A method and device for determining the test accuracy of the transmission ratio of the fly-by-wire control law

Abstract

The embodiment of the present invention discloses a method and device for determining the test accuracy of a fly-by-wire control law transmission ratio, comprising: in a test environment for the fly-by-wire control law, analyzing the error characteristics of the sensor signal used in the fly-by-wire control law, constructing a mathematical expression between the set value and the measurement error of the sensor signal, and applying the mathematical expression between the set value and the measurement error to the test case design process for the fly-by-wire control law transmission ratio; constructing an extended input data set for each designed benchmark transmission ratio test case; based on a simulation model of the fly-by-wire control law, calculating the output data under ideal input and extended input for each benchmark transmission ratio test case, comparing the output data of the test case under the ideal input and extended input, and using the maximum difference as the test accuracy indicator for the benchmark transmission ratio test case. The technical solution provided by the embodiment of the present invention solves the problems existing in the existing verification methods for the fly-by-wire control law transmission ratio, namely the verification method based on transmission ratio test cases and the real-time data analysis method based on theoretical models.

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 a fly-by-wire control law. Background Art

[0002] The primary purpose of fly-by-wire control law ratio testing is to verify the consistency of the control law software's implementation of each path and control parameter within the control law structure in the open-loop flight control system. This serves as the foundation for verifying the functionality and performance of the flight control system. Typically, this testing requires thorough verification in a semi-physical environment, an iron bird environment, and an onboard ground test environment, checking the design conformance of the motion polarity and solution characteristics of each control path. Therefore, comprehensive and efficient verification of the fly-by-wire control law ratio is crucial to this testing.

[0003] Currently, fly-by-wire control law transmission ratio verification methods can be roughly divided into two categories. One verification method is based on transmission ratio test cases. The flight state, control signals, and sensor signals used in the control law are input, and the steady-state value of the test rudder deflection command is recorded. Later, the steady-state value is compared and analyzed with the theoretical rudder deflection command value in the test case. However, the accuracy indicators of the test and theoretical values ​​are usually designed based on engineering experience, and no specific research has been found. The other verification method is based on real-time data analysis of theoretical models. This method uses aircraft control signals, preset feedback signals, and tuning parameters to obtain test rudder deflection commands. The control signals, feedback signals, and tuning parameters obtained from these test rudder deflection commands are then input into the theoretical simulation model to obtain simulated rudder deflection commands. The fly-by-wire control law transmission ratio is verified by comparing the test and simulated rudder deflection commands. This verification method considers the influence of test environment characteristics on test results to a certain extent. However, for the initial test of the fly-by-wire control law transmission ratio, the accuracy of the obtained test rudder deflection commands cannot be guaranteed because the reliability of the test environment has not been fully verified. This leads to the possibility of test errors, and the method for determining the test accuracy indicator is not clearly defined.

[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 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 existing verification method of the transmission ratio of the fly-by-wire control law, which is based on the verification method of the transmission ratio test case. Since the accuracy indicators of the test values ​​and the theoretical values ​​are designed according to engineering experience, this 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 a fly-by-wire control law, comprising:

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

[0008] Optionally, the test accuracy determination method for the fly-by-wire control law transmission ratio as described above includes the following steps:

[0009] Step 1: Based on the continuous input signal of the fly-by-wire control law, determine the sensor signal and the sensor signal usage range that require signal characteristic analysis;

[0010] Step 2: determining a usage and measurement method of the sensor signal in a test environment for a transmission ratio of a fly-by-wire control law;

[0011] Step 3: determining multiple setting values ​​for each sensor signal according to the usage range of each sensor signal; obtaining a measurement value corresponding to each setting value of each sensor signal based on the usage mode and measurement mode of the sensor signal, thereby obtaining a measurement error of each sensor signal at each setting value;

[0012] Step 4: construct a mathematical expression between the set value and 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, and according to the mathematical expression between the set 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 fly-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 above-mentioned method for determining the test accuracy of the fly-by-wire control law transmission ratio, step 3 includes:

[0017] Step 31: Determine multiple setting values ​​for each sensor signal based on the usage range of each sensor signal and in combination 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;

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

[0019] In step 33, based on 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 = measured value - setting value". By repeatedly executing steps 32 and 33, the change in the measurement error corresponding to each setting value of each sensor signal under multiple tests is obtained.

[0020] Optionally, in the test accuracy determination method for 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 variable of the fly-by-wire control law.

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

[0022] Step 51: Based on the input and output form of the pre-designed transmission ratio test case and 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 sequence to form multiple input data based on each benchmark transmission ratio test case. 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;

[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 allowed 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 the output data of the extended transmission ratio test case formed by replacing the set value based on each benchmark transmission ratio test case is the allowed output value.

[0024] Optionally, in the test accuracy determination method of the fly-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 fly-by-wire control law transmission ratio, configured to execute any of the above-described methods for determining the test accuracy of a fly-by-wire control law transmission ratio, the 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;

[0028] The signal determination module is configured to determine, based on the continuous input signal of the fly-by-wire control law, the sensor signal for which signal characteristics analysis is required and the range of use of the sensor signal; and further configured to determine the use and measurement method of the sensor signal in a test environment for the transmission ratio of the fly-by-wire control law;

[0029] The signal measurement and measurement error calculation module is used to determine multiple setting values ​​of each sensor signal according to the usage 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 usage mode and measurement mode, thereby obtaining the measurement error of each sensor signal at each setting value;

[0030] The mathematical relationship building module is used to build a mathematical expression between the set value and the measurement error of each sensor signal 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 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 to calculate the difference between each output data and the output data of this benchmark transmission ratio test case for each benchmark transmission ratio test case, and use the maximum difference as the test accuracy index applicable to this benchmark transmission ratio test case.

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

[0033] The signal measurement and measurement error calculation module is specifically used to determine multiple setting values ​​for each sensor signal based on the usage range of each sensor signal and in combination 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 configured to input setting values ​​of each sensor signal in a test environment according to the sensor signal usage and measurement method, and obtain a measurement value corresponding to each setting value of each sensor signal;

[0035] The signal measurement and measurement error calculation module is specifically further 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.

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

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

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

[0039] The test accuracy index determination module is specifically configured to calculate, based on the input and output forms of a pre-designed transmission ratio test case and the mathematical expression between the setting values ​​of each sensor signal and the measurement error constructed by the mathematical relationship construction module, a set of extended values ​​corresponding to each setting value of each sensor signal under this benchmark transmission ratio test case for each benchmark transmission ratio test case, and to replace the corresponding setting value with each extended value of each sensor signal in sequence 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 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 the output data of the extended transmission ratio test case formed by replacing the set value based on each benchmark transmission ratio test case is the allowable output value.

[0041] In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium, comprising: 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 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 transmission ratio of the fly-by-wire control law; for each benchmark transmission ratio test case designed, 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 verification conclusion of the control law transmission ratio. 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 in the test environment and applied to the transmission ratio test case design process, the transmission ratio test accuracy indicators were scientifically and rationally formulated, reducing dependence on engineering experience;

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

[0048] Fourth, 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 onboard 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 flow chart of a method for determining the test accuracy of a transmission ratio of a fly-by-wire control law provided by an embodiment of the present invention;

[0052] Figure 2 Schematic diagram of changes between the measured values ​​of the longitudinal displacement signals of the steering column and the measurement errors in Embodiment 1 and Embodiment 2 of the present invention;

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

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

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

[0056] To make the purpose, technical solutions and advantages of the present invention more clearly understood, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, unless there is a conflict, the embodiments and features in the embodiments of the present application can be combined with each other in any manner.

[0057] As explained in the above background technology, 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, the verification method based on the transmission ratio test case has a high degree of subjectivity because the accuracy indicators of the experimental values ​​and theoretical values ​​are usually designed based on engineering experience; 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, ensure the efficiency and accuracy of the control law transmission ratio verification, and has the characteristics of simplicity, easy operation and wide applicability.

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

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

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

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

[0063] Step 1: Based on the continuous input signal of the fly-by-wire control law, determine the sensor signal and the sensor signal usage range that require signal characteristic analysis.

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

[0065] The usage methods in this step include, 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 methods in this step include, for example: signal setting and signal recording.

[0066] Step 3: Determine multiple setting values ​​for each sensor signal based on the usage range of each sensor signal; obtain the measurement value corresponding to each setting value of each sensor signal based on the usage mode and measurement mode of the sensor signal, thereby obtaining 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 set 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, and according to the mathematical expression between the set 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 art in determining the transmission ratio test accuracy based on 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, can evaluate the test results in real time during the test process. It has the characteristics of simplicity 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: Determine multiple setting values ​​for each sensor signal based on the usage range of each sensor signal and in combination 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;

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

[0074] In step 33, based on 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 = measured value - setting value". By repeatedly executing steps 32 and 33, the change in the measurement error corresponding to each setting value of each sensor signal under multiple tests is obtained.

[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 as follows: 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, the 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 the discrete input signal of the fly-by-wire control law, and the output data is the intermediate variable of the rudder deflection command and the fly-by-wire control law; preferably, the key intermediate variable.

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

[0078] Step 51: Based on the input and output form of the pre-designed transmission ratio test case and 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 sequence to form multiple input data based on each benchmark transmission ratio test case. 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;

[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 allowed 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 the output data of the extended transmission ratio test case formed by replacing the set value based on each benchmark transmission ratio test case is the allowed output value.

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

[0081] Based on the changes in the measurement errors corresponding to the various setting values ​​of each sensor signal during multiple tests in step 3, a set of extended values ​​corresponding to each setting value of each sensor signal is calculated using the maximum and minimum measurement errors. The following example describes how to calculate the set of extended values ​​corresponding to each setting value.

[0082] An embodiment of the present invention provides a method for determining the test accuracy of the transmission ratio of a fly-by-wire control law. For the test 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 transmission ratio of the fly-by-wire control law; 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 verification conclusion of the control law transmission ratio. 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 in the test environment and applied to the transmission ratio test case design process, the transmission ratio test accuracy indicators were scientifically and rationally formulated, reducing dependence on engineering experience;

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

[0086] Fourth, 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 onboard 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 fly-by-wire control law transmission ratio 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 fly-by-wire control law transmission ratio, the device for determining the test accuracy of a fly-by-wire control law transmission ratio being configured to execute the method for determining the test accuracy of a fly-by-wire control law transmission ratio provided in any of the above embodiments. The device for determining the test accuracy of a fly-by-wire control law transmission ratio 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 that needs to be analyzed for signal characteristics and the sensor signal usage range based on 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;

[0090] a signal measurement and measurement error calculation module, configured to determine a plurality of setting values ​​for each sensor signal based on the usage range of each sensor signal; and further configured to obtain a measurement value corresponding to each setting value of each sensor signal based on the usage mode and measurement mode of the sensor signal, thereby obtaining a measurement error of each sensor signal at each setting value;

[0091] A mathematical relationship building module is used to build a mathematical expression between the set value and measurement error of each sensor signal 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 to calculate the difference between each output data and the output data of this benchmark transmission ratio test case for each benchmark transmission ratio test case, and use 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] Determining multiple setting values ​​for each sensor signal based on the usage range of each sensor signal and in combination 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;

[0095] According to the usage and measurement methods of the sensor signals, the setting values ​​of each sensor signal are input in the test environment, and the measurement values ​​corresponding to each setting value of each sensor signal are obtained;

[0096] According to each setting value of each sensor signal and the measurement 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 one implementation of the embodiment of the present invention, the device for determining the test accuracy of the fly-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 the simulation model of the fly-by-wire control law and the transmission ratio test requirements before the test accuracy index determination module constructs the expanded input data set for each benchmark transmission ratio test case; wherein the designed transmission ratio test case is composed of a set of input and output data, the input data including all sensor signals and discrete input signals of the fly-by-wire control law, and the output data being 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 forms of the pre-designed transmission ratio test case, and 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 sequence to form multiple input data based on each benchmark transmission ratio test case. 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, 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 the output data of the extended transmission ratio test case formed by replacing the set value based on each benchmark transmission ratio test case 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 schematically illustrates 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 method for determining the test accuracy of the transmission ratio of the fly-by-wire control law provided in this embodiment 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 signals and sensor signal usage range required for test environment signal characteristic analysis.

[0109] In a preferred implementation, sensor signals include atmospheric sensor signals, angular velocity sensor signals, accelerometer signals, and steering control sensor signals. Atmospheric sensor signals include at least one of the following: dynamic pressure, static pressure, true airspeed, and indicated airspeed; angular velocity sensor signals include at least one of the following: pitch angular velocity, roll angular velocity, and yaw angular velocity; accelerometer signals include at least one of the following: normal acceleration and lateral acceleration; and steering control sensor signals include longitudinal displacement of the control stick / steering wheel, lateral displacement of the control stick / steering wheel, and pedal signals. The scope of use of these 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 its usage range, combined with the architecture and parameter analysis of the fly-by-wire control law.

[0114] Preferably, the setting value in this step should include the large amplitude, medium amplitude, and 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, and the measurement value corresponding to each setting value of each sensor signal is obtained.

[0116] Step 5: Based on each setting value of each sensor signal and its corresponding measured value, the measurement error of each sensor signal at each setting value is calculated according to the relationship of “measurement error = measured value - setting value”.

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

[0118] In a preferred implementation, Figure 2 FIG. 1 is a schematic diagram showing the change between the measured value of the longitudinal displacement signal of the control rod and the measurement error in Example 1 of the present invention; wherein the plurality of measured values ​​of the longitudinal displacement signal of the control rod 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 embodiment 1, the mathematical expression between the setting value of the longitudinal displacement signal of the steering column 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 using the piecewise linear interpolation method eul and the minimum measurement error S ell , and calculate a set of extended values ​​corresponding to the new set value 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 use each extended value of each sensor signal to replace the corresponding setting value 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 consists of the 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 uses 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 the output data of the extended transmission ratio test case formed by replacing the set value based on each benchmark transmission ratio test case 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 index of the test case, otherwise the maximum relative error is used as the accuracy index of the test case, where the set threshold is 0.15.

[0125] Implementation Example 2:

[0126] In this embodiment 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 signals of the forward control loop of the longitudinal control law include the longitudinal displacement signal of the joystick, the dynamic pressure signal, and the static pressure signal. The range of the longitudinal displacement signal of the joystick is: -84mm~56mm, the range of the dynamic pressure signal is: 0KPa~70KPa, and the range of the static pressure signal is: 9.8KPa~101.3KPa.

[0128] Step 2: Determine the usage and measurement methods for each of the sensor signals in the control law transmission ratio test environment. The usage methods include: the conversion relationship between physical quantity, voltage quantity, and digital quantity during signal transmission, and the conversion relationship between physical quantity, voltage quantity, and digital quantity during signal recording; the measurement methods include: 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 (e.g., + / -10V). This is transmitted as a digital quantity in the flight control system, with the corresponding relationship being: full-stroke physical quantities correspond to full voltage quantities and full digital quantities, respectively. In Example 2, for the control stick longitudinal displacement signal, the measurement range is -84mm to 56mm, the corresponding voltage quantity is -10V to 6.666V, and the corresponding digital quantity is -32767 to 21844.666; for the dynamic pressure signal, the measurement range is 0kPa to 150kPa, the corresponding voltage quantity is -10V to 10V, and the corresponding digital quantity is -32767 to 32767; for the static pressure signal, the measurement range is 3.5kPa to 108.4kPa, the corresponding voltage quantity is -10V to 10V, and the corresponding digital quantity is -32767 to 32767. Signal settings are performed using a sensor simulation device, and the signal measurement values ​​are obtained using the FTI device.

[0130] Step 3: Determine multiple settings for each sensor signal based on its usage range, combined with analysis of the fly-by-wire control law's architecture and parameters. If necessary, the settings in this step should include the corresponding sensor signal's large, medium, and small amplitudes.

[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 2.5417kPa, 14.8726kPa, 20.1951kPa, 28.4695kPa, 40.6209kPa and 54.5787kPa 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, and 89.8117kPa, respectively, 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, and the measurement value corresponding to each setting value of each sensor signal is obtained.

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

[0139] By repeatedly executing steps 4 and 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 FIG. 1 is a schematic diagram showing the change between the setting value of the longitudinal displacement signal of the driving rod and the measurement error in Example 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 in FIG. 1 , it is a schematic diagram of the change between the dynamic 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 QC eul0 =[0.0908 0.0674 0.0549 0.0380 0.0066 -0.0162], the array of minimum measurement error is represented as QC ell0 =[0.0383 0.0299 0.0174 0.0230 -0.0084 -0.0312].

[0142] like Figure 4The figure shows 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 embodiment 2, the mathematical expression between the steering column longitudinal displacement signal measurement value and the signal measurement error is constructed as follows: 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 measurement error array DZ 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 control column s , the maximum measurement error DZ of the new setting value is calculated using the piecewise linear interpolation method eul and the minimum measurement error DZ ell , and calculate a set of extended values ​​corresponding to the new set value 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 above is used to establish mathematical expressions between the setting values ​​and measurement errors of various sensor signals, and a set of expansion values ​​corresponding to the new setting values ​​of the dynamic pressure signal and a set of expansion 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. Test case for the benchmark transmission ratio of the forward control loop of the longitudinal control law

[0148]

[0149] In Table 1 above, 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 ​​of the longitudinal displacement signal of the steering column is -59.7334mm and -60.0474mm; a set of extended values ​​of the dynamic pressure signal is: 20.9505kPa and 20.9149kPa; a set of extended values ​​of 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 to form an extended input data set based on each benchmark transmission ratio test case; such as Figure 5 , which 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 uses 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 the output data of the extended transmission ratio test case formed by replacing the set value based on each benchmark transmission ratio test case is the allowable output value.

[0152] In a 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 index of the test case, otherwise the maximum relative error is used as the accuracy index 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 herein are as described above, the contents are merely provided to facilitate understanding of the present invention and are not intended to limit the present invention. Any person skilled in the art may make any modifications and variations in the form and details of the embodiments without departing from the spirit and scope of the present invention. However, the scope of patent protection of the present invention shall remain subject to the scope defined by the appended claims.

Claims

1. A method for determining the test accuracy of a fly-by-wire control law transmission ratio, characterized in that: include: Step 1: Based on the continuous input signal of the fly-by-wire control law, determine the sensor signal and the sensor signal usage range that require signal characteristic analysis; Step 2: determining a usage and measurement method of the sensor signal in a test environment for a transmission ratio of a fly-by-wire control law; Step 3: determining multiple setting values ​​for each sensor signal according to the usage range of each sensor signal; obtaining a measurement value corresponding to each setting value of each sensor signal based on the usage mode and measurement mode of the sensor signal, thereby obtaining a measurement error of each sensor signal at each setting value; Step 4: construct a mathematical expression between the set value and 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 forms of the pre-designed transmission ratio test case and the mathematical expression between the set value and the measurement error of each sensor signal, an extended input data set is constructed for each benchmark transmission ratio test case, and the output data corresponding to each input data in the extended input data set is calculated; 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 index applicable to 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 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.

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 step 3 comprises: Step 31: Determine multiple setting values ​​for each sensor signal based on the usage range of each sensor signal and in combination 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; Step 32: inputting the setting value of each sensor signal in the test environment according to the sensor signal usage and measurement method, and obtaining the measurement value corresponding to each setting value of each sensor signal; In step 33, based on 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 "measurement error = measured value - setting value". By repeatedly executing steps 32 and 33, the change in the measurement error corresponding to each setting value of each sensor signal under multiple tests is obtained.

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 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 control surface deflection command and the intermediate variables of the fly-by-wire control law.

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 step 5 comprises: Step 51: Based on the input and output form of the pre-designed transmission ratio test case and 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 sequence to form multiple input data based on each benchmark transmission ratio test case. 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; 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 allowed 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 the output data of the extended transmission ratio test case formed by replacing the set value based on each benchmark transmission ratio test case is the allowed output value.

6. The method for determining the test accuracy of the fly-by-wire control law transmission ratio according to claim 5, 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 33, 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.

7. A device for determining the test accuracy of a fly-by-wire control law transmission ratio, characterized in that: A method for determining the test accuracy of a transmission ratio of an electric-by-wire control law according to any one of claims 1 to 6, wherein the test accuracy determination device 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; The signal determination module is configured to determine, based on the continuous input signal of the fly-by-wire control law, the sensor signal for which signal characteristics analysis is required and the range of use of the sensor signal; and further configured to determine the use and measurement method of the sensor signal in a test environment for the transmission ratio of the fly-by-wire control law; The signal measurement and measurement error calculation module is used to determine multiple setting values ​​of each sensor signal according to the usage 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 usage mode and measurement mode, thereby obtaining the measurement error of each sensor signal at each setting value; The mathematical relationship building module is used to build a mathematical expression between the set value and the measurement error of each sensor signal 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 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 to calculate the difference between each output data and the output data of this benchmark transmission ratio test case for each benchmark transmission ratio test case, and use the maximum difference as the test accuracy index applicable to this benchmark transmission ratio test case.

8. The device for determining the test accuracy of the fly-by-wire control law transmission ratio according to claim 7, characterized in that: The signal measurement and measurement error calculation module is specifically used to determine multiple setting values ​​for each sensor signal based on the usage range of each sensor signal and in combination 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 configured to input setting values ​​of each sensor signal in a test environment according to the sensor signal usage and measurement method, and obtain a measurement value corresponding to each setting value of each sensor signal; The signal measurement and measurement error calculation module is further specifically configured to calculate the measurement error of each sensor signal at each setting value based on 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, obtain the change in the measurement error corresponding to each setting value of each sensor signal under multiple tests.

9. The device for determining the test accuracy of the fly-by-wire control law transmission ratio according to claim 7, characterized in that: Also includes: A use case design module is used to design a transmission ratio test case based on the simulation model of the fly-by-wire control law and the transmission ratio test requirements before the test accuracy index determination module constructs the expanded input data set for each benchmark transmission ratio test case; wherein the designed transmission ratio test case is composed of a set of input and output data, the input data including all sensor signals and discrete input signals of the fly-by-wire control law, and the output data being the intermediate variables of the rudder deflection command and the fly-by-wire control law.

10. The device for determining the test accuracy of the fly-by-wire control law transmission ratio according to claim 9, characterized in that: The test accuracy index determination module is specifically configured to calculate, based on the input and output forms of a pre-designed transmission ratio test case and the mathematical expression between the setting values ​​of each sensor signal and the measurement error constructed by the mathematical relationship construction module, a set of extended values ​​corresponding to each setting value of each sensor signal under this benchmark transmission ratio test case for each benchmark transmission ratio test case, and to replace the corresponding setting value with each extended value of each sensor signal in sequence 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 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 the output data of the extended transmission ratio test case formed by replacing the set value based on each benchmark transmission ratio test case is the allowable output value.

11. 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 for the fly-by-wire control law transmission ratio according to any one of claims 1 to 6 when executing the executable instructions stored in the memory.

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