Folding and unfolding mechanism active loading system and force fighting self-adaptive suppression method thereof

Abstract

A force fighting self-adaptive suppression method for an active loading system of a folding and unfolding mechanism comprises the following steps: fixing a shifting fork rocker arm of an active loading subsystem to be at different swing angles, and determining corresponding inclination angle values by using an inclination angle sensor; traversing the actual current of the loading motor and the pull pressure sensor signal under the condition that the shifting fork rocker arm is at different swing angles and different target currents are applied to the loading motor; establishing a position-current-thrust mapping matrix of the active loading mechanism, determining a reference mapping matrix of adaptive parameter change, and further determining a position-current-thrust real-time mapping coefficient; according to the target load, the shifting fork rocker arm swing angle, the shifting fork rocker arm radius and a pull pressure sensor signal, the pull pressure deviation is determined; determining a current compensation amount according to the tension and pressure deviation and the position-current-thrust real-time mapping coefficient; and finally, the current compensation amount is added into a current loop control loop. According to the method, the original mechanical structure of the system does not need to be changed, and the method is suitable for application occasions with narrow installation sizes and has high universality.

Description

TECHNICAL FIELD

[0001] The present application relates to a force contention suppression method, in particular to a folding and unfolding mechanism active loading system and a force contention self-adaptive suppression method thereof, and belongs to the technical field of electromechanical system control. BACKGROUND

[0002] The folding and unfolding mechanism is a core component in the folding and unfolding aircraft, and its loading performance test is an important work before the whole machine flight test. Among many loading methods, active loading has attracted widespread attention due to its flexible and controllable load, strong simulation capability, wide adaptability and other advantages.

[0003] However, the force contention problem in the active loading test has a great influence on the control accuracy of the system, and even can cause mechanical damage, so it is necessary to study the force contention suppression method of the active loading system. There are two common methods: the first method is to adjust the system control parameters through an optimization algorithm, such as a kind of airplane actuating system based on particle swarm optimization algorithm disclosed in Chinese patent No. CN115167144B, which adds two feedforward controllers and optimizes the PID controller parameters by using the particle swarm optimization algorithm, so as to reduce the influence of force contention on the position control accuracy of the actuating system. However, the intelligent optimization algorithm has the risk of early maturity, non-convergence or slow convergence speed, and is not suitable for high-reliability and real-time occasions; the second method is to design a special force contention monitoring device, such as a method and device for monitoring force contention of an aircraft disclosed in Chinese patent No. CN115092382A, which designs two force sensors and position sensors, compares the output force difference with the theoretical threshold value to determine the force contention size and controls the actuator to apply a suppression force. However, the mechanical structure of this method is complex, large in size and insufficient in real-time performance, and is not suitable for occasions with limited space and high real-time requirements. SUMMARY

[0004] The technical problem to be solved by the present application is to overcome the shortcomings of the prior art and solve the problems of low reliability, insufficient real-time performance and large space size in the prior art.

[0005] The object of the present application is achieved by the following technical solutions:

[0006] In a first aspect, the present application provides a folding and unfolding mechanism active loading system, comprising: an inertial load, a protective cover plate, a folding and unfolding motor, a folding and unfolding mechanism base, a fork rocker arm, a loading lead screw, a loading motor, a loading mechanism base, a tension and compression force sensor, a rear thrust block and an inclination sensor.

[0007] The inertial load, the protective cover plate, the folding and unfolding motor and the folding and unfolding mechanism base constitute a folding and unfolding subsystem, and the fork rocker arm, the loading lead screw, the loading motor, the loading mechanism base, the tension and compression force sensor, the rear thrust block and the inclination sensor constitute an active loading subsystem.

[0008] The folding mechanism base is placed on a plane, and the protective cover plate is connected with the folding mechanism base as a clamp carrier of the folding motor and the inertial load; the folding motor is connected with the protective cover plate, and the inertial load is hinged with the protective cover plate; the loading screw and the loading motor are connected in series to form a servo electric cylinder; the tension and pressure sensor is connected with the rear thrust block, and the two connecting assemblies are connected in series with the servo electric cylinder, so that the servo electric cylinder has the effect of force feedback when reciprocating; the servo electric cylinder and the yoke rocker are hinged through a pin shaft, the inclination sensor is connected to the yoke rocker, and the above-mentioned installation assembly is connected with the loading mechanism base, so that the active loading subsystem is obtained; the inertial load and the yoke rocker are connected together through the plug-in mode, and the folding mechanism base and the loading mechanism base are connected to the same placement plane.

[0009] Based on the first aspect, in an embodiment of the present application, the working principle of the folding mechanism active loading system is as follows: in the folding subsystem, the folding motor is a driving device, which drives the inertial load to rotate the hinge to perform a reciprocating folding motion with an angle ≤90° through the internal mechanism; the active loading subsystem is a simulated load device, which is used to provide an effective load to simulate the load experiment of the folding subsystem, and the loading motor, the loading screw, the tension and pressure sensor, the rear thrust block and the yoke rocker are connected in series, that is, the loading motor rotates to drive the loading screw to reciprocatingly push the yoke rocker to make the yoke rocker rotate.

[0010] In a second aspect, the present application provides a force contention self-adaptive suppression method based on the folding mechanism active loading system of the first aspect, comprising:

[0011] The yoke rocker of the fixed active loading subsystem is at different swing angles, and the inclination sensor is used to determine the corresponding inclination value;

[0012] The actual current of the loading motor and the tension and pressure sensor signal under the condition that the yoke rocker is at different swing angles and different target currents are applied to the loading motor are traversed;

[0013] According to the actual current of the loading motor and the tension and pressure sensor signal, a position-current-thrust mapping matrix of the active loading mechanism is established;

[0014] According to the actual current of the loading motor and the swing angle of the yoke rocker during the loading process, and the position-current-thrust mapping matrix of the active loading mechanism, a reference mapping matrix of adaptive parameter change is determined, and a position-current-thrust real-time mapping coefficient is further determined;

[0015] The tension and pressure deviation is determined according to the target load, the swing angle of the yoke rocker, the radius of the yoke rocker and the tension and pressure sensor signal; the current compensation amount is determined according to the tension and pressure deviation and the position-current-thrust real-time mapping coefficient; finally, the current compensation amount is added to the current loop control circuit.

[0016] Based on the second aspect, in an embodiment of the present application, the active loading mechanism position-current-thrust mapping matrix is:

[0017]

[0018] wherein

[0019]

[0020] I k,m , F k,m and γ k,m represent the average value of the loading motor current, the average value of the pulling and pressing force, and the mapping coefficient when the shift fork rocker arm angle value is equal to θ Y,k and the target current amplitude of the loading motor is equal to m; m is the target current amplitude, k is the shift fork rocker arm swing angle position number, and the specific value is 0, 1, …, K, the specific value is 0, 1, …, M, i p,k (t) is the actual current value, F p,k (t) is the pulling and pressing force sensor signal; t a,k,m represents the time when the shift fork rocker arm angle value is equal to θ Y,k and the target current amplitude of the loading motor is equal to m, and the duration of the loading motor current in the target current error interval is equal to the preset value T s .

[0021] Based on the second aspect, in an embodiment of the present application, the reference mapping matrix of adaptive parameter change is:

[0022]

[0023] wherein

[0024]

[0025] The minimum value of the shift fork rocker arm swing angle is θ Y,min , the maximum value is θ Y,max , the real-time collected loading motor current signal is i p (t), and the shift fork rocker arm angle is θ Y (t).

[0026] Based on the second aspect, in an embodiment of the present application, the position-current-thrust real-time mapping coefficient is:

[0027] γ(t)=α(t)β(t)·γ k′(t)+1,m′(t)+1 +α(t)[1-β(t)]γ k′(t),m′(t)+1 +β(t)[1-α(t)]γ k′(t)+1,m′(t) +[α(t)β(t)-α(t)-β(t)-1]γ k′(t),m′(t)

[0028] wherein

[0029]

[0030] According to the second aspect, in one embodiment of the present application, the tension-compression force deviation is:

[0031] ΔF p (t)=F pc (t)-F p (t)

[0032]

[0033] The target load is T c (t), the shifting fork rocker arm swing angle is θ Y (t), the shifting fork rocker arm radius is R Y , and the expected value of the tension-compression force sensor is F pc (t).

[0034] According to the second aspect, in one embodiment of the present application, the loading motor current compensation amount is:

[0035] Δi p (t)=γ(t)·ΔF p (t)

[0036] γ(t) is a position-current-thrust real-time mapping coefficient.

[0037] According to the second aspect, in one embodiment of the present application, adding the current compensation amount to the current loop control loop means that the sum of the current compensation amount and the loading motor speed loop output signal is taken as the input instruction of the loading motor current loop.

[0038] Compared with the prior art, the present application has the following beneficial effects:

[0039] (1) The present application proposes a thrust coefficient model construction method of the active loading mechanism, which can be embedded in the system control loop in advance, reducing the online calculation delay of the compensation current and improving the real-time performance of force contention suppression;

[0040] (2) The present application proposes a real-time force contention suppression method for the folding and unfolding mechanism and the active loading mechanism, which does not need to change the original mechanical structure of the system, is suitable for application occasions with small installation size, and has strong universality;

[0041] (3) The force contention adaptive suppression method proposed by the present application comprehensively considers the full-stroke range and the full-torque space, has wide application range, strong robustness, and easy expansion advantage;

[0042] (4) In order to solve the force contention problem between the active loading subsystem and the folding and unfolding subsystem, the application designs a loading motor current feedforward control channel, and through real-time compensation of the loading motor current, the application inhibits the redundant force, so as to improve the control performance of the active loading system.

[0043] (5) The application proposes a position-current-thrust mapping matrix construction method, through several cyclic tests, the application constructs the parameter mapping coefficients covering the full boundary, and solves the problem of unclear multi-parameter coupling relationship of the complex nonlinear loading system.

[0044] (6) The application proposes a reference mapping matrix adaptive positioning method, through real-time current and real-time position signals, the application adaptively searches the coordinates of the current reference mapping matrix relative to the full boundary mapping matrix, reduces the mapping matrix dimension, reduces the calculation load, and improves the real-time performance of the control system. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 It is a folding and unfolding mechanism active loading system schematic diagram.

[0046] Figure 2 It is a folding and unfolding mechanism active loading system force contention adaptive inhibition method flow chart.

[0047] The figure mark: 1-inertia load, 2-protection cover plate, 3-folding and unfolding motor, 4-folding and unfolding mechanism base, 5-pull fork rocker arm, 6-loading lead screw, 7-loading motor, 8-loading mechanism base, 9-tension and compression force sensor, 10-rear thrust block, 11-inclination sensor. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical scheme and advantages of the application more clear, the embodiments of the application will be further described in combination with the drawings.

[0049] A folding and unfolding mechanism active loading system and a force contention adaptive inhibition method thereof, the folding and unfolding mechanism active loading system is as follows Figure 1As shown, including inertia load 1, protective cover 2, folding motor 3, folding mechanism base 4, fork rocker arm 5, loading screw 6, loading motor 7, loading mechanism base 8, tension and compression force sensor 9, rear thrust seat 10, inclination sensor 11. Among them, inertia load 1, protective cover 2, folding motor 3 and folding mechanism base 4 constitute the folding subsystem, fork rocker arm 5, loading screw 6, loading motor 7, loading mechanism base 8, tension and compression force sensor 9, rear thrust seat 10 and inclination sensor 11 constitute the active loading subsystem. The specific installation relationship is as follows: the folding mechanism base 4 is placed on the plane, and the protective cover 2 is connected with the folding mechanism base 4 through the screw, so that it can be used as the clamp carrier of the folding motor 3 and the inertia load 1; the folding motor 3 is connected with the protective cover 2 through the plug-in mode, and the inertia load 1 is connected with the protective cover 2 through the hinge mode, so as to ensure that it can rotate smoothly. The loading screw 6 and the loading motor 7 are connected in series through the screw connection mode, so as to form a servo electric cylinder, and the tension and compression force sensor 9 and the rear thrust seat 10 are connected through the screw mode, and the two connection assemblies are connected in series with the servo electric cylinder, so that the servo electric cylinder can have the force feedback effect when it reciprocates. The servo electric cylinder and the fork rocker arm 5 are hinged through the pin shaft, so as to realize the function of converting linear motion into rotary motion, the inclination sensor 11 is connected to the fork rocker arm 5, so as to have the function of angle feedback, and the above installation assembly is connected with the loading mechanism base 8 through the screw, so as to obtain the active loading subsystem. The above folding subsystem and the active loading subsystem are connected together through the plug-in mode, and then the folding mechanism base 4 and the loading mechanism base 8 are connected to the same placement plane, so as to finally form the folding mechanism active loading system. Its basic working principle is: in the folding subsystem, the folding motor 3 is the driving device, which drives the inertia load 1 to rotate in the form of hinge to realize the reciprocating folding motion of angle ≦90°; the active loading subsystem is a simulation load device, which is mainly used for providing effective load to simulate the load experiment of the folding subsystem, which is connected in series with the loading motor 7, the loading screw 6, the tension and compression force sensor 9, the rear thrust seat 10 and the fork rocker arm 5, that is, the loading motor 3 rotates to drive the loading screw 6 to reciprocate and push the fork rocker arm 5, so that the fork rocker arm 5 rotates.

[0050] The following will be described in detail Figure 2 The method of the present application will be described in detail, and the steps are as follows:

[0051] Step 1: fixing the fork rocker arm of the active loading subsystem

[0052] Figure 1 The minimum value of the inclination angle of the fork rocker arm in the active loading subsystem is θ Y,min , and the maximum value is θ Y,max, let k be the shift fork rocker arm swing angle position ordinal, the specific value is 0, 1, …, K, wherein K is the maximum value of the shift fork rocker arm swing angle position ordinal, take k=0, 1, …, K, and cooperate with the inclination sensor to fix the shift fork rocker arm at the position with the inclination value equal to θ Y,k , the calculation formula of θ Y,k is shown as formula (1).

[0053]

[0054] In the initial state, k=0.

[0055] Step 2: Apply the preset target current

[0056] The active loading system adopts a motor current closed-loop control method to apply the target current i pc,k (t) in formula (2) to the loading motor and observe the actual motor current change, wherein t represents time, m is the target current amplitude, the initial value is 1, and when the actual current value i p,k (t) is within the target current ±5% error interval for more than T s , let m=m+1, repeat step 2, until the target current reaches the maximum allowed peak current I pk of the motor, let k=k+1, m=1, repeat steps 1 and 2, until k=K+1, execute step 3.

[0057]

[0058] In the formula, i pc,k (t) and i p,k (t) are the loading motor target current and actual current when the shift fork rocker arm is fixed at an angle θ Y,k ; T s is the current steady-state holding time set according to experience; I pk is the maximum allowed peak current of the loading motor; M is the integer result of I pk ; t a,k,m represents the time when the shift fork rocker arm angle value is equal to θ Y,k and the target current amplitude of the loading motor is equal to m, and the duration of the loading motor current within the target current ±5% error interval is equal to T s .

[0059] Step 3: Establish position-current-thrust mapping matrix

[0060] According to the actual motor current signal i p,k (t) and the tension and compression force sensor signal F p,k (t) obtained after executing step 2, the loading motor current matrix I P (t) and the tension and compression force matrix FP (t), respectively, as shown in equation (3) and equation (4). Then, the active loading mechanism position-current-force mapping matrix is established according to equation (5). In equation (5), I k,m , F k,m and γ k,m represent the average value of the loading motor current, the average value of the tension and compression force, and the mapping coefficient, respectively, when the shift fork rocker arm angle value is equal to θ Y,k and the target current amplitude of the loading motor is equal to m.

[0061]

[0062] Step 4: Adaptive positioning of the reference mapping matrix

[0063] During the loading process, the loading motor current signal i p (t) and the shift fork rocker arm angle θ Y (t) are collected in real time, the row positioning coordinates k'(t) and the column positioning coordinates m'(t) of the position-current-force mapping matrix in step 3 are calculated according to equation (6), and the reference mapping matrix γ'(t) with adaptive parameter changes is further obtained from equation (7).

[0064]

[0065] Step 5: Real-time calculation of the mapping coefficient

[0066] The real-time mapping coefficient γ(t) of the position-current-force is calculated by combining the real-time reference mapping matrix γ'(t) and equation (8), where α(t) and β(t) are shown in equation (9).

[0067] γ(t) = α(t)β(t)·γ k′(t)+1,m′(t)+1 + α(t)[1-β(t)]γ k′(t),m′(t)+1 + β(t)[1-α(t)]γ k′(t)+1,m′(t) + [α(t)β(t)-α(t)-β(t)-1]γ k′(t),m′(t) (8)

[0068]

[0069] Step 6: Adaptive compensation of force competition

[0070] Step 6.1: Real-time solution of tension and compression force deviation

[0071] Let the target load be T c (t), the shift fork rocker arm swing angle be θ Y (t), and the shift fork rocker arm radius be R Y , the expected value F pc(t). Due to the force conflict between the folding and loading mechanism, the actual output value of the tension pressure sensor F p (t) and the expected output value F pc There is a deviation ΔF between (t) p (t), as shown in formula (11).

[0072]

[0073] ΔF p (t) = F pc (t)-F p (t) (11)

[0074] Step 6.2: Real-time calculation of current compensation

[0075] Add a current feedforward compensation channel to the original control loop of the loading system, as shown in the attached Figure 2 According to formula (12), the current compensation value of the loaded motor Δi is calculated in real time. p (t).

[0076] Δi p (t) = γ(t)·ΔF p (t) (12)

[0077] Step 6.3: Add current compensation to the current loop control loop

[0078] The sum of the current compensation and the output signal of the loading motor speed loop is used as the input instruction i of the loading motor current loop. qc (t), thereby reducing the impact of institutional force disputes on system control performance.

[0079] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

[0080] Although the present invention has been disclosed above in terms of preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solutions of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the scope of protection of the technical solutions of the present invention.

Claims

1. An active loading system for a folding and unfolding mechanism, characterized in that: include: Inertial load (1), protective cover (2), folding and unfolding motor (3), folding and unfolding mechanism base (4), shift fork rocker arm (5), loading screw (6), loading motor (7), loading mechanism base (8), tension and pressure sensor (9), rear thrust seat (10), inclination sensor (11); The inertial load (1), the protective cover (2), the folding motor (3) and the folding mechanism base (4) constitute a folding subsystem, and the shift fork rocker arm (5), the loading screw (6), the loading motor (7), the loading mechanism base (8), the tension pressure sensor (9), the rear thrust seat (10) and the inclination sensor (11) constitute an active loading subsystem; The folding mechanism base (4) is placed on a plane, and the protective cover (2) is connected to the folding mechanism base (4) to serve as a clamp carrier for the folding motor (3) and the inertial load (1); the folding motor (3) is connected to the protective cover (2), and the inertial load (1) is hinged to the protective cover (2); the loading screw (6) and the loading motor (7) are connected in series to form a servo electric cylinder; the tension pressure sensor (9) is connected to the rear thrust seat (10), and the connecting components of the two are connected in series with the servo electric cylinder. The servo electric cylinder is provided with a force feedback effect when performing reciprocating motion; the servo electric cylinder and the fork rocker arm (5) are hingedly connected via a pin shaft, the inclination sensor (11) is transferred to the fork rocker arm (5), and the above-mentioned assembly is connected to the loading mechanism base (8), thereby obtaining an active loading subsystem; the inertial load (1) and the fork rocker arm (5) are connected together by plugging, and then the folding mechanism base (4) and the loading mechanism base (8) are connected to the same placement plane.

2. The active loading system of the folding and unfolding mechanism according to claim 1, characterized in that: The working principle of the active loading system of the folding and unfolding mechanism is as follows: in the folding and unfolding subsystem, the folding and unfolding motor (3) is a driving device, which drives the inertial load (1) through the internal mechanism to perform a reciprocating folding and unfolding motion with an angle of ≤90° in the form of a rotating hinge; the active loading subsystem is a simulated load device, which is used to provide a valid load to perform a simulated load experiment on the folding and unfolding subsystem, and the loading motor (7), the loading screw (6), the tension pressure sensor (9), the rear thrust seat (10) and the shift fork rocker arm (5) are connected in series, that is, the loading motor (3) rotates, driving the loading screw (6) to reciprocate and extend to push the shift fork rocker arm (5), so that the shift fork rocker arm (5) rotates.

3. A method for adaptively suppressing force conflicts based on the active loading system of the folding and unfolding mechanism according to claim 1, characterized in that: include: The shift fork rocker arm (5) of the fixed active loading subsystem is at different swing angles, and the corresponding inclination angle value is determined by using an inclination sensor (11); Traversing the actual current and tension sensor signal of the loading motor when the shift fork rocker arm (5) is at different swing angles and different target currents are applied to the loading motor (7); According to the actual current of the loading motor and the signal of the tension and pressure sensor, the active loading mechanism position-current-thrust mapping matrix is ​​established; Based on the actual current of the loading motor and the swing angle of the fork rocker arm during the loading process, as well as the position-current-thrust mapping matrix of the active loading mechanism, a reference mapping matrix for adaptive parameter changes is determined, and the position-current-thrust real-time mapping coefficient is further determined; The pulling and pressure deviation is determined based on the target load, the fork rocker arm swing angle, the fork rocker arm radius, and the pulling and pressure sensor signal; the current compensation amount is determined based on the pulling and pressure deviation and the position-current-thrust real-time mapping coefficient; finally, the current compensation amount is added to the current loop control circuit.

4. The method for adaptively suppressing force contention according to claim 3, wherein: The active loading mechanism position-current-thrust mapping matrix is: in I k,m 、F k,m and γ k,m Represents when the fork rocker arm angle value is equal to θ Y,k The average current value, average pulling force value and mapping coefficient of the loading motor when the target current amplitude of the loading motor is equal to m; m is the target current amplitude, k is the ordinal number of the rocker arm swing angle position, the specific value is 0, 1, ..., K, the specific value is 0, 1, ..., M, i p,k (t) is the actual current value, F p,k (t) is the signal of the tension pressure sensor; t a,k,m Represents when the fork rocker arm angle value is equal to θ Y,k When the target current amplitude of the loaded motor is equal to m, the duration of the loaded motor current being within the target current error range is equal to the preset value T s moment.

5. The method for adaptively suppressing force contention according to claim 4, wherein: The reference mapping matrix for adaptive parameter changes is: in The minimum swing angle of the fork rocker arm is θ Y,min , the maximum value is θ Y,max , the real-time collected loading motor current signal is i p (t), the angle of the fork rocker arm is θ Y (t).

6. The method for adaptively suppressing force contention according to claim 5, wherein: The real-time position-current-thrust mapping coefficient is: γ(t)=α(t)β(t)γ k′(t)+1,m′(t)+1 +α(t)[1-β(t)]γ k′(t),m′(t)+1 +β(t)[1-α(t)]γ k′(t)+1,m′(t) +[α(t)β(t)-α(t)-β(t)-1]γ k′(t),m′(t) in 7. The method for adaptively suppressing force contention according to claim 3, wherein: The tension deviation is: ΔF p (t)=F pc (t)-F p (t) The target load is T c (t), the swing angle of the shift fork rocker arm is θ Y (t), the radius of the fork rocker arm is R Y , the expected value of the tension and pressure sensor is F pc (t).

8. The method for adaptively suppressing force contention according to claim 7, wherein: The loading motor current compensation amount is: Δi p (t)=γ(t)·ΔF p (t) γ(t) is the real-time position-current-thrust mapping coefficient.

9. The method for adaptively suppressing force contention according to claim 3, wherein: Adding the current compensation amount to the current loop control loop means: taking the sum of the current compensation amount and the output signal of the loading motor speed loop as the input instruction of the loading motor current loop.

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