mode, and the current angular velocity ω is determined. i and the angular velocity ω at the previous moment i-1 Whether the signs are opposite: when ω i and ω i-1 If the sign is reversed, return to step S2; if ω i and ω i-1 If the signs are the same, determine the angular velocity ω at the current moment. i and the angular velocity ω at the previous moment i-1 Absolute value relationship: when |ω i |-|ω i-1 When | > 0, return to step S2; when |ω i |-|ω i-1 When | < 0, energy recovery mode is activated: preset battery state threshold (SOC) TH Energy recovery mode acquires the SOC signal sent by the battery controller. <SOC TH =97%, determine to enter feedback sub-mode; if SOC≥SOC TH =97%, then enter brake mode; S4: By controlling the overshoot phenomenon of the PID control algorithm through the control model of the aircraft radome test motion platform in step S2, and combining it with the energy recovery mode in step S3, the stable control of the aircraft radome test motion platform is achieved.

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

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

4. The control method for 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 output by the motor controller and the current rotation angle to the control model of the aircraft radome test motion platform. At the same time, energy is recovered through the energy recovery mode.

5. The control method for 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 acquires the battery SOC signal sent by the battery controller, and to prevent overcharging from causing battery failure, the system presets a battery state threshold SOC. TH ; When the battery state of charge (SOC) is less than the preset value... TH When the energy recovery mode is active, it operates in feedback sub-mode, meaning the bidirectional motor functions as a generator; when the battery state of charge (SOC) exceeds a preset value... TH At this time, the energy recovery operating condition is the braking sub-mode, that is, 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 driven components; The multi-axis motion component control system is based on the PID control algorithm to control the aircraft radome test motion platform, receives signals from the position sensor, and controls the bidirectional motor. The power battery is responsible for storing and providing electrical energy. The battery management system will feed back the battery's SOC 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 mode and select the feedback sub-mode and braking sub-mode. The bidirectional motor is a reciprocating motor that is controlled by a multi-axis motion component control system and can be used for driving or generating electricity. The transmission system contains an angle sensor that 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 PID algorithm module of the multi-axis equipment controller can obtain the current rotation angle information and make an 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. This allows the PID algorithm module of the multi-axis device controller to obtain the current rotation angle information of the bidirectional motor rotor, calculate the position, angle, and corresponding speed and acceleration of the driven component, and perform overshoot judgment.

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

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

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