Method and device for determining test precision of transmission ratio of fly-by-wire control law

Abstract

The embodiment of the invention discloses a method and device for determining the test precision of the transmission ratio of a fly-by-wire control law, and the method comprises the steps: constructing a mathematical expression between a set value of a sensor signal and a measurement error through the analysis of the error characteristics of the sensor signal used by the fly-by-wire control law in a test environment of the fly-by-wire control law, applying a mathematical expression between a set value and a measurement error to a test case design process of a fly-by-wire control law transmission ratio; aiming at each designed reference transmission ratio test case, constructing an expansion input data set of each designed reference transmission ratio test case; based on a simulation model of a fly-by-wire control law, aiming at each reference transmission ratio test case, respectively calculating output data under ideal input and expansion input, comparing the output data of the test cases under the ideal input and the expansion input, and taking the maximum difference as a test precision index of the reference transmission ratio test case. According to the technical scheme provided by the embodiment of the invention, the problems existing in a verification mode based on a transmission ratio test case and a real-time data analysis mode based on a theoretical model in an existing verification mode of the fly-by-wire control law transmission ratio are solved.

Description

Technical Field

[0001] The present invention relates to, but is not limited to, the technical field of flight control law verification, and in particular to a method and device for determining the test accuracy of a transmission ratio of an electric-by-wire control law. Background Art

[0002] The main purpose of the fly-by-wire control law transmission ratio test is to detect the consistency of the control law software in the control law structure and the control parameters in the open-loop state of the flight control system, which is the basis for the verification of various functions and performances of the flight control system. Usually, this test needs to be fully verified in a semi-physical environment, an iron bird environment, and an on-board ground test environment, and the motion polarity and solution characteristics of each control path are checked for design compliance. Therefore, the comprehensiveness and efficiency of the fly-by-wire control law transmission ratio verification are the key to this test.

[0003] At present, there are two kinds of verification methods for the transmission ratio of fly-by-wire control law. One kind of verification method is based on the transmission ratio test case, inputting the flight status, control signal and sensor signal used in the control law, recording the steady-state value of the test rudder deflection command, and then comparing and analyzing it with the theoretical rudder deflection command value in the test case. However, the accuracy index of the test value and the theoretical value is usually designed based on engineering experience, and no special research has been found. The other kind of verification method is the real-time data analysis method based on the theoretical model, that is, the test rudder deflection command is obtained according to the aircraft control signal, the preset feedback signal and the adjustment parameter variable, and then the control signal, feedback signal and the adjustment parameter variable of the test rudder deflection command are input into the theoretical simulation model to obtain the simulated rudder deflection command, and the transmission ratio of the fly-by-wire control law is verified by comparing the test rudder deflection command with the simulated rudder deflection command. This verification method considers the influence of the test environment characteristics on the test results to a certain extent. However, for the first test of the transmission ratio of the fly-by-wire control law, since the reliability of the test environment has not been fully verified, the correctness of the first obtained test rudder deflection command cannot be guaranteed, and there is a possibility of repeated tests, and the method for determining the test accuracy index is not clear.

[0004] Therefore, it is necessary to study the method for determining the control law transmission ratio test accuracy index to provide scientific support for the control law transmission ratio verification conclusion. Summary of the invention

[0005] Purpose of the present invention: In order to solve the above-mentioned technical problems, the embodiments of the present invention provide a method and device for determining the test accuracy of the transmission ratio of the fly-by-wire control law, so as to solve the problem that in the existing verification method of the transmission ratio of the fly-by-wire control law, the verification method based on the transmission ratio test case is based on the design of the accuracy indicators of the test value and the theoretical value according to engineering experience, which leads to the problem that the verification form has a large subjective problem, and the use of a real-time data analysis method based on a theoretical model for the first test of the transmission ratio of the fly-by-wire control law will lead to the problem that the correctness of the test rudder deflection command obtained first cannot be guaranteed.

[0006] Technical solution of the present invention: In a first aspect, an embodiment of the present invention provides a method for determining the test accuracy of a transmission ratio of an electric-by-wire control law, comprising:

[0007] In the test environment of fly-by-wire control law, the error characteristics of the sensor signal used in the fly-by-wire control law are analyzed, and the mathematical expression between the setting value and the measurement error of the sensor signal is constructed. The mathematical expression between the setting value and the measurement error is applied to the test case design process of the fly-by-wire control law transmission ratio; for each designed benchmark transmission ratio test case, its extended input data set is constructed; based on the simulation model of the fly-by-wire control law, for each benchmark transmission ratio test case, the output data under the ideal input and the extended input are calculated respectively, and the output data of the test cases under the above ideal input and the extended input are compared, and the maximum difference is taken as the test accuracy indicator of this benchmark transmission ratio test case.

[0008] Optionally, the test accuracy determination method of the electric-by-wire control law transmission ratio as described above comprises the following steps:

[0009] Step 1, according to the continuous input signal of the fly-by-wire control law, determine the sensor signal and the use range of the sensor signal that need to be analyzed for signal characteristics;

[0010] Step 2, determining the use and measurement method of the sensor signal in a test environment of the electric-by-wire control law transmission ratio;

[0011] Step 3, determining multiple setting values ​​of each sensor signal according to the use range of each sensor signal; obtaining the measurement value corresponding to each setting value of each sensor signal based on the sensor signal use mode and measurement mode, so as to obtain the measurement error of each sensor signal under each setting value;

[0012] Step 4, constructing a mathematical expression between the setting value and the measurement error of each sensor signal to characterize the signal characteristics presented by the corresponding sensor signal under the test environment;

[0013] Step 5, based on the input and output forms of the pre-designed transmission ratio test case, according to the mathematical expression between the setting value of each sensor signal and the measurement error, construct an extended input data set for each benchmark transmission ratio test case, and calculate the output data corresponding to each input data in the extended input data set; for each benchmark transmission ratio test case, calculate the difference between each output data and the output data of this benchmark transmission ratio test case, and use the maximum difference as the test accuracy indicator applicable to this benchmark transmission ratio test case.

[0014] Optionally, in the test accuracy determination method of the electric-by-wire control law transmission ratio as described above,

[0015] The usage method in step 2 includes: the conversion relationship between physical quantity-voltage quantity-digital quantity during signal transmission, and the conversion relationship between physical quantity-voltage quantity-digital quantity during signal recording; the measurement method includes: signal setting and signal recording.

[0016] Optionally, in the test accuracy determination method of the electric-by-wire control law transmission ratio as described above, step 3 comprises:

[0017] Step 31, determining multiple setting values ​​of each sensor signal according to the use range of each sensor signal and combining the architecture and parameter analysis of the fly-by-wire control law; the multiple setting values ​​include a large amplitude, a medium amplitude, and a small amplitude of the corresponding sensor signal;

[0018] Step 32, according to the sensor signal usage and measurement method, input the setting value of each sensor signal in the test environment, and obtain the measurement value corresponding to each setting value of each sensor signal;

[0019] Step 33, according to each setting value of each sensor signal and the measured value corresponding to each setting value, according to the relationship of "measurement error = measurement value - setting value", calculate the measurement error of each sensor signal at each setting value; and by repeatedly executing steps 32 and 33, obtain the change of the measurement error corresponding to each setting value of each sensor signal under multiple tests.

[0020] Optionally, in the method for determining the test accuracy of the fly-by-wire control law transmission ratio as described above, the transmission ratio test case pre-designed in step 5 is composed of a set of input and output data, the input data includes all sensor signals and fly-by-wire control law discrete input signals, and the output data is the rudder deflection command and the intermediate variables of the fly-by-wire control law.

[0021] Optionally, in the above-mentioned method for determining the test accuracy of the electric-by-wire control law transmission ratio, step 5 comprises:

[0022] Step 51, based on the input and output form of the pre-designed transmission ratio test case, according to the mathematical expression between the setting value and the measurement error of each sensor signal constructed in step 4, for each benchmark transmission ratio test case, a set of extended values ​​corresponding to each setting value of each sensor signal under this benchmark transmission ratio test case is calculated, and each extended value of each sensor signal is used to replace the corresponding setting value in turn to form a plurality of input data based on each benchmark transmission ratio test case, and the input data of the benchmark test case is combined to form an extended input data set based on each benchmark transmission ratio test case;

[0023] Step 52, for each benchmark transmission ratio test case, the simulation model based on the fly-by-wire control law calculates the output data corresponding to each input data in its extended input data set, and calculates the difference between the allowable output value and the theoretical output value, and takes the maximum difference as the test accuracy index applicable to this benchmark transmission ratio test case; wherein, the output data of each benchmark transmission ratio test case is the theoretical output value, and based on each benchmark transmission ratio test case, the output data of the extended transmission ratio test case formed by replacing the set value therein is the allowable output value.

[0024] Optionally, in the test accuracy determination method of the electric-by-wire control law transmission ratio as described above,

[0025] In step 51, a set of extended values ​​corresponding to each setting value of each sensor signal under this reference transmission ratio test case is calculated, including:

[0026] According to the changes in the measurement errors corresponding to the setting values ​​of each sensor signal under multiple tests in step 3, for the measurement errors corresponding to each setting value of each sensor signal, a set of expansion values ​​corresponding to each setting value is calculated using the maximum measurement error and the minimum measurement error.

[0027] In a second aspect, an embodiment of the present invention further provides a device for determining the test accuracy of a transmission ratio of an electric-by-wire control law, which is used to perform the method for determining the test accuracy of a transmission ratio of an electric-by-wire control law as described in any one of the above items, wherein the device for determining the test accuracy comprises: a signal determination module, a signal measurement and measurement error calculation module, a mathematical relationship construction module, and a test accuracy index determination module;

[0028] The signal determination module is used to determine the sensor signal and the sensor signal usage range that need to be analyzed for signal characteristics according to the continuous input signal of the fly-by-wire control law; and is also used to determine the usage and measurement method of the sensor signal in the test environment of the fly-by-wire control law transmission ratio;

[0029] The signal measurement and measurement error calculation module is used to determine multiple setting values ​​of each sensor signal according to the use range of each sensor signal; and is also used to obtain the measurement value corresponding to each setting value of each sensor signal based on the sensor signal use mode and measurement mode, so as to obtain the measurement error of each sensor signal under each setting value;

[0030] The mathematical relationship building module is used to build a mathematical expression between the setting value and the measurement error of each sensor signal, so as to characterize the signal characteristics presented by the corresponding sensor signal under the test environment;

[0031] The test accuracy index determination module is used to construct an extended input data set for each benchmark transmission ratio test case based on the input and output forms of the pre-designed transmission ratio test case and according to the mathematical expression between the setting value of each sensor signal and the measurement error, and calculate the output data corresponding to each input data in the extended input data set; it is also used to calculate the difference between each output data and the output data of the benchmark transmission ratio test case for each benchmark transmission ratio test case, and use the maximum difference as the test accuracy index applicable to the benchmark transmission ratio test case.

[0032] Optionally, in the test accuracy determination device for the electric-by-wire control law transmission ratio as described above,

[0033] The signal measurement and measurement error calculation module is specifically used to determine multiple setting values ​​of each sensor signal according to the use range of each sensor signal, combined with the architecture and parameter analysis of the fly-by-wire control law; the multiple setting values ​​include a large amplitude, a medium amplitude, and a small amplitude of the corresponding sensor signal;

[0034] The signal measurement and measurement error calculation module is further specifically used to input the setting value of each sensor signal in the test environment according to the sensor signal usage mode and measurement mode, and obtain the measurement value corresponding to each setting value of each sensor signal;

[0035] The signal measurement and measurement error calculation module is specifically used to calculate the measurement error of each sensor signal at each setting value according to each setting value of each sensor signal and the measurement value corresponding to each setting value, according to the relationship of "measurement error = measurement value - setting value"; and by repeatedly obtaining the corresponding measurement value based on the setting value, and calculating the measurement error, the change of the measurement error corresponding to each setting value of each sensor signal under multiple tests is obtained.

[0036] Optionally, the device for determining the test accuracy of the electric-by-wire control law transmission ratio as described above further comprises:

[0037] A use case design module is used to design a transmission ratio test case based on a simulation model of the fly-by-wire control law and transmission ratio test requirements before the test accuracy index determination module constructs an extended input data set for each benchmark transmission ratio test case; wherein the designed transmission ratio test case consists of a set of input and output data, the input data includes all sensor signals and discrete input signals of the fly-by-wire control law, and the output data is the intermediate variables of the rudder deflection command and the fly-by-wire control law.

[0038] Optionally, in the test accuracy determination device for the electric-by-wire control law transmission ratio as described above,

[0039] The test accuracy index determination module is specifically used to calculate a set of extended values ​​corresponding to each set value of each sensor signal under the benchmark transmission ratio test case based on the input and output form of the pre-designed transmission ratio test case and the mathematical expression between the set value of each sensor signal and the measurement error constructed by the mathematical relationship construction module for each benchmark transmission ratio test case, and to replace the corresponding set value with each extended value of each sensor signal in turn to form multiple input data based on each benchmark transmission ratio test case, and to form an extended input data set based on each benchmark transmission ratio test case in combination with the input data of the benchmark test case;

[0040] Specifically, it is also used to calculate, for each benchmark transmission ratio test case, the output data corresponding to each input data in its extended input data set based on the simulation model of the fly-by-wire control law, and calculate the difference between the allowable output value and the theoretical output value, with the maximum difference being used as the test accuracy index applicable to this benchmark transmission ratio test case; wherein, the output data of each benchmark transmission ratio test case is the theoretical output value, and based on each benchmark transmission ratio test case, the output data of the extended transmission ratio test case formed by replacing the set value therein is the allowable output value.

[0041] In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium, including: a memory and a processor;

[0042] The memory is configured to store executable instructions;

[0043] The processor is specifically configured to implement the test accuracy determination method of the electric-by-wire control law transmission ratio as described in any one of the above when executing the executable instructions stored in the memory.

[0044] Beneficial effects of the present invention: The embodiment of the present invention provides a method and device for determining the test accuracy of the transmission ratio of the fly-by-wire control law. For the test experiment of the transmission ratio of the fly-by-wire control law, based on the test environment of the fly-by-wire control law, by analyzing the error characteristics of the sensor signal used by the fly-by-wire control law, a mathematical expression between the setting value and the measurement error of the sensor signal is constructed, and the mathematical expression between the setting value and the measurement error is applied to the test case design process of the fly-by-wire control law transmission ratio; for each designed benchmark transmission ratio test case, its extended input data set is constructed; based on the simulation model of the fly-by-wire control law, for each benchmark transmission ratio test case, the output data under the ideal input and the extended input are calculated respectively, and the output data of the test cases under the above ideal input and the extended input are compared, and the maximum difference is used as the test accuracy index of this benchmark transmission ratio test case, providing scientific support for the control law transmission ratio verification conclusion. The technical solution provided by the embodiment of the present invention specifically has the following beneficial effects:

[0045] First, based on the parameter analysis of the fly-by-wire control law architecture and error characteristics, the setting values ​​of the sensor signal characteristic test are set, fully considering the comprehensiveness of the transmission ratio verification;

[0046] Second, based on the analysis of sensor signal characteristics under the test environment and applied to the transmission ratio test case design process, the transmission ratio test accuracy index is scientifically and reasonably formulated, reducing the dependence on engineering experience;

[0047] Third, the characteristic test of the sensor signal is simple and effective, which can quickly check the correctness of the signal input of the fly-by-wire control law in the test environment and eliminate the control law transmission ratio verification problem caused by the error of the fly-by-wire control law input signal in advance;

[0048] Fourthly, the test accuracy determination method provided by the embodiment of the present invention has strong applicability and can be applied to the control law transmission ratio test accuracy determination in a semi-physical bench test environment, an iron bird test environment, and an on-board ground test environment;

[0049] Fifth, the test accuracy determination method provided by the embodiment of the present invention improves the efficiency of verifying the transmission ratio of the fly-by-wire control law, and facilitates the troubleshooting and location of transmission ratio test problems. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0051] Figure 1 A schematic flow chart of a method for determining the test accuracy of a transmission ratio of an electric-by-wire control law provided by an embodiment of the present invention;

[0052] Figure 2 It is a schematic diagram of the change between the measured value of the longitudinal displacement signal of the steering column and the measurement error in implementation examples 1 and 2 of the present invention;

[0053] Figure 3 A schematic diagram of the change between the dynamic pressure signal setting value and the measurement error in Embodiment 2 of the present invention;

[0054] Figure 4 A schematic diagram of the change between the static pressure signal setting value and the measurement error in Embodiment 2 of the present invention;

[0055] Figure 5 This is a schematic diagram of the process of constructing an expanded input data set in implementation example 2 of the present invention. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present invention more clear, the embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily without conflict.

[0057] It has been explained in the above background technology that the test and verification of the transmission ratio of the fly-by-wire control law is the basis for the verification of various functions and performances of the flight control system, and two existing verification methods for the transmission ratio of the fly-by-wire control law are proposed. Among them, in the verification method based on the transmission ratio test case, since the accuracy indicators of the experimental value and the theoretical value are usually designed based on engineering experience, it has a high degree of subjectivity; among them, the real-time data analysis method based on the theoretical model, for the first test of the transmission ratio of the fly-by-wire control law, since the reliability of the test environment has not been fully verified, the correctness of the test rudder deflection command obtained first cannot be guaranteed, and there is a possibility of repeated tests.

[0058] In response to the above problems, an embodiment of the present invention provides a method and device for determining the test accuracy of the fly-by-wire control law transmission ratio. The test accuracy determination method can provide a scientific basis for the allowable error between the experimental value and the theoretical value of the fly-by-wire control law transmission ratio test, thereby ensuring the efficiency and accuracy of the control law transmission ratio verification, and has the characteristics of simple method, easy operation and wide applicability.

[0059] The present invention provides the following specific embodiments which can be combined with each other. The same or similar concepts or processes may not be described in detail in some embodiments.

[0060] The embodiment of the present invention provides a method for determining the test accuracy of the transmission ratio of the electric-by-wire control law. The scheme of the method for determining the test accuracy is as follows:

[0061] In the test environment of fly-by-wire control law, the error characteristics of the sensor signal used in the fly-by-wire control law are analyzed, and the mathematical expression between the setting value and the measurement error of the sensor signal is constructed. The mathematical expression between the setting value and the measurement error is applied to the test case design process of the fly-by-wire control law transmission ratio; for each designed benchmark transmission ratio test case, its extended input data set is constructed; based on the simulation model of the fly-by-wire control law, for each benchmark transmission ratio test case, the output data under the ideal input and the extended input are calculated respectively, and the output data of the test cases under the above ideal input and the extended input are compared, and the maximum difference is taken as the test accuracy indicator of this benchmark transmission ratio test case.

[0062] Figure 1 The present invention provides a flow chart of a method for determining the test accuracy of a transmission ratio of an electric-by-wire control law. Figure 1 As shown, the method for determining the test accuracy of the transmission ratio of the fly-by-wire control law provided in the embodiment of the present invention includes the following steps:

[0063] Step 1: According to the continuous input signal of the fly-by-wire control law, determine the sensor signal and the use range of the sensor signal that need to be analyzed for signal characteristics.

[0064] Step 2: Determine the usage and measurement method of the sensor signal in the test environment of the electric-by-wire control law transmission ratio.

[0065] The usage method in this step includes, for example: the conversion relationship between physical quantity-voltage quantity-digital quantity during signal transmission, and the conversion relationship between physical quantity-voltage quantity-digital quantity during signal recording; the measurement method in this step includes, for example: signal setting and signal recording.

[0066] Step 3: Determine multiple setting values ​​of each sensor signal according to the use range of each sensor signal; obtain the measurement value corresponding to each setting value of each sensor signal based on the sensor signal use mode and measurement mode, so as to obtain the measurement error of each sensor signal under each setting value. Figure 1 "Signal Measurement and Measurement Error Calculation" in .

[0067] Step 4: construct a mathematical expression between the setting value and the measurement error of each sensor signal to characterize the signal characteristics of the corresponding sensor signal under the test environment.

[0068] The signal characteristics obtained in step 4 include systematic errors and random errors.

[0069] Step 5, based on the input and output forms of the pre-designed transmission ratio test case, according to the mathematical expression between the setting value of each sensor signal and the measurement error, construct an extended input data set for each benchmark transmission ratio test case, and calculate the output data corresponding to each input data in the extended input data set; for each benchmark transmission ratio test case, calculate the difference between each output data and the output data of this benchmark transmission ratio test case, and use the maximum difference as the test accuracy indicator applicable to this benchmark transmission ratio test case.

[0070] The method for determining the test accuracy of the transmission ratio of the fly-by-wire control law provided by the embodiment of the present invention makes up for the defect of the related technology of determining the transmission ratio test accuracy by engineering experience. The method for determining the test accuracy fully considers the characteristics of the fly-by-wire control law test environment, and combined with the automatic testing method, it can judge the test results in real time during the test process, and has the characteristics of simple method and wide applicability.

[0071] In one implementation of the embodiment of the present invention, the specific implementation of the above step 3 includes:

[0072] Step 31, determining multiple setting values ​​of each sensor signal according to the use range of each sensor signal and combining the architecture and parameter analysis of the fly-by-wire control law; the multiple setting values ​​include a large amplitude, a medium amplitude, and a small amplitude of the corresponding sensor signal;

[0073] Step 32, according to the sensor signal usage and measurement method, input the setting value of each sensor signal in the test environment, and obtain the measurement value corresponding to each setting value of each sensor signal;

[0074] Step 33, according to each setting value of each sensor signal and the measured value corresponding to each setting value, according to the relationship of "measurement error = measurement value - setting value", calculate the measurement error of each sensor signal at each setting value; and by repeatedly executing steps 32 and 33, obtain the change of the measurement error corresponding to each setting value of each sensor signal under multiple tests.

[0075] In one implementation of the embodiment of the present invention, the above step 5 includes:

[0076] The pre-designed transmission ratio test case is designed in the following manner: based on the simulation model of the fly-by-wire control law (the simulation model is a known model) and the transmission ratio test requirements, a transmission ratio test case is designed; wherein each transmission ratio test case is composed of a set of input and output data, the input data includes all sensor signals and discrete input signals of the fly-by-wire control law, and the output data is the intermediate variables of the rudder deflection command and the fly-by-wire control law; preferably, the key intermediate variables.

[0077] Based on the specific form of the pre-designed transmission ratio test case, step 5 in the implementation may include:

[0078] Step 51, based on the input and output form of the pre-designed transmission ratio test case, according to the mathematical expression between the setting value and the measurement error of each sensor signal constructed in step 4, for each benchmark transmission ratio test case, a set of extended values ​​corresponding to each setting value of each sensor signal under this benchmark transmission ratio test case is calculated, and each extended value of each sensor signal is used to replace the corresponding setting value in turn to form a plurality of input data based on each benchmark transmission ratio test case, and the input data of the benchmark test case is combined to form an extended input data set based on each benchmark transmission ratio test case;

[0079] Step 52, for each benchmark transmission ratio test case, the simulation model based on the fly-by-wire control law calculates the output data corresponding to each input data in its extended input data set, and calculates the difference between the allowable output value and the theoretical output value, and takes the maximum difference as the test accuracy index applicable to this benchmark transmission ratio test case; wherein, the output data of each benchmark transmission ratio test case is the theoretical output value, and based on each benchmark transmission ratio test case, the output data of the extended transmission ratio test case formed by replacing the set value therein is the allowable output value.

[0080] It should be noted that in step 51 of this implementation, a set of extended values ​​corresponding to each set value of each sensor signal under this reference transmission ratio test case is calculated, and the specific implementation method is:

[0081] According to the change of the measurement error corresponding to each setting value of each sensor signal under multiple tests in step 3, for the measurement error corresponding to each setting value of each sensor signal, a set of extended values ​​corresponding to each setting value is calculated using the maximum measurement error and the minimum measurement error. The implementation method of calculating a set of extended values ​​corresponding to each setting value is specifically described in the following implementation example.

[0082] The embodiment of the present invention provides a method for determining the test accuracy of the transmission ratio of the fly-by-wire control law. For the test experiment of the transmission ratio of the fly-by-wire control law, based on the test environment of the fly-by-wire control law, by analyzing the error characteristics of the sensor signal used in the fly-by-wire control law, a mathematical expression between the setting value and the measurement error of the sensor signal is constructed, and the mathematical expression between the setting value and the measurement error is applied to the test case design process of the fly-by-wire control law transmission ratio; for each designed benchmark transmission ratio test case, its extended input data set is constructed; based on the simulation model of the fly-by-wire control law, for each benchmark transmission ratio test case, the output data under the ideal input and the extended input are calculated respectively, and the output data of the test cases under the above ideal input and the extended input are compared, and the maximum difference is used as the test accuracy index of this benchmark transmission ratio test case, providing scientific support for the control law transmission ratio verification conclusion. The technical solution provided by the embodiment of the present invention has the following beneficial effects:

[0083] First, based on the parameter analysis of the fly-by-wire control law architecture and error characteristics, the setting values ​​of the sensor signal characteristic test are set, fully considering the comprehensiveness of the transmission ratio verification;

[0084] Second, based on the analysis of sensor signal characteristics under the test environment and applied to the transmission ratio test case design process, the transmission ratio test accuracy index is scientifically and reasonably formulated, reducing the dependence on engineering experience;

[0085] Third, the characteristic test of the sensor signal is simple and effective, which can quickly check the correctness of the signal input of the fly-by-wire control law in the test environment and eliminate the control law transmission ratio verification problem caused by the error of the fly-by-wire control law input signal in advance;

[0086] Fourthly, the test accuracy determination method provided by the embodiment of the present invention has strong applicability and can be applied to the control law transmission ratio test accuracy determination in a semi-physical bench test environment, an iron bird test environment, and an on-board ground test environment;

[0087] Fifth, the test accuracy determination method provided by the embodiment of the present invention improves the efficiency of verifying the transmission ratio of the fly-by-wire control law, and facilitates the troubleshooting and location of transmission ratio test problems.

[0088] Based on a method for determining the test accuracy of a transmission ratio of an electric-by-wire control law provided in an embodiment of the present invention, an embodiment of the present invention further provides a device for determining the test accuracy of a transmission ratio of an electric-by-wire control law, the device for determining the test accuracy of a transmission ratio of an electric-by-wire control law provided in any of the above embodiments; the device for determining the test accuracy of a transmission ratio of an electric-by-wire control law provided in an embodiment of the present invention may include: a signal determination module, a signal measurement and measurement error calculation module, a mathematical relationship construction module, and a test accuracy index determination module;

[0089] The signal determination module is used to determine the sensor signal and the use range of the sensor signal that need to be analyzed for signal characteristics according to the continuous input signal of the fly-by-wire control law; and is also used to determine the use and measurement method of the sensor signal in the test environment of the transmission ratio of the fly-by-wire control law;

[0090] The signal measurement and measurement error calculation module is used to determine multiple setting values ​​of each sensor signal according to the use range of each sensor signal; and is also used to obtain the measurement value corresponding to each setting value of each sensor signal based on the sensor signal use mode and measurement mode, so as to obtain the measurement error of each sensor signal under each setting value;

[0091] A mathematical relationship building module is used to build a mathematical expression between the setting value and the measurement error of each sensor signal, so as to characterize the signal characteristics presented by the corresponding sensor signal under the test environment;

[0092] The test accuracy index determination module is used to construct an extended input data set for each benchmark transmission ratio test case based on the input and output forms of the pre-designed transmission ratio test case and the mathematical expression between the set value of each sensor signal and the measurement error, and calculate the output data corresponding to each input data in the extended input data set; it is also used for each benchmark transmission ratio test case, by calculating the difference between each output data and the output data of this benchmark transmission ratio test case, and taking the maximum difference as the test accuracy index applicable to this benchmark transmission ratio test case.

[0093] In one implementation of the embodiment of the present invention, the specific processing work of the signal measurement and measurement error calculation module includes:

[0094] According to the use range of each sensor signal, combined with the architecture and parameter analysis of the fly-by-wire control law, multiple setting values ​​of each sensor signal are determined; the multiple setting values ​​include a large amplitude, a medium amplitude, and a small amplitude of the corresponding sensor signal;

[0095] According to the sensor signal usage and measurement method, the setting value of each sensor signal is input in the test environment to obtain the measurement value corresponding to each setting value of each sensor signal;

[0096] According to each setting value of each sensor signal and the measured value corresponding to each setting value, the measurement error of each sensor signal at each setting value is calculated according to the relationship of "measurement error = measurement value - setting value"; and by repeatedly obtaining the corresponding measurement value based on the setting value, and calculating the measurement error, the change of the measurement error corresponding to each setting value of each sensor signal under multiple tests is obtained.

[0097] In an implementation of the embodiment of the present invention, the device for determining the test accuracy of the electric-by-wire control law transmission ratio may further include:

[0098] A use case design module is used to design a transmission ratio test case based on a simulation model of the fly-by-wire control law and transmission ratio test requirements before the test accuracy index determination module constructs an extended input data set for each benchmark transmission ratio test case; wherein the designed transmission ratio test case consists of a set of input and output data, the input data includes all sensor signals and discrete input signals of the fly-by-wire control law, and the output data is the intermediate variables of the rudder deflection command and the fly-by-wire control law.

[0099] In one implementation of the embodiment of the present invention, the specific processing work of the above-mentioned test accuracy index determination module includes:

[0100] Based on the input and output form of the pre-designed transmission ratio test case, according to the mathematical expression between the setting value and the measurement error of each sensor signal constructed by the mathematical relationship construction module, for each benchmark transmission ratio test case, a set of extended values ​​corresponding to each setting value of each sensor signal under this benchmark transmission ratio test case is calculated, and each extended value of each sensor signal is used to replace the corresponding setting value in turn to form multiple input data based on each benchmark transmission ratio test case, and combined with the input data of the benchmark test case, an extended input data set based on each benchmark transmission ratio test case is formed;

[0101] For each benchmark transmission ratio test case, the simulation model based on the fly-by-wire control law calculates the output data corresponding to each input data in its extended input data set, and calculates the difference between the allowable output value and the theoretical output value, and takes the maximum difference as the test accuracy index applicable to this benchmark transmission ratio test case; wherein, the output data of each benchmark transmission ratio test case is the theoretical output value, and based on each benchmark transmission ratio test case, the output data of the extended transmission ratio test case formed by replacing the set value therein is the allowable output value.

[0102] Based on a method for determining the test accuracy of a transmission ratio of an electric-by-wire control law provided by an embodiment of the present invention, an embodiment of the present invention further provides a computer-readable storage medium, the computer-readable storage medium comprising: a memory and a processor;

[0103] Wherein, the memory is configured to store executable instructions;

[0104] The processor is specifically configured to implement the test accuracy determination method of the electric-by-wire control law transmission ratio provided in any of the above embodiments when executing the executable instructions stored in the memory.

[0105] The following is a schematic illustration of the implementation of the method for determining the test accuracy of the transmission ratio of the fly-by-wire control law provided by the present invention through several implementation examples.

[0106] Implementation Example 1:

[0107] like Figure 1 As shown, the test accuracy determination method of the electric-by-wire control law transmission ratio provided in the implementation example 1 may include the following steps:

[0108] Step 1: Based on the continuous input signal of the fly-by-wire control law, determine the sensor signal and sensor signal usage range required for the test environment signal characteristic analysis.

[0109] In a preferred implementation, the sensor signals include atmospheric sensor signals, angular velocity sensor signals, accelerometer signals, and driving control sensor signals, among which the atmospheric sensor signals include at least one of the following: dynamic pressure, static pressure, true airspeed, and speedometer; the angular velocity sensor signals include at least one of the following: pitch angular velocity, roll angular velocity, and yaw angular velocity; the accelerometer signals include at least one of the following: normal acceleration and lateral acceleration; the driving control sensor signals include: longitudinal displacement of the steering column / steering wheel, lateral displacement of the steering column / steering wheel, and pedal signals. The use range of the above sensor signals is determined by the sensor model used and the design requirements of the fly-by-wire control law.

[0110] Step 2: Determine how the sensor signals will be used and measured in the fly-by-wire control law transmission ratio test environment.

[0111] The usage methods in this step include: the conversion relationship between physical quantity-voltage quantity-digital quantity during signal transmission, and the conversion relationship between physical quantity-voltage quantity-digital quantity during signal recording; the measurement methods in this step include: signal setting and signal recording.

[0112] In a preferred implementation, the sensor signal used in the fly-by-wire control law is a physical quantity, the actual sensor measurement is a voltage quantity (for example, + / -10V), and it is transmitted as a digital quantity in the flight control system. The corresponding relationship is: the full-stroke physical quantity corresponds to the full voltage quantity and the full digital quantity respectively.

[0113] Step 3: Determine the setting value of each sensor signal based on the usage range of each sensor signal and the architecture and parameter analysis of the fly-by-wire control law.

[0114] Preferably, the setting value in this step should include a large amplitude, a medium amplitude, and a small amplitude of the corresponding sensor signal.

[0115] Step 4: According to the usage and measurement methods of the sensor signals, different setting values ​​of each sensor signal are input in the test environment to obtain the measurement value corresponding to each setting value of each sensor signal.

[0116] Step 5: According to each setting value of each sensor signal and its corresponding measurement value, according to the relationship of "measurement error = measurement value - setting value", calculate the measurement error of each sensor signal at each setting value.

[0117] By repeatedly executing the above steps 4 and 5, the change of the measurement error of each sensor signal under multiple tests is obtained.

[0118] In a preferred implementation, Figure 2 , which is a schematic diagram of the change between the measured value of the longitudinal displacement signal of the steering column and the measurement error in the implementation example 1 of the present invention; wherein the plurality of measured values ​​of the longitudinal displacement signal of the steering column are arranged in ascending order to form an array S s0 , the array of maximum measurement errors corresponding to each setting value is S eul0 , the array of minimum measurement errors corresponding to each setting value is S ell0 .

[0119] Step 6, in this implementation example 1, the mathematical expression between the setting value of the steering column longitudinal displacement signal and the measurement error is constructed as follows: eul =f u (S s ,S s0 ,S eul0 ) and S ell =f l (S s ,S s0 ,S ell0 ).

[0120] The algorithm of the mathematical expression constructed in this step is described as follows: s0 Each element in is used as an interpolation node, and the maximum value array S of the measurement error is eul0 and the minimum measurement error array S ell0 The corresponding elements in are used as the function values ​​on the interpolation nodes, thereby constructing the interpolation function f between the maximum value of the measurement error and the set value. u (S s ,S s0 ,S eul0 ), and the interpolation function f between the minimum value of the measurement error and the set value l (S s ,S s0 ,S ell0 ); Set the value S for the new signal s , the maximum measurement error S of the new setting value is calculated by piecewise linear interpolation method eul and the minimum measurement error S ell , and a set of extended values ​​corresponding to the new set value is calculated according to "extended value = set value + measurement error".

[0121] Step 7, based on the fly-by-wire control law simulation model and the transmission ratio test requirements, design transmission ratio test cases, where a test case consists of a set of input and output data, the input data includes the above-mentioned sensor signals and the control law discrete input signals, and the output data is the rudder deflection command and the intermediate variables of the control law.

[0122] Step 8, based on the input and output form of the pre-designed transmission ratio test case, according to the mathematical expression between the setting value of each sensor signal and the measurement error constructed in step 6, for each benchmark transmission ratio test case, calculate a set of extended values ​​corresponding to the setting values ​​of each sensor signal under this benchmark test case, and replace the corresponding setting values ​​with each extended value of each sensor signal in turn to form multiple input data based on each benchmark transmission ratio test case, and combine the input data of the benchmark test case to form an extended input data set based on each benchmark transmission ratio test case; each benchmark transmission ratio test case is a test case whose input data is composed of sensor signal setting values.

[0123] Step 9. For each benchmark transmission ratio test case, the simulation model based on the fly-by-wire control law calculates the output data corresponding to each input data in its extended input data set, and calculates the difference between the allowable output value and the theoretical output value, and takes the maximum difference as the test accuracy index applicable to this benchmark transmission ratio test case; wherein, the output data of each benchmark transmission ratio test case is the theoretical output value, and based on each benchmark transmission ratio test case, the output data of the extended transmission ratio test case formed by replacing the set value therein is the allowable output value.

[0124] In a preferred implementation, when the theoretical output value is less than a certain set threshold, the maximum absolute error is used as the accuracy indicator of the test case, otherwise the maximum relative error is used as the accuracy indicator of the test case, where the set threshold is 0.15.

[0125] Implementation Example 2:

[0126] In this implementation example 2, a detailed description is given of a method for determining the test accuracy of the transmission ratio of the forward control loop of the longitudinal control law during normal aerial flight.

[0127] Step 1, the continuous input signal of the forward control loop of the longitudinal control law includes the longitudinal displacement signal of the control stick, the dynamic pressure signal, and the static pressure signal, wherein the use range of the longitudinal displacement signal of the control stick is: -84mm~56mm, the use range of the dynamic pressure signal is: 0KPa~70KPa, and the use range of the static pressure signal is: 9.8KPa~101.3KPa.

[0128] Step 2, determine the usage and measurement methods of the above sensor signals in the test environment of the control law transmission ratio. The usage includes: the conversion relationship between physical quantity-voltage quantity-digital quantity during signal transmission, and the conversion relationship between physical quantity-voltage quantity-digital quantity during signal recording; the measurement includes: signal setting and signal recording.

[0129] In a preferred implementation, the sensor signal used in the fly-by-wire control law is a physical quantity, and the actual sensor measurement is a voltage quantity (for example, + / -10V). The flight control system transmits it in digital quantity, and the corresponding relationship is: the full stroke physical quantity corresponds to the full voltage quantity and the full digital quantity respectively. In this implementation example 2, for the longitudinal displacement signal of the joystick, its measurement range is -84mm~56mm, the corresponding voltage quantity is -10V~6.666V, and the corresponding digital quantity is -32767~21844.666; for the dynamic pressure signal, its measurement range is 0KPa~150KPa, the corresponding voltage quantity is -10V~10V, and the corresponding digital quantity is -32767~32767; for the static pressure signal, its measurement range is 3.5KPa~108.4KPa, the corresponding voltage quantity is -10V~10V, and the corresponding digital quantity is -32767~32767. The signal is set through the sensor simulation device, and the measurement value of the signal is obtained according to the FTI device.

[0130] Step 3: Determine multiple setting values ​​of each sensor signal according to the usage range of each sensor signal and the architecture and parameter analysis of the fly-by-wire control law. If necessary, the setting values ​​in this step should include the large amplitude, medium amplitude, and small amplitude of the corresponding sensor signal.

[0131] In the preferred implementation, the setting values ​​of the longitudinal displacement signal of the steering column are -90mm, -45mm, 0mm, 30mm, and 60mm, respectively, using a one-dimensional array DZ s0 To express, that is:

[0132] DZ s0 =[-90 -45 0 30 60].

[0133] The dynamic pressure signal setting values ​​are 2.5417 kPa, 14.8726 kPa, 20.1951 kPa, 28.4695 kPa, 40.6209 kPa and 54.5787 kPa respectively, using a one-dimensional array QC s0 To express, that is:

[0134] QC s0 =[2.5417 14.8726 20.1951 28.4695 40.6209 54.5787].

[0135] The static pressure signal setting values ​​are 10.2818kPa, 22.6180kPa, 47.1489kPa, 53.9831kPa, 70.0591kPa, 79.4424kPa, 89.8117kPa, using a one-dimensional array PS s0 To express, that is:

[0136] PS s0 =[10.2818 22.6180 47.1489 53.9831 70.0591 79.4424 89.8117].

[0137] Step 4: According to the sensor signal usage and measurement method, the setting value of each sensor signal is input in the test environment to obtain the measurement value corresponding to each setting value of each sensor signal.

[0138] Step 5: According to each setting value of each sensor signal and its corresponding measurement value, the measurement error of each sensor signal at each setting value is calculated according to the relationship of "measurement error = measurement value - setting value".

[0139] By repeatedly executing step 4 and step 5, the change of the measurement error of each sensor signal under multiple tests is obtained.

[0140] In this implementation example 2, if Figure 2 As shown, it is a schematic diagram of the change between the setting value of the longitudinal displacement signal of the driving rod and the measurement error in the embodiment 2 of the present invention; wherein the maximum value array of the measurement error is represented by DZ eul0 =[0.48720.1288 -0.0974 -0.2174 -0.2100], the array of minimum measurement error is represented by DZ ell0 =[0.1008 -0.1400 -0.2402 -0.3855-0.6048].

[0141] like Figure 3 As shown, it is a schematic diagram of the change between the dynamic pressure signal setting value and the measurement error in the embodiment 2 of the present invention; wherein the maximum value array of the measurement error is represented by QC eul0 =[0.0908 0.0674 0.0549 0.0380 0.0066 -0.0162], the array of minimum measurement error is represented by QC ell0 =[0.0383 0.0299 0.0174 0.0230 -0.0084 -0.0312].

[0142] like Figure 4FIG. 1 is a schematic diagram of the change between the static pressure signal setting value and the measurement error in Example 2 of the present invention; wherein the maximum value array of the measurement error is represented by PS eul0 =[0.0420 0.0262 -0.0105 -0.0315 -0.0367 -0.0472 -0.0525], the array of minimum measurement error is PS ell0 =[0.0052 -0.0157 -0.0367 -0.0577 -0.0629 -0.0734 -0.0787].

[0143] Step 6, in this implementation example 2, the mathematical expression between the steering column longitudinal displacement signal measurement value and the signal measurement error is constructed as: DZ eul =f u (DZ s ,DZ s0 ,DZ eul0 ) and DZ ell =f l (DZ s ,DZ s0 ,DZ ell0 ). The algorithm of the above mathematical expression is described as follows: s0 Each element in is used as an interpolation node, and the maximum value array DZ of the measurement error is eul0 And the minimum value array DZ of the measurement error ell0 The corresponding elements in are used as the function values ​​on the interpolation nodes, thereby constructing the interpolation function f between the maximum value of the measurement error and the set value. u (DZ s ,DZ s0 ,DZ eul0 ), and the interpolation function f between the minimum value of the measurement error and the set value l (DZ s ,DZ s0 ,DZ ell0 );New setting value DZ for the longitudinal displacement signal of the steering column s , the maximum measurement error DZ of the new setting value is calculated by piecewise linear interpolation method eul And the minimum measurement error DZ ell , and a set of extended values ​​corresponding to the new set value is calculated according to "extended value = set value + measurement error".

[0144] It should be noted that for dynamic pressure signals and static pressure signals, the same method as described above is used to establish mathematical expressions between the setting values ​​and measurement errors of various sensor signals, and a set of extended values ​​corresponding to the new setting values ​​of the dynamic pressure signal and a set of extended values ​​corresponding to the new setting values ​​of the static pressure signal are calculated respectively.

[0145] Step 7, based on the fly-by-wire control law simulation model and the transmission ratio test requirements, design transmission ratio test cases, where a test case consists of a set of input and output data, the input data includes the above-mentioned sensor signals and the control law discrete input signals, and the output data is the rudder deflection command and the key intermediate variables of the control law.

[0146] In a preferred implementation, as shown in Table 1 below, it is a benchmark test case for testing the transmission ratio of the forward control loop of the longitudinal control law in the normal air flight phase in Implementation Example 2 of the present invention.

[0147] Table 1 Benchmark transmission ratio test case of the longitudinal control law forward control loop transmission ratio

[0148]

[0149] In the above Table 1, the setting value of the longitudinal displacement signal of the steering column is -60mm, the setting value of the dynamic pressure signal is 20.8970kPa, the setting value of the static pressure signal is 53.9834kPa, and the theoretical value of the output data is -5.0160.

[0150] Step 8, based on the input and output form of the pre-designed transmission ratio test case, according to the mathematical expression between the setting value and the measurement error of each sensor signal constructed in step 6, for the benchmark transmission ratio test case in step 7, each sensor signal has a set of extended values ​​corresponding to each setting value under this benchmark test case, wherein a set of extended values ​​for the longitudinal displacement signal of the steering column is -59.7334mm and -60.0474mm; a set of extended values ​​for the dynamic pressure signal is: 20.9505kPa and 20.9149kPa; a set of extended values ​​for the static pressure signal is: 53.9519kPa and 50.9257kPa. Each extended value of each sensor signal is used to replace the corresponding setting value in turn to form multiple input data based on each benchmark transmission ratio test case, and combined with the input data of the benchmark test case, an extended input data set based on each benchmark transmission ratio test case is formed; such as Figure 5 As shown, it is a schematic diagram of the process of constructing an expanded input data set in implementation example 2 of the present invention.

[0151] Step 9. For each benchmark transmission ratio test case, the simulation model based on the fly-by-wire control law calculates the output data corresponding to each input data in its extended input data set, and calculates the difference between the allowable output value and the theoretical output value, and takes the maximum difference as the test accuracy index applicable to this benchmark transmission ratio test case; wherein, the output data of each benchmark transmission ratio test case is the theoretical output value, and based on each benchmark transmission ratio test case, the output data of the extended transmission ratio test case formed by replacing the set value therein is the allowable output value.

[0152] In the preferred implementation, the absolute error and relative error between the allowable output value and the theoretical output value are calculated according to "relative error = abs (absolute error / theoretical output value), absolute error = abs (theoretical output value - allowable output value)", where abs () is an absolute value operation, as shown in Table 2 below:

[0153] Table 2 Calculation results of the difference between theoretical output value and allowable output value

[0154]

[0155]

[0156] When the theoretical output value is less than a certain set threshold, the maximum absolute error is used as the accuracy indicator of the test case, otherwise the maximum relative error is used as the accuracy indicator of the test case, where the set threshold is 0.15.

[0157] In a preferred implementation, since the theoretical output value is not less than the set threshold value of 0.15, the maximum relative error of 0.70% is used as the accuracy indicator of the test case.

[0158] Although the embodiments disclosed in the present invention are as above, the contents are only embodiments adopted to facilitate understanding of the present invention and are not intended to limit the present invention. Any technician in the field to which the present invention belongs can make any modifications and changes in the form and details of implementation without departing from the spirit and scope disclosed in the present invention, but the patent protection scope of the present invention shall still be subject to the scope defined in the attached claims.

Claims

1. A method for determining the test accuracy of a transmission ratio of an electric-by-wire control law, characterized in that: include: In the test environment of the fly-by-wire control law, by analyzing the error characteristics of the sensor signal used in the fly-by-wire control law, a mathematical expression between the setting value and the measurement error of the sensor signal is constructed, and the mathematical expression between the setting value and the measurement error is applied to the test case design process of the transmission ratio of the fly-by-wire control law; For each designed benchmark transmission ratio test case, an extended input data set is constructed; based on the simulation model of the fly-by-wire control law, for each benchmark transmission ratio test case, the output data under ideal input and extended input are calculated respectively, and the output data of the test cases under the above ideal input and extended input are compared, with the maximum difference as the test accuracy indicator of this benchmark transmission ratio test case.

2. The method for determining the test accuracy of the fly-by-wire control law transmission ratio according to claim 1, characterized in that: The steps include: Step 1, according to the continuous input signal of the fly-by-wire control law, determine the sensor signal and the use range of the sensor signal that need to be analyzed for signal characteristics; Step 2, determining the use and measurement method of the sensor signal in a test environment of the electric-by-wire control law transmission ratio; Step 3, determining multiple setting values ​​of each sensor signal according to the use range of each sensor signal; obtaining the measurement value corresponding to each setting value of each sensor signal based on the sensor signal use mode and measurement mode, so as to obtain the measurement error of each sensor signal under each setting value; Step 4, constructing a mathematical expression between the setting value and the measurement error of each sensor signal to characterize the signal characteristics presented by the corresponding sensor signal under the test environment; Step 5, based on the input and output form of the pre-designed transmission ratio test case, according to the mathematical expression between the setting value of each sensor signal and the measurement error, construct an extended input data set for each benchmark transmission ratio test case, and calculate the output data corresponding to each input data in the extended input data set; For each benchmark transmission ratio test case, the difference between each output data and the output data of this benchmark transmission ratio test case is calculated, and the maximum difference is used as the test accuracy indicator applicable to this benchmark transmission ratio test case.

3. The method for determining the test accuracy of the fly-by-wire control law transmission ratio according to claim 2, characterized in that: The usage method in step 2 includes: the conversion relationship between physical quantity-voltage quantity-digital quantity during signal transmission, and the conversion relationship between physical quantity-voltage quantity-digital quantity during signal recording; the measurement method includes: signal setting and signal recording.

4. The method for determining the test accuracy of the fly-by-wire control law transmission ratio according to claim 3, characterized in that: The step 3 comprises: Step 31, determining multiple setting values ​​of each sensor signal according to the use range of each sensor signal and combining the architecture and parameter analysis of the fly-by-wire control law; the multiple setting values ​​include a large amplitude, a medium amplitude, and a small amplitude of the corresponding sensor signal; Step 32, according to the sensor signal usage and measurement method, input the setting value of each sensor signal in the test environment, and obtain the measurement value corresponding to each setting value of each sensor signal; Step 33, according to each setting value of each sensor signal and the measured value corresponding to each setting value, according to the relationship of "measurement error = measurement value - setting value", calculate the measurement error of each sensor signal at each setting value; and by repeatedly executing steps 32 and 33, obtain the change of the measurement error corresponding to each setting value of each sensor signal under multiple tests.

5. The method for determining the test accuracy of the fly-by-wire control law transmission ratio according to claim 4, characterized in that: The transmission ratio test case pre-designed in step 5 is composed of a set of input and output data, the input data includes all sensor signals and discrete input signals of the fly-by-wire control law, and the output data is the intermediate variables of the control surface deflection command and the fly-by-wire control law.

6. The method for determining the test accuracy of the fly-by-wire control law transmission ratio according to claim 5, characterized in that: The step 5 comprises: Step 51, based on the input and output form of the pre-designed transmission ratio test case, according to the mathematical expression between the setting value and the measurement error of each sensor signal constructed in step 4, for each benchmark transmission ratio test case, a set of extended values ​​corresponding to each setting value of each sensor signal under this benchmark transmission ratio test case is calculated, and each extended value of each sensor signal is used to replace the corresponding setting value in turn to form a plurality of input data based on each benchmark transmission ratio test case, and the input data of the benchmark test case is combined to form an extended input data set based on each benchmark transmission ratio test case; Step 52, for each benchmark transmission ratio test case, the simulation model based on the fly-by-wire control law calculates the output data corresponding to each input data in its extended input data set, and calculates the difference between the allowable output value and the theoretical output value, and takes the maximum difference as the test accuracy index applicable to this benchmark transmission ratio test case; wherein, the output data of each benchmark transmission ratio test case is the theoretical output value, and based on each benchmark transmission ratio test case, the output data of the extended transmission ratio test case formed by replacing the set value therein is the allowable output value.

7. The method for determining the test accuracy of the fly-by-wire control law transmission ratio according to claim 6, characterized in that: In step 51, a set of extended values ​​corresponding to each setting value of each sensor signal under this reference transmission ratio test case is calculated, including: According to the changes in the measurement errors corresponding to the setting values ​​of each sensor signal under multiple tests in step 3, for the measurement errors corresponding to each setting value of each sensor signal, a set of expansion values ​​corresponding to each setting value is calculated using the maximum measurement error and the minimum measurement error.

8. A device for determining the test accuracy of a transmission ratio of an electric-by-wire control law, characterized in that: Used to perform the test accuracy determination method of the electric-by-wire control law transmission ratio according to any one of claims 1 to 7, the test accuracy determination device comprising: a signal determination module, a signal measurement and measurement error calculation module, a mathematical relationship construction module, and a test accuracy index determination module; The signal determination module is used to determine the sensor signal and the sensor signal usage range that need to be analyzed for signal characteristics according to the continuous input signal of the fly-by-wire control law; and is also used to determine the usage and measurement method of the sensor signal in the test environment of the fly-by-wire control law transmission ratio; The signal measurement and measurement error calculation module is used to determine multiple setting values ​​of each sensor signal according to the use range of each sensor signal; and is also used to obtain the measurement value corresponding to each setting value of each sensor signal based on the sensor signal use mode and measurement mode, so as to obtain the measurement error of each sensor signal under each setting value; The mathematical relationship building module is used to build a mathematical expression between the setting value and the measurement error of each sensor signal, so as to characterize the signal characteristics presented by the corresponding sensor signal under the test environment; The test accuracy index determination module is used to construct an extended input data set for each benchmark transmission ratio test case based on the input and output forms of the pre-designed transmission ratio test case and according to the mathematical expression between the setting value of each sensor signal and the measurement error, and calculate the output data corresponding to each input data in the extended input data set; it is also used to calculate the difference between each output data and the output data of the benchmark transmission ratio test case for each benchmark transmission ratio test case, and use the maximum difference as the test accuracy index applicable to the benchmark transmission ratio test case.

9. The device for determining the test accuracy of the fly-by-wire control law transmission ratio according to claim 8, characterized in that: The signal measurement and measurement error calculation module is specifically used to determine multiple setting values ​​of each sensor signal according to the use range of each sensor signal, combined with the architecture and parameter analysis of the fly-by-wire control law; the multiple setting values ​​include a large amplitude, a medium amplitude, and a small amplitude of the corresponding sensor signal; The signal measurement and measurement error calculation module is further specifically used to input the setting value of each sensor signal in the test environment according to the sensor signal usage mode and measurement mode, and obtain the measurement value corresponding to each setting value of each sensor signal; The signal measurement and measurement error calculation module is specifically used to calculate the measurement error of each sensor signal at each setting value according to the relationship of "measurement error = measurement value - setting value" based on each setting value of each sensor signal and the measurement value corresponding to each setting value; and by repeatedly obtaining the corresponding measurement value based on the setting value and calculating the measurement error, the change of the measurement error corresponding to each setting value of each sensor signal under multiple tests is obtained.

10. The device for determining the test accuracy of the fly-by-wire control law transmission ratio according to claim 8, characterized in that: Also includes: A use case design module is used to design a transmission ratio test case based on a simulation model of the fly-by-wire control law and transmission ratio test requirements before the test accuracy index determination module constructs an extended input data set for each benchmark transmission ratio test case; wherein the designed transmission ratio test case consists of a set of input and output data, the input data includes all sensor signals and discrete input signals of the fly-by-wire control law, and the output data is the intermediate variables of the rudder deflection command and the fly-by-wire control law.

11. The device for determining the test accuracy of the fly-by-wire control law transmission ratio according to claim 10, characterized in that: The test accuracy index determination module is specifically used to calculate a set of extended values ​​corresponding to each set value of each sensor signal under the benchmark transmission ratio test case based on the input and output form of the pre-designed transmission ratio test case and the mathematical expression between the set value of each sensor signal and the measurement error constructed by the mathematical relationship construction module for each benchmark transmission ratio test case, and to replace the corresponding set value with each extended value of each sensor signal in turn to form multiple input data based on each benchmark transmission ratio test case, and to form an extended input data set based on each benchmark transmission ratio test case in combination with the input data of the benchmark test case; Specifically, it is also used to calculate, for each benchmark transmission ratio test case, the output data corresponding to each input data in its extended input data set based on the simulation model of the fly-by-wire control law, and calculate the difference between the allowable output value and the theoretical output value, with the maximum difference being used as the test accuracy index applicable to this benchmark transmission ratio test case; wherein, the output data of each benchmark transmission ratio test case is the theoretical output value, and based on each benchmark transmission ratio test case, the output data of the extended transmission ratio test case formed by replacing the set value therein is the allowable output value.

12. A computer-readable storage medium, characterized in that: include: Memory and processor; The memory is configured to store executable instructions; The processor is specifically configured to implement the test accuracy determination method of the electric-by-wire control law transmission ratio according to any one of claims 1 to 7 when executing the executable instructions stored in the memory.

Images