Method and system for testing multiple performance indexes of electric steering engine based on trajectory planning

Abstract

The invention provides an electric steering engine multi-performance index test method and system based on trajectory planning, and solves the problems of limited communication rate, fragmentation of test items and non-standardization of processes in an existing test method. The method comprises the steps that a controller receives a test instruction which is sent by an upper computer and comprises multiple test modes; in each main cycle period, a corresponding rudder control expected position is generated according to the selected test mode, and the electric steering engine to be tested is driven to operate according to the deviation between the rudder control expected position and the actual position of the electric steering engine to be tested. Receiving an actual feedback position of the to-be-tested electric steering engine in real time; and the upper computer calculates the performance index of the electric steering engine to be tested in the corresponding test mode according to the steering control expected position and the actual feedback position of the plurality of main cycle periods in each test mode.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric rudder performance testing, and in particular to an electric rudder multi-performance index testing method and system based on trajectory planning. BACKGROUND

[0002] At present, in the development stage of a motor servo system, a large number of electric rudder performance tests are usually involved. In the traditional electric rudder performance test mode, a host computer usually sends a complex and high-frequency position instruction sequence to a controller. However, the traditional test mode mainly has the following problems: (1) The high-frequency instruction has very high requirements for the bandwidth and real-time performance of the communication bus, especially when testing high-frequency characteristics, which is prone to delay and packet loss, affecting the test accuracy, and is often limited by the actual communication rate.

[0003] (2) The test personnel need to write and debug complex host computer scripts or programs to generate various test signals.

[0004] (3) Different types of electric rudders involve different communication protocols and methods, which need to reconfigure the test environment.

[0005] Therefore, it is urgent to develop an integrated, high-frequency, and low-cost electric rudder performance test mode to simultaneously obtain key indicators such as bandwidth, step response, and speed linearity in a single test process, and to break through the performance limitations of the traditional communication architecture. SUMMARY

[0006] In view of the above analysis, the embodiments of the present application aim to provide an electric rudder multi-performance index testing method and system based on trajectory planning to solve the problems of limited communication rate, fragmented test items, and non-standardized process in the existing test method.

[0007] On the one hand, the present application discloses an electric rudder multi-performance index testing method based on trajectory planning, which comprises: The controller receives the test instructions sent by the host computer, which contain multiple test modes; The controller executes the test process of each test mode according to the test instructions: in each main loop cycle, the corresponding rudder control expected position is generated according to the selected test mode, the actual feedback position of the electric rudder under test is received in real time according to the deviation between the rudder control expected position and the actual position of the electric rudder under test, and the electric rudder under test is driven to operate; The host computer calculates the performance index of the electric rudder under test in the corresponding test mode according to the rudder control expected position and the actual feedback position in multiple main loop cycles under each test mode.

[0008] On the basis of the above-mentioned scheme, the present application further makes the following improvements: Further, the controller constructs the corresponding rudder control position planning trajectory according to the test instruction of each test mode in advance; In each main loop cycle, the controller drives and outputs the corresponding trajectory point from the rudder control position planning trajectory of the current test mode according to the time indicated by the current main loop cycle as the corresponding rudder control expected position.

[0009] Further, each test mode includes a test frequency, a test angle, and a test electrical signal waveform; The controller constructs the rudder control position planning trajectory of each test mode by the following method: The controller generates the corresponding test electrical signal according to the test frequency, the test angle, and the test electrical signal waveform in each test mode; According to the test frequency, the trajectory points are extracted from the test electrical signal trajectory in turn, and according to the test frequency and the order of the trajectory points, the time offset of each trajectory point relative to the starting trajectory point is calculated to construct the rudder control position planning trajectory of the corresponding test mode.

[0010] Further, according to the deviation between the rudder control expected position and the actual position of the electric actuator to be tested, the electric actuator to be tested is driven to run to perform: The controller calculates the PWM duty cycle through the PID algorithm according to the deviation between the rudder control expected position and the actual position of the electric actuator to be tested, and drives the electric actuator to be tested to run by using the PWM duty cycle.

[0011] Further, the host computer calculates the performance indicators of the electric actuator to be tested under the corresponding test mode by performing the following operations: According to the main loop cycle, the time points corresponding to each position are determined, a coordinate system is constructed with time as the x-axis and position as the y-axis, the rudder control expected positions and actual feedback positions of multiple main loop cycles are respectively mapped into the coordinate system, and the rudder control expected position change trajectory graph and the actual feedback position change trajectory graph under each test mode are drawn; According to the rudder control expected position change trajectory graph and the actual feedback position change trajectory graph under each test mode, the performance indicators of the electric actuator to be tested under the corresponding test mode are calculated.

[0012] Further, the test modes include a frequency response characteristic test mode, a step response characteristic test mode, a speed linearity characteristic test mode, and a harmonic characteristic test mode.

[0013] Further, in the frequency response characteristic test mode, the frequency response bandwidth and the phase delay of the electric actuator to be tested are calculated; In the step response characteristic test mode, the rise time, the overshoot, and the steady-state error of the electric actuator to be tested are calculated; In the speed linearity characteristic test mode, the speed fluctuation rate and the acceleration / deceleration consistency of the electric actuator to be tested are calculated; In the harmonic characteristic test mode, the resonance frequency and the damping ratio of the electric rudder to be tested are calculated.

[0014] In another aspect, the application also provides an electric rudder multi-performance index test system based on trajectory planning, which comprises: The host computer is configured to generate test instructions of multiple test modes and send the test instructions to the controller, and to calculate performance indexes of the electric rudder to be tested in each test mode based on test data fed back by the controller based on the test instructions. The controller is configured to connect the electric rudder to be tested and execute a test procedure of each test mode, wherein in each main loop cycle, a corresponding rudder control expected position is generated according to the selected test mode, the electric rudder to be tested is driven to operate according to a deviation between the rudder control expected position and an actual position of the electric rudder to be tested, and an actual feedback position of the electric rudder to be tested is received in real time. The rudder control expected position and the actual feedback position of each test mode in multiple main loop cycles are sent to the host computer as test data.

[0015] Based on the above-mentioned scheme, the application further makes the following improvements: Further, the test system further comprises a position sensor. The position sensor is connected to the electric rudder to be tested and the controller respectively, and is configured to send the actual feedback position of the electric rudder to be tested collected in real time to the controller.

[0016] Further, the controller comprises a parameter configuration interface, and the host computer is in communication connection with the parameter configuration interface of the controller. The host computer encapsulates the test instructions into data frames and sends the data frames to the parameter configuration interface of the controller. The parameter configuration interface of the controller receives and verifies the data frames, and extracts the test instructions from the data frames that pass the verification.

[0017] Compared with the prior art, the application can at least achieve one of the following beneficial effects: The electric rudder multi-performance index test method based on trajectory planning provided by the application has the following beneficial effects: (1) comprehensiveness Covering multiple test modes: By constructing multiple test modes, including frequency response characteristics test mode, step response characteristics test mode, speed linearity characteristics test mode, and harmonic characteristics test mode, it can comprehensively cover all key performance indicators of electric servos. For example, in the frequency response characteristics test mode, the frequency response bandwidth and phase delay of the electric servo can be accurately calculated, thereby evaluating its response capability at different frequencies. In the step response characteristics test mode, indicators such as rise time, overshoot, and steady-state error can be calculated to accurately reflect the dynamic characteristics of the electric servo under step input, providing a comprehensive perspective for electric servo performance evaluation.

[0018] Systematic testing: Integrating multiple test modes into a standardized test process creates a systematic testing approach. This systematic testing avoids the fragmentation of test items found in existing testing methods, making the performance evaluation of electric servos more complete and accurate. For example, by executing different test modes sequentially within the same test process, a comprehensive understanding of the electric servo's performance under different operating conditions can be achieved, rather than focusing solely on one or a few isolated performance indicators. This provides a more comprehensive basis for the optimized design and quality control of electric servos.

[0019] (2) Accuracy Trajectory planning drive: The controller pre-builds a planned rudder control position trajectory based on the test mode and, during the main loop, outputs the corresponding trajectory points as the desired rudder control position based on time. This trajectory planning-based drive method precisely controls the motion trajectory of the electric servo, ensuring that the deviation between the desired rudder control position and the actual feedback position accurately reflects the servo's performance. For example, in the speed linearity test mode, precise trajectory planning and drive can accurately calculate the speed fluctuation rate and acceleration and deceleration consistency of the electric servo, providing reliable data support for evaluating its speed control accuracy.

[0020] Real-time feedback and deviation drive: During the test, the actual feedback position of the electric servo under test is received in real time, and the electric servo is driven based on the deviation between the desired and actual rudder control positions. This real-time feedback mechanism enables timely adjustments to the servo's motion state, ensuring the accuracy and reliability of test data. For example, if the actual position deviates from the desired position, the PID algorithm is used to calculate the PWM duty cycle to drive the servo. This deviation can be quickly corrected, ensuring that the servo's motion during the test more closely matches the expected trajectory, thereby improving the accuracy of performance calculations.

[0021] (3) Efficiency Standardized process: a standardized test process is formed, making the whole test process more standardized and efficient. The host computer generates test instructions and sends them to the controller, which executes the test process according to the instructions and feeds back test data to the host computer, which calculates performance indicators according to test data. The whole process is orderly, reducing confusion and uncertainty in the test process. For example, through the standardized test process, the test personnel can quickly familiarize the operation steps, improve the test efficiency, and also facilitate the reproduction and comparison of test results.

[0022] Data processing and analysis automation: the host computer determines the time point corresponding to each position according to the main cycle period, constructs the coordinate system and draws the trajectory diagram, and then automatically calculates the performance indicators. This automatic data processing and analysis method greatly reduces manual intervention, improves test efficiency and data processing accuracy. For example, when calculating the frequency response characteristics, the host computer can quickly calculate the frequency response bandwidth and phase delay according to the drawn trajectory diagram, without manual data analysis, saving time and effort.

[0023] (4) Strong adaptability Flexible combination of multiple test modes: test modes can be flexibly combined and adjusted according to actual needs. For example, in some application scenarios, more attention may be paid to the step response characteristics of the electric servo, while in other scenarios, the speed linearity characteristics may need to be tested. By flexibly selecting and combining test modes, the test needs of different application scenarios for electric servo performance indicators can be met, with strong adaptability.

[0024] The electric servo multi-performance indicator test system based on trajectory planning provided by the present application has the following beneficial effects: (1) Integration Modularization of functions: the test system is composed of a host computer, a controller, a position sensor, etc., with clear division of labor and cooperative work. The host computer is responsible for generating test instructions and calculating performance indicators, the controller is responsible for executing test processes and driving electric servo operation, and the position sensor is responsible for collecting actual feedback positions. This modularized function design makes the whole test system structure clear, easy to maintain and upgrade. For example, when new test functions are needed, only the software of the host computer or the controller needs to be upgraded, without the need for large-scale modification of the whole system.

[0025] System synergy: Each module interacts with each other through standardized interfaces and communication protocols, forming an organic whole. The host computer communicates with the controller through a parameter configuration interface, and the controller communicates with the position sensor through a signal connection for data transmission. This collaborative working method ensures the efficient operation of the test system. For example, during the test process, the test instructions sent by the host computer can be accurately transmitted to the controller, and the controller can drive the electric rudder to operate according to the instructions. The data collected by the position sensor can be fed back to the controller and the host computer in a timely manner, and the entire system can efficiently complete the test task.

[0026] (2) Ease of use Host computer interface: The host computer provides a friendly interface for the test personnel, who can easily generate and send test instructions, view test data and performance index calculation results through this interface. For example, the test personnel can intuitively select different test modes and set test parameters on the host computer interface, and view the rudder control expected position change trajectory graph and the actual feedback position change trajectory graph through the graphical interface. The operation is simple and convenient, and easy to use.

[0027] System compatibility: The test system can be compatible with different brands and models of electric rudders, and the controller can be easily configured through the parameter configuration interface to adapt to different electric rudder characteristics. This compatibility makes the test system widely applicable to the performance testing of various electric rudders, without the need to design a separate test system for each electric rudder, improving the universality and ease of use of the test system.

[0028] (3) Reliability Application of position sensor: The position sensor is connected to the electric rudder to be tested and the controller, respectively, for real-time collection of the actual feedback position of the electric rudder to be tested. The position sensor has high precision, high reliability, fast response speed, etc., and can accurately feed back the actual position information of the electric rudder to the controller. For example, in the fast-changing test process, the position sensor can capture the position change of the electric rudder in time, providing accurate feedback signals to the controller, thereby ensuring the reliability of the test system and the accuracy of the test data.

[0029] Data verification and extraction: After the controller's parameter configuration interface receives the data frame sent by the host computer, it will perform strict verification, and only the data frame that passes the verification will be extracted to generate the test instruction. This data verification mechanism can effectively prevent errors and interference during data transmission, ensuring the accuracy and reliability of the test instruction. For example, when the data frame is disturbed by noise during transmission and errors occur, the controller can detect and discard the erroneous data frame through the verification mechanism, thereby avoiding the impact of erroneous instructions on the test process.

[0030] The technical solutions in the present application can be combined with each other to realize more preferred combination solutions. Other features and advantages of the present application will be described in the following description, and some advantages will become apparent from the description, or will be understood by those skilled in the art through implementation of the present application. The objects and other advantages of the present application can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0031] The accompanying drawings are included to provide a further understanding of the present application, and are incorporated herein and constitute a part of the detailed description. The drawings illustrate embodiments of the present application and, together with the description, serve to explain the principles of the present application. In the drawings: Figure 1 A flowchart of a multi-performance index test method for an electric rudder based on trajectory planning provided by an embodiment of the present application; Figure 2 A flowchart of another multi-performance index test method for an electric rudder based on trajectory planning provided by an embodiment of the present application; Figure 3 A flowchart of a rudder control position planning trajectory for generating a frequency response characteristic test mode provided by an embodiment of the present application; Figure 4 A flowchart of a rudder control position planning trajectory for generating a step response characteristic test mode provided by an embodiment of the present application; Figure 5 A flowchart of a rudder control position planning trajectory for generating a speed linearity characteristic test mode provided by an embodiment of the present application; Figure 6 A flowchart of a rudder control position planning trajectory for generating a harmonic characteristic test mode provided by an embodiment of the present application; Figure 7 A structural schematic diagram of a multi-performance index test system for an electric rudder based on trajectory planning provided by an embodiment of the present application. DETAILED DESCRIPTION

[0032] The preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings, which form a part of this application. The accompanying drawings illustrate the principles of the present application and, together with the description, serve to explain the principles of the present application, but are not used to limit the scope of the present application.

[0033] One specific embodiment of the present application discloses a multi-performance index test method for an electric rudder based on trajectory planning, a flowchart of which is shown in Figure 1 and Figure 2 .

[0034] Step S1: The controller receives a test instruction containing multiple test modes sent by the upper computer, and each test mode includes a test frequency, a test angle, and a waveform of a test electric signal.

[0035] In actual implementation, considering the communication transmission requirements between different devices, the embodiment gives the specific implementation process of the controller receiving the test instruction sent by the upper computer.

[0036] Step S11: The upper computer generates a test instruction containing multiple test modes.

[0037] In the specific implementation process, the upper computer generates a test instruction of multiple test modes according to the test requirements of the electric rudder to be tested. Specifically, the upper computer determines the test requirements (i.e. the required performance indicators such as bandwidth, delay time, overshoot, deflection angle speed, deflection angle accuracy, zero error, maximum deflection angle, and effective working time) of the electric rudder to be tested according to the technical conditions or design specifications of the electric rudder, and generates a test instruction accordingly. For example, if the design specification requires that the bandwidth of the electric rudder to be tested is greater than 18Hz, a corresponding test instruction is generated to verify whether the performance indicator meets the standard.

[0038] In this embodiment, the upper computer generates a test instruction containing multiple test modes (trajectory modes) according to the test requirements of the electric rudder to be tested, and each test mode includes a test frequency, a test angle, and a test electrical signal waveform. Therefore, in this embodiment, the upper computer only needs to generate one test instruction each time, and the controller can measure multiple related performance indicators of the electric rudder to be tested according to the multiple test modes contained in the test instruction.

[0039] In this embodiment, the test modes are divided into frequency response characteristic test mode, step response characteristic test mode, speed linearity characteristic test mode, and harmonic characteristic test mode. Different test modes can be used to measure different performance indicators of the electric rudder, which are described as follows.

[0040] (1) Frequency response characteristic test mode The frequency response characteristic test mode is used to test the frequency response bandwidth and phase delay of the electric rudder to be tested. In the frequency response characteristic test mode, the waveform of the test electrical signal is a sine wave signal.

[0041] Frequency response bandwidth: Through the input of a sine wave signal, the frequency range of the output signal of the electric rudder can be observed to determine the highest frequency signal that can be accurately tracked. The frequency response bandwidth reflects the response ability of the electric rudder to different frequency signals. The wider the bandwidth, the wider the range of signal frequencies that can be processed, and the stronger the response ability to rapidly changing command signals.

[0042] Phase delay: When a sine wave is input, there is a phase difference between the output signal and the input signal. Measuring the phase delay can evaluate the phase distortion of the electric rudder in the signal transmission process. The smaller the phase delay, the better the phase following performance of the electric rudder to the input signal, and the higher the control accuracy.

[0043] (2) Step response characteristic test mode The step response characteristic test mode is used to test the rise time (speed), overshoot, and steady-state error of the electric motor to be tested. In the step response characteristic test mode, the waveform of the test electric signal is a square wave signal.

[0044] Rise time (speed): The process of the square wave signal jumping from low level to high level corresponds to the time of the electric motor quickly responding from the initial state to the target state. The shorter the rise time, the faster the response speed of the electric motor, which can execute instructions more quickly and is suitable for application scenarios with high real-time requirements.

[0045] Overshoot: Under the action of the square wave signal, the maximum amplitude of the electric motor output that may exceed the target value. The overshoot reflects the stability of the system during the fast response process of the electric motor. The smaller the overshoot, the more stable the dynamic performance of the electric motor, which can control the output more accurately and avoid affecting the control accuracy due to excessive oscillation.

[0046] Steady-state error: The deviation between the output of the electric motor and the target value when the square wave signal is stable. The steady-state error reflects the accuracy of the electric motor in the long-term working state. The smaller the steady-state error, the higher the control accuracy of the electric motor, which can maintain the target position more stably.

[0047] (3) Speed linearity characteristic test mode The speed linearity characteristic test mode is used to test the speed fluctuation and acceleration / deceleration consistency of the electric motor to be tested. In the speed linearity characteristic test mode, the waveform of the test electric signal is a triangular wave signal.

[0048] Speed fluctuation: The rising and falling processes of the triangular wave signal correspond to the acceleration and deceleration processes of the electric motor. By observing the speed change of the electric motor output in the speed linearity characteristic test mode, the stability of the speed can be evaluated. The smaller the speed fluctuation, the more stable the speed change of the electric motor during acceleration and deceleration, and the higher the control accuracy.

[0049] Acceleration / deceleration consistency: Whether the rising and falling slopes of the triangular wave are consistent, which reflects the symmetry of the electric motor during acceleration and deceleration. Good acceleration / deceleration consistency means that the electric motor can maintain the same dynamic characteristics during forward and reverse motion, which is very important for applications that require precise control of motion direction and speed, and can reduce control errors caused by inconsistent acceleration and deceleration.

[0050] (4) Harmonic characteristic test mode The harmonic characteristic test mode is used to test the resonance frequency and damping ratio of the electric motor to be tested. In the harmonic characteristic test mode, the waveform of the test electric signal is a sinusoidal wave signal with a test frequency that changes linearly or logarithmically over time.

[0051] Resonant frequency: The sweep signal covers a certain frequency range, and when the frequency approaches the inherent frequency of the electric actuator, the system will exhibit a resonance phenomenon. The resonant frequency reflects the inherent dynamic characteristics of the electric actuator. Understanding the resonant frequency helps to avoid signal input in the frequency range during control system design to prevent the system from being unstable or damaged due to resonance.

[0052] Damping ratio: The amplitude and phase changes at resonance can be used to calculate the damping ratio. The damping ratio is an indicator of the degree of damping of the system. When the damping ratio is appropriate, the system can quickly attenuate oscillation at resonance and maintain stable operation; when the damping ratio is too small, the system is prone to severe oscillation; and when the damping ratio is too large, it will affect the response speed of the system. By measuring the damping ratio, the damping design of the electric actuator can be optimized to improve its dynamic performance and stability.

[0053] For example, for bandwidth testing, the frequency response characteristic test mode can be selected, the test frequency is 18 Hz, the test angle is 3°, and the test electrical signal waveform is a sine wave signal. By observing the comparison between the feedback signal and the expected signal, it can be determined whether the electric actuator under test meets the design requirements of the bandwidth indicator. For overshoot testing, the step response characteristic test mode can be selected, the test frequency is 1 Hz, and the test electrical signal waveform is a square wave signal. That is, a 1 Hz square wave signal is used to determine whether the overshoot meets the requirement of less than 15% based on the overshoot of the feedback signal.

[0054] Step S12: The host computer formats the test instruction into a data frame and sends the data frame to the controller.

[0055] In step S12, the host computer first formats the test instruction according to the communication protocol requirements to generate valid data in the data frame; then adds a frame header (such as DD BB), calculates and inserts an accumulation, and adds a frame trailer (such as AACC), to finally construct a complete and formatted data frame that meets the protocol requirements.

[0056] After generating the data frame, the host computer can send the data frame to the controller. For example, in this embodiment, the data frame is sent to the controller through the serial port RS422.

[0057] Step S13: The controller receives and verifies the data frame, and extracts the test instruction from the verified data frame.

[0058] The controller verifies the data frame in sequence for the frame header, frame trailer, and accumulation. If the verification of the frame header, frame trailer, and accumulation is passed, it is confirmed that the data frame is a valid instruction frame, and the test instruction is extracted from the valid data of the verified data frame. The verification process of the frame header, frame trailer, and accumulation is described as follows.

[0059] (1) Frame header check: check whether the starting part of the received data frame is the preset frame header content. If not, directly determine that the data frame is invalid, discard the frame data, and wait to receive the next frame.

[0060] (2) Frame tail check: check whether the ending part of the data frame is the preset frame tail content. If not, directly determine that the data frame is invalid, discard the frame data, and wait to receive the next frame.

[0061] (3) Accumulation and check: extract the valid data between the frame header and the frame tail, perform accumulation operation on the valid data, calculate the accumulation sum. Compare the calculated accumulation sum with the accumulation sum carried in the data frame. If they are consistent, the accumulation and check is passed; if they are inconsistent, determine that the data frame is invalid, discard the frame data.

[0062] Step S2: The controller executes the test flow of each test mode according to the test instruction: in each main loop cycle, generate the corresponding rudder control expected position according to the selected test mode, drive the test electric actuator to run according to the deviation between the rudder control expected position and the actual position of the test electric actuator, and receive the actual feedback position of the test electric actuator in real time.

[0063] Before executing the specific test flow, the controller pre-constructs the rudder control position planning trajectory of each test mode. For details, refer to the description of step S21.

[0064] Step S21: The controller generates the corresponding test electric signal according to the test frequency, test angle and test electric signal waveform in each test mode; extracts the trajectory points from the test electric signal trajectory in sequence according to the test frequency, and calculates the time offset of each trajectory point relative to the starting trajectory point according to the test frequency and the order of the trajectory points, to construct the rudder control position planning trajectory of the corresponding test mode.

[0065] (1) Frequency response characteristic test mode In the frequency response characteristic test mode, a sinusoidal signal (continuous signal) is generated, in which the test frequency is the frequency of the sinusoidal wave and the test angle is the amplitude of the sinusoidal wave. The sinusoidal signal , f and A represent the frequency and amplitude in the frequency response characteristic test mode respectively, and t is the interval time of entering the function loop written by the controller software.

[0066] After generating the sinusoidal signal, the trajectory points can be extracted from the sinusoidal signal in sequence according to the test frequency, and the time offset of each trajectory point relative to the starting trajectory point can be calculated according to the test frequency and the order of the trajectory points, to construct the rudder control position planning trajectory (discrete trajectory) of the frequency response characteristic test mode. The specific process of generating the rudder control position planning trajectory in the frequency response characteristic test mode is shown in Figure 3 .

[0067] (2) Step response characteristic test mode In the step response characteristic test mode, the reciprocal of the test frequency is taken as the period of the square wave, and the test angle is taken as the square wave angle (the angle through which the wing of the electric actuator is turned is equivalent to the amplitude), to generate a square wave signal. In the square wave signal, a fixed angle is maintained for half a period, and the opposite angle is switched for the other half of the period.

[0068] According to the test frequency and the order of the trajectory points, the time offset of each trajectory point relative to the starting trajectory point is calculated, and the rudder control position planning trajectory of the step response characteristic test mode is formed. The specific process of generating the rudder control position planning trajectory in the step response characteristic test mode is shown in Figure 4 .

[0069] (3) Speed linearity characteristic test mode In the speed linearity characteristic test mode, the reciprocal of the test frequency is taken as the period of the triangular wave, and the test angle is taken as the angle of the triangular wave, to generate a triangular wave signal; a triangular wave period is equally divided into four stages, and the angle is increased or decreased by a fixed step in each stage. According to the test frequency, the fixed step and the order of the trajectory points, the time offset of each trajectory point relative to the starting trajectory point is calculated, and the rudder control position planning trajectory of the speed linearity characteristic test mode is formed. The specific process of generating the rudder control position planning trajectory in the speed linearity characteristic test mode is shown in Figure 5 .

[0070] In the specific implementation process, the triangular wave can be generated by periodically updating the trajectory points. In each main loop cycle, the position increment (step angle) of each cycle is calculated according to the period of the triangular wave, the step time of the system and the angle of the triangular wave, which is equal to the test angle divided by the period of the triangular wave (the reciprocal of the control frequency) multiplied by the step time. The system will add the step angle to the current trajectory point to obtain a new trajectory point. With the continuous progress of the main loop cycle, these trajectory points are drawn in sequence on the coordinate axis, and finally form a triangular wave shape, i.e. the triangular wave signal trajectory.

[0071] (4) Harmonic characteristic test mode In the harmonic characteristic test mode, the test frequency includes: the starting frequency and the terminal frequency of linear sweep; fixed frequency.

[0072] The frequency of each sinusoidal wave cycle is adjusted from the starting frequency until the ending frequency is reached; a sinusoidal wave signal with an adjustable sinusoidal wave frequency and a sinusoidal wave amplitude that linearly varies with time at a test angle is generated; and according to the linear sweep frequency variation, the rudder control trajectory points are sequentially extracted from the sinusoidal wave signal trajectory with the frequency varying linearly with time, and according to the linear sweep frequency variation and the order of the trajectory points, the time offset of each trajectory point relative to the starting trajectory point is calculated to form the rudder control position planning trajectory under linear sweep.

[0073] A sinusoidal wave signal with a fixed sinusoidal wave frequency and a fixed sinusoidal wave amplitude at a test angle is generated; and according to the test frequency, the rudder control trajectory points are sequentially extracted from the sinusoidal wave signal trajectory with the fixed frequency, and according to the fixed frequency and the order of the trajectory points, the time offset of each trajectory point relative to the starting trajectory point is calculated to form the rudder control position planning trajectory under fixed frequency. The rudder control position planning trajectories under linear sweep and fixed frequency are collectively used as the rudder control position planning trajectory of the harmonic characteristic test mode. The specific process of generating the rudder control position planning trajectory under the harmonic characteristic test mode is shown in Figure 6

[0074] In the specific implementation process, under the harmonic characteristic test mode, linear sweep (the frequency varies linearly with time) is performed first to obtain the frequency response characteristic of the system, and then fixed frequency sinusoidal wave test is performed, which is mainly used for testing the resonance characteristic analysis of the rudder.

[0075] Preferably, in the process of constructing the rudder control position planning trajectory of each test mode, the Q-format fixed-point operation mode can be used to realize high-frequency trajectory updating, with an update rate >1 kHz, breaking through the communication rate limit of the host computer.

[0076] In the specific implementation process of step S2, the controller can generate different trajectory points of trajectory planning according to the test mode in the test instruction at a high frequency according to the main loop period. It should be noted that the "main loop period" is a key time parameter for the controller to run trajectory planning. Specifically, the main loop period refers to the time interval for the micro control unit (MCU) of the controller to complete a complete cycle operation. In each main loop process, the MCU enters the function of the trajectory planning function to generate a trajectory point, thereby realizing high-frequency planning and updating of the trajectory. The operating frequency of different MCUs is different, and the operating frequency is usually high, which can reach several tens of MHz. For example, if the operating frequency of the MCU is 60MHz, the main loop period is 16.7 nanoseconds (the period is the inverse of the frequency). Such a high-frequency main loop enables the controller to complete trajectory planning and generate new trajectory points in a very short time interval, thereby realizing high-frequency trajectory updating.

[0077] ​In practical applications, there is a close correspondence between the main loop period and the frequency of the high frequency. The shorter the main loop period, the higher the corresponding frequency, indicating that the MCU can complete more loop operations in a unit of time, generate more trajectory points, and thus achieve higher frequency trajectory planning. This high-frequency trajectory planning capability is in sharp contrast to the frequency of the trajectory points transmitted by the host computer. Usually, the host computer transmits trajectory points at a relatively low frequency, for example, it may transmit a trajectory point every 100 microseconds, while the controller generates trajectory points at a frequency of 100 nanoseconds, i.e., the high-frequency characteristics of the main loop enable the controller to autonomously and quickly plan trajectories without relying on the low-frequency communication transmission of the host computer, thereby significantly improving the real-time performance and flexibility of trajectory planning, meeting the high-precision and fast-response trajectory control requirements.

[0078] Step S22: In each main loop period, the controller drives the corresponding trajectory point from the rudder control position planning trajectory as the corresponding rudder control expected position (the angle of the electric rudder rotation) according to the time indicated by the current main loop period.

[0079] Step S23: Drive the test electric rudder to run according to the deviation between the rudder control expected position and the actual position of the test electric rudder, and receive the actual feedback position of the test electric rudder in real time.

[0080] Specifically, the electric rudder sends the actual feedback position to the controller through the position sensor. The controller calculates the PWM duty cycle according to the deviation between the rudder expected position and the actual position of the test electric rudder through the PID algorithm, drives the test electric rudder to run using the PWM duty cycle, and receives the actual feedback position of the test electric rudder in real time.

[0081] It should be noted that in this embodiment, the purpose is to drive the test electric rudder to run according to the rudder control position planning trajectory, and obtain the actual position change trajectory of the test electric rudder under the corresponding test mode.

[0082] Step S24: Transmit the rudder control expected position and the actual feedback position of the current main loop period to the host computer.

[0083] In the specific implementation process, the host computer can collect the rudder control expected position and the actual feedback position at the communication frequency in the normal mode in the design specification. Alternatively, the controller packs the rudder control expected position and the actual feedback position into a communication frame according to the main loop period, and sends it to the host computer at a fixed communication frequency. The host computer extracts the feedback position information and the expected position point and saves the data.

[0084] Step S3: The host computer calculates the performance indicators of the test electric rudder under the corresponding test mode according to the rudder control expected position and the actual feedback position of multiple main loop periods under each test mode.

[0085] Step S31: According to the main cycle period, determine the time point corresponding to each position, construct a coordinate system with time as the x-axis and position as the y-axis, map the rudder control expected position and the actual feedback position of multiple main cycle periods into the coordinate system respectively, and draw the rudder control expected position change trajectory graph and the actual feedback position change trajectory graph under each test mode.

[0086] Specifically, the host computer can calculate the time axis according to the frequency of the main cycle period, and each pair of position information corresponds to a time point. In each trajectory graph, the x-axis is time, and the y-axis is the position of the servo (the angle of the rudder wing of the servo, the servo starts at zero (0), and can be positive or negative, for example, a positive rotation of 5 degrees represents a specific position of +5, and a negative rotation of 5 degrees represents a specific position of -5).

[0087] The host computer can draw a feedback information curve by connecting the actual feedback positions at each time point, and draw an expected position curve by connecting the rudder control expected positions at each time point. By comparing the two curves and the time axis, various performance indicators of the electric servo under test can be calculated, such as bandwidth and phase delay based on sine wave test, rise time, overshoot and steady-state error based on square wave test, speed fluctuation rate and acceleration / deceleration consistency based on triangular wave test, and resonance frequency and damping ratio based on frequency sweep test. The specific description is as follows.

[0088] Step S32: According to the rudder control expected position change trajectory graph and the actual feedback position change trajectory graph under each test mode respectively, calculate the performance indicators of the electric servo under test in the corresponding test mode.

[0089] (1) Frequency response characteristic test mode In this mode, the frequency response bandwidth and phase delay of the electric servo under test are calculated.

[0090] 1) Frequency response bandwidth The rudder control expected position and the actual feedback position at each time point are extracted from the rudder control expected position change trajectory graph and the actual feedback position change trajectory graph under the frequency response characteristic test mode respectively, and the amplitude attenuation and phase lag at each time point are calculated. Specifically, the ratio of the rudder control expected position to the actual feedback position at each time point is taken as the amplitude attenuation at the corresponding time point, and the difference between the actual feedback position and the rudder control expected position at each time point is taken as the phase lag at the corresponding time point.

[0091] The time series data of amplitude attenuation and phase lag are respectively subjected to Fourier transform to obtain the amplitude frequency response and the phase frequency response .

[0092] The amplitude frequency response Upper cut-off frequency at -3dB point Upper cut-off frequency (maximum frequency) and lower cut-off frequency (minimum frequency) , , whether the phase frequency response at the corresponding point exceeds a critical value (for example, -180°), and if so, adjusting , to the low frequency direction until the phase lag is within an acceptable range, obtaining the adjusted , ; otherwise, no adjustment is needed. The frequency response bandwidth of the test electric servo measured The higher the bandwidth, the faster the response speed.

[0093] 2) Phase delay For each time point , find the actual feedback position closest to the desired position of the rudder control after the time point in the actual feedback position change trajectory diagram, and calculate the phase delay of the response . The maximum value of the phase delay of all time points is the phase delay of the test electric servo measured, which reflects the stability and tracking accuracy of the system. (2) Step response characteristic test mode

[0094] In this mode, the rise time, overshoot, and steady-state error of the test electric servo are calculated. 1) Rise time.

[0095] The time from 10% to 90% of the feedback curve on the Y-axis reflects the response speed of the system, and the shorter the time, the stronger the system's ability to track rapidly changing signals. The specific explanation is as follows.

[0096] From the actual feedback position change trajectory diagram in the step response characteristic test mode, determine the maximum value

[0097] and the minimum value of the actual feedback position, and calculate the values corresponding to the 10% position and the 90% position. The value corresponding to the 10% position:

[0098] The value corresponding to the 90% position:

[0099] In the actual feedback position change trajectory diagram, determine the time points when the actual feedback position first reaches 10% and 90%, respectively, and record them as

[0100] , , the rise time . .

[0101] 2) Overshoot Overshoot, the maximum value of the feedback curve in the same direction divided by the maximum value of the desired curve -100%. Measure system stability, prevent system shock too large out of control. Specific instructions as follows.

[0102] Extract the maximum value of the rudder control desired position , the maximum value of the actual feedback position from the rudder control desired position trajectory graph, actual feedback position trajectory graph in step response characteristic test mode respectively. .

[0103] 3) Steady-state error In the process of calculating the steady-state error, the stable value of the feedback curve and the stable maximum value of the desired curve are compared, which is also called deflection angle accuracy in the rudder system. The smaller the error, the better the tracking ability of the system in the steady state.

[0104] Extract the stable value of the rudder control desired position in steady state , the stable value of the actual feedback position in steady state from the rudder control desired position trajectory graph, actual feedback position trajectory graph in step response characteristic test mode respectively. .

[0105] (3) Speed linearity characteristic test mode In this mode, the speed fluctuation rate and acceleration / deceleration consistency of the tested electric rudder are calculated.

[0106] 1) Speed fluctuation rate Speed fluctuation rate, the speed curve is obtained by differentiating the curve position response, and the rising and falling stages of the triangular wave are generally regarded as uniform speed stages. The maximum value, minimum value and average value are taken out in this stage, and the fluctuation rate is equal to the maximum minus the minimum divided by the average. The ideal fluctuation rate is generally 0, and there will be deviation in practice. Reflect the speed stability of the rising and falling stages of the system.

[0107] Specifically, the corresponding speed trajectory graph is obtained by differentiating the actual feedback position trajectory graph in the speed linearity characteristic test mode, and the maximum value , the minimum value and the average value in the speed trajectory graph are calculated, and the speed fluctuation rate .

[0108] 2) Acceleration / deceleration consistency The speed change trajectory graph is differentiated again to obtain an acceleration change trajectory graph, the difference between the acceleration amplitudes of the rising stage and the falling stage is compared to obtain amplitude consistency, and the ratio of the rising time and the falling time is obtained to obtain time consistency.

[0109] Specifically, the speed change trajectory graph is differentiated again to obtain an acceleration change trajectory graph, the acceleration amplitudes of the rising stage and the falling stage are calculated 、 : in the rising stage; in the falling stage.

[0110] The acceleration amplitude consistency is calculated .

[0111] The time difference from 10% to 90% in the speed change trajectory graph is calculated as the rising time , the time difference from 90% to 10% in the speed change trajectory graph is calculated as the falling time . The time consistency is calculated .

[0112] (4) Harmonic characteristic test mode In this mode, the resonance frequency and the damping ratio of the electric steering engine to be tested are calculated.

[0113] 1) Resonance frequency The maximum value of the actual feedback position in the actual feedback position change trajectory graph of the harmonic characteristic test mode is extracted as the frequency corresponding to the resonance frequency.

[0114] 2) Damping ratio From the actual feedback position change trajectory graph, two adjacent peak points near the resonance frequency are found, the first peak is , the second peak is , the decay ratio of adjacent peaks is , and the damping ratio is .

[0115] Specific embodiment 2 of the present application provides a kind of electric steering engine multi-performance index test system based on trajectory planning, and structural schematic diagram is as Figure 7As shown, the test system test includes a host computer and a controller; wherein the host computer is used to generate test instructions of multiple test modes, and send the test instructions to the controller; and is also used to calculate performance indexes of the electric rudder under test in each test mode according to test data fed back by the controller based on the test instructions; the controller is used to connect the electric rudder under test, and execute a test flow of each test mode: in each main loop cycle, a corresponding rudder control expected position is generated according to a selected test mode, the electric rudder under test is driven to run according to a deviation between the rudder control expected position and an actual position of the electric rudder under test, and an actual feedback position of the electric rudder under test is received in real time; and the rudder control expected position and the actual feedback position of multiple main loop cycles under each test mode are sent to the host computer as test data.

[0116] Preferably, the test system further includes a position sensor; the position sensor is connected to the electric rudder under test and the controller respectively, and is used to send the actual feedback position of the electric rudder under test collected in real time to the controller. Common position sensors include a Hall sensor, an encoder and the like.

[0117] Preferably, the controller includes a parameter configuration interface; the host computer is in communication connection with the parameter configuration interface of the controller; the host computer encapsulates the test instructions into data frames and sends the data frames to the parameter configuration interface of the controller; and the parameter configuration interface of the controller receives and verifies the data frames, and extracts the test instructions from the data frames that pass the verification.

[0118] In the specific implementation process, the host computer is built-in with an instruction generation module and a performance analysis module; wherein the instruction generation module is used to generate test instructions of multiple test modes; and the performance analysis module is used to calculate performance indexes of the electric rudder under test in each test mode according to test data fed back by the controller based on the test instructions.

[0119] In addition to the parameter configuration module, the controller further includes a trajectory planning module and a data acquisition unit; wherein the trajectory planning module is used to construct a corresponding rudder control position planning trajectory according to the test instructions of each test mode in advance; and the data acquisition unit is used to acquire the rudder control expected position and the actual feedback position of multiple main loop cycles under each test mode.

[0120] In the specific implementation process, the system realizes data interaction between the host computer and the controller through a serial communication bus, and is powered by a direct current stabilized power supply.

[0121] The specific implementation process of the embodiment of the application can be referred to the above method embodiment, which will not be described here again. Since the principle of the embodiment is the same as that of the above method embodiment, the system also has the corresponding technical effects of the above method embodiment.

[0122] Those skilled in the art can understand that all or part of the processes of the above-mentioned embodiment methods can be completed by instructing the relevant hardware by a computer program, and the program can be stored in a computer readable storage medium. The computer readable storage medium is a disk, an optical disk, a read-only memory, a random access memory, etc.

[0123] The above description is merely preferred specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A multi-performance index testing method for electric servo based on trajectory planning, characterized in that: The method comprises: The controller receives test instructions including multiple test modes sent by the host computer; The controller executes the test process of each test mode according to the test instructions: in each main cycle, it generates the corresponding desired steering control position according to the selected test mode, drives the electric servo under test according to the deviation between the desired steering control position and the actual position of the electric servo under test, and receives the actual feedback position of the electric servo under test in real time; The host computer calculates the performance index of the electric servo to be tested in the corresponding test mode according to the desired rudder control position and actual feedback position of multiple main cycle periods in each test mode.

2. The multi-performance index testing method of electric servo based on trajectory planning according to claim 1 is characterized in that: The controller pre-builds the corresponding rudder control position planning trajectory according to the test instructions of each test mode; In each main cycle, the controller drives and outputs the corresponding trajectory point from the planned trajectory of the steering control position of the current test mode according to the time indicated by the current main cycle, as the corresponding desired steering control position.

3. The multi-performance index testing method of electric servo based on trajectory planning according to claim 2, characterized in that: Each test mode includes test frequency, test angle and waveform of test electrical signal; The controller constructs the rudder control position planning trajectory for various test modes in the following way: The controller generates corresponding test electrical signals according to the test frequency, test angle and waveform of the test electrical signal in each test mode; According to the test frequency, trajectory points are extracted from the test electrical signal trajectory in sequence. Based on the test frequency and the order of the trajectory points, the time offset of each trajectory point relative to the starting trajectory point is calculated to construct the rudder control position planning trajectory of the corresponding test mode.

4. The multi-performance index testing method of electric servo based on trajectory planning according to claim 3 is characterized in that: Drive the electric servo to be tested to run according to the deviation between the desired position of the rudder control and the actual position of the electric servo to be tested, and execute: The controller calculates the PWM duty cycle through the PID algorithm according to the deviation between the desired position of the servo and the actual position of the electric servo to be tested, and uses the PWM duty cycle to drive the electric servo to be tested to operate.

5. The method for testing multiple performance indicators of an electric servo based on trajectory planning according to claim 4, characterized in that: The host computer calculates the performance indicators of the electric servo to be tested in the corresponding test mode by performing the following operations: Determine the time point corresponding to each position based on the main cycle, construct a coordinate system with time as the x-axis and position as the y-axis, map the desired rudder control position and actual feedback position of multiple main cycle periods to the coordinate system, and draw a trajectory diagram of the desired rudder control position change and the actual feedback position change trajectory diagram under each test mode; According to the desired position change trajectory diagram and the actual feedback position change trajectory diagram of the rudder control in each test mode, the performance index of the electric servo to be tested in the corresponding test mode is calculated.

6. The method for testing multiple performance indicators of an electric servo based on trajectory planning according to claim 5, characterized in that: The test modes are divided into a frequency response characteristic test mode, a step response characteristic test mode, a speed linearity characteristic test mode and a harmonic characteristic test mode.

7. The method for testing multiple performance indicators of an electric servo based on trajectory planning according to claim 6, characterized in that: In the frequency response characteristic test mode, calculate the frequency response bandwidth and phase delay of the electric servo under test; In the step response characteristic test mode, calculate the rise time, overshoot and steady-state error of the electric servo under test; In the speed linearity characteristic test mode, calculate the speed fluctuation rate and acceleration / deceleration consistency of the electric servo to be tested; In the harmonic characteristic test mode, calculate the resonant frequency and damping ratio of the electric servo under test.

8. A multi-performance index test system for electric servo based on trajectory planning, characterized in that: The test system comprises: The host computer is used to generate test instructions for multiple test modes and send the test instructions to the controller; it is also used to calculate the performance indicators of the electric servo to be tested in each test mode according to the test data fed back by the controller based on the test instructions; The controller is used to connect to the electric servo under test and execute the test process of each test mode: in each main cycle, the controller generates the corresponding desired rudder control position according to the selected test mode, drives the electric servo under test according to the deviation between the desired rudder control position and the actual position of the electric servo under test, and receives the actual position feedback of the electric servo under test in real time; The desired position and actual feedback position of the rudder control in multiple main cycle periods in each test mode are sent to the host computer as test data.

9. The electric servo multi-performance index testing system based on trajectory planning according to claim 8 is characterized in that: The test system also includes a position sensor; The position sensor is connected to the electric servo to be tested and the controller respectively, and is used for sending the actual feedback position of the electric servo to be tested collected in real time to the controller.

10. The electric servo multi-performance index testing system based on trajectory planning according to claim 9 is characterized in that: The controller includes a parameter configuration interface; the host computer is in communication connection with the parameter configuration interface of the controller; The host computer encapsulates the test instruction into a data frame and sends it to the parameter configuration interface of the controller; The controller's parameter configuration interface receives and verifies data frames, and extracts test instructions from verified data frames.

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