A System Performance Analysis Method Based on Anti-Maneuvering of the Rudder System

Abstract

This invention relates to a system performance analysis method based on servo system anti-manipulation, belonging to the field of system modeling and simulation technology. It establishes a servo control structure model based on the servo control system mechanism and obtains the closed-loop transfer function of the servo system. Based on the closed-loop transfer function, it obtains the performance parameter expressions of the servo system, the first theoretical threshold expression for the anti-manipulation condition of the servo system, the relationship between the performance parameters when the aerodynamic hinge torque of the servo system is 0 and the performance parameters under the anti-manipulation condition, and the second theoretical threshold expression for the anti-manipulation condition of the servo system. Based on the design parameter values ​​of the servo to be simulated and the above expressions, it mathematically simulates the divergence threshold of the servo system and the performance parameters characterizing the performance of the servo system under the anti-manipulation condition. Compared with existing technologies, this method not only overcomes the problem that a load tester is difficult to accurately simulate the system performance of the servo under anti-manipulation, but also eliminates the need for a load tester, providing a more economical, convenient, and accurate servo system performance analysis method.

Description

Technical Field

[0001] This invention relates to the field of system modeling and simulation technology, and in particular to a system performance analysis method based on anti-maneuvering of a rudder system. Background Technology

[0002] Anti-control phenomenon of the rudder system has always been a working state that needs to be avoided in the design of the rudder system. Once the rudder system is in a serious anti-control movement during flight test, the overshoot of the rudder system increases significantly and the stability decreases sharply. In extreme cases, the rudder system will be unable to follow the command signal, resulting in the aircraft becoming unstable. At present, the static instability of aircraft with wide speed range and large flight envelope is increasing, and the requirements for the response of the rudder system are becoming higher and higher.

[0003] Traditional rudder system anti-manipulation performance analysis typically involves constructing a rudder system anti-manipulation torque simulation load table to test the rudder system's performance characteristics under anti-manipulation torque. This method has two drawbacks: firstly, it is difficult to provide a load torque loading table that responds faster than the rudder motor; secondly, the load torque simulation table can easily generate significant excess force when the rudder motor moves, affecting the rudder system's response performance. As a result, it is difficult to accurately obtain the rudder motor's response performance under anti-manipulation, making it difficult to analyze and locate abnormal overshoot or failure to track commands during flight tests. Summary of the Invention

[0004] In view of the above analysis, the present invention aims to provide a system performance analysis method based on rudder system anti-manipulation, in order to solve the problem that the existing anti-manipulation system can only be simulated by a load table and the performance of the anti-manipulation system simulated by the load table is not good.

[0005] On one hand, embodiments of the present invention provide a system performance analysis method based on anti-maneuvering of the rudder system, the method comprising:

[0006] Establish a servo control structure model based on the servo control system mechanism;

[0007] Based on the aforementioned servo control structure model, the closed-loop transfer function of the servo system is obtained;

[0008] Based on the closed-loop transfer function of the rudder system, the performance parameter expression of the rudder system, the first theoretical threshold expression of the rudder system in anti-maneuvering condition, and the relationship between the performance parameters of the rudder system when the aerodynamic hinge torque is 0 and the performance parameters in anti-maneuvering condition are obtained.

[0009] Based on the closed-loop transfer function of the rudder system, and combined with the design maximum operating current and design maximum output torque of the rudder motor, the second theoretical threshold expression for the anti-manipulation condition of the rudder system is obtained.

[0010] Based on the design parameter values ​​of the servo motor to be simulated, the first theoretical threshold expression of the anti-manipulation condition of the servo system, and the second theoretical threshold expression of the anti-manipulation condition of the servo system, the divergence threshold of the servo motor to be simulated under the anti-manipulation condition is calculated and output.

[0011] A simulation system with a servo control structure model is used to simulate and output the response curve of the servo under anti-manipulation condition when the servo under simulation is within the divergence threshold, and output the corresponding performance parameter values ​​of the servo under anti-manipulation condition.

[0012] Based on further improvements to the above method, the servo control structure model specifically includes,

[0013] The servo motor command input feedback module processes the input command to obtain the servo motor deflection angle adjustment angle. The servo motor command input feedback loop includes a command processing module, an inner loop voltage input feedback module, a displacement feedback module, and a radian / angle conversion module.

[0014] The instruction processing module is used to amplify the input through a proportional gain and output the processed instruction, and then input the processed instruction to the inner loop voltage input feedback module.

[0015] The inner loop voltage input feedback module outputs the servo deflection angle adjustment radian based on the processed command.

[0016] The radian / angle conversion module is used to convert the servo deflection angle adjustment radian into the servo deflection angle adjustment angle, and then input the servo deflection angle adjustment angle into the displacement feedback module.

[0017] The displacement feedback module is used to multiply the servo deflection angle adjustment angle by the feedback output sensor proportional coefficient and output displacement feedback. The difference between the displacement feedback and the input servo command is then used as the input to the command processing module.

[0018] Based on a further improvement of the above method, the inner loop voltage input feedback module includes an armature current calculation module, a motor electromagnetic torque calculation module, an inner loop torque input feedback module, and a back electromotive force feedback module, wherein...

[0019] The armature current calculation module is used to calculate and obtain the armature current of the servo motor, and then output the armature current to the electromagnetic torque calculation module of the motor.

[0020] The motor electromagnetic torque calculation module is used to calculate and obtain the motor electromagnetic torque based on the armature current, and then output the motor electromagnetic torque to the inner ring torque input feedback module.

[0021] The inner ring torque input feedback module outputs the servo deflection angle adjustment radian based on the electromagnetic torque of the motor.

[0022] The back EMF feedback module calculates the back EMF feedback of the servo motor based on the adjustment radian of the servo motor deflection angle, and uses the difference between the back EMF feedback and the processed command as the input of the armature current calculation module.

[0023] Based on a further improvement of the above method, the inner ring torque input feedback module includes a rotational angular velocity calculation module, a rudder deflection angle calculation module, and an external force torque feedback module, wherein...

[0024] The rotational angular velocity calculation module is used to calculate the rotational angular velocity and output it to the radian calculation module;

[0025] The rudder deflection angle calculation module calculates and obtains the rudder deflection angle in radians based on the rotational angular velocity, and outputs the rudder deflection angle in radians to the radian / angle conversion module and the external force torque feedback module;

[0026] The external torque feedback module calculates the external torque feedback based on the rudder deflection angle radian, and uses the difference between the external torque feedback and the electromagnetic torque of the motor as the input of the rotational angular velocity calculation module.

[0027] Based on a further improvement of the above method, the closed-loop transfer function of the rudder system is specifically expressed as follows:

[0028] In the formula,

[0029] s It is the transfer function operator of the rudder system. It is the proportional gain of the servo control command. It is the electromagnetic torque coefficient of the servo motor. It is the overall reduction ratio of the servo motor. This refers to the efficiency of the servo speed reduction mechanism. It is the armature resistance of the servo motor. It is the armature inductance of the servo motor. It is the aerodynamic hinge torque gradient of the rudder system. It is the proportional coefficient of the servo motor feedback output sensor. It is the back electromotive force coefficient of the rudder system. It is the total moment of inertia at the servo motor.

[0030] Based on a further improvement of the above method, the armature inductance is considered. Much smaller than the armature resistance The armature inductor The simplified expression for the closed-loop transfer function of the rudder system is as follows: (Simplified to 0)

[0031] In the formula,

[0032] The gain of the rudder system is expressed as a formula: ,

[0033] The natural frequency of the rudder system is expressed as a formula: ,

[0034] The inherent damping coefficient of the rudder system is expressed by the formula: The gain of the rudder system The natural frequency of the rudder system , The inherent damping coefficient of the rudder system is a performance parameter of the rudder system.

[0035] Based on a further improvement of the above method, the first theoretical threshold expression for the anti-maneuvering condition of the rudder system is obtained based on the Routh criterion and the closed-loop transfer function of the rudder system, and is specifically expressed as follows:

[0036] .

[0037] Based on further improvements to the above method, the relationship between the performance parameters of the rudder system when the aerodynamic hinge torque is 0 and the performance parameters under anti-maneuvering conditions specifically includes:

[0038] The gain of the rudder system under anti-maneuvering conditions increases to the gain when the aerodynamic hinge torque of the rudder system is 0. times;

[0039] The natural frequency of the rudder system under anti-maneuvering conditions decreases to the natural frequency when the aerodynamic hinge torque of the rudder system is 0. ;

[0040] The inherent damping coefficient of the rudder system increases under anti-maneuvering conditions to the inherent damping coefficient when the aerodynamic hinge torque of the rudder system is 0. ;

[0041] The phase lag difference of the rudder system increases under anti-maneuvering conditions, expressed as the formula:

[0042] In the formula,

[0043] ω 0 is the natural frequency when the aerodynamic hinge torque gradient of the rudder system is zero.

[0044] ωIt is the natural frequency of the rudder system under anti-maneuvering conditions.

[0045] ξ 0 is the inherent damping coefficient when the aerodynamic hinge torque gradient of the rudder system is 0.

[0046] Based on a further improvement of the above method, the second theoretical threshold expression for the anti-maneuvering condition of the rudder system specifically includes:

[0047] In the formula,

[0048] This represents the maximum operating current of the rudder system.

[0049] The input servo command.

[0050] The anti-maneuvering coefficient of the rudder system is given.

[0051] A further improvement to the above method, specifically including the calculation and output of the divergence threshold under the anti-manipulation condition of the servo motor under simulation based on the design parameter values ​​of the servo motor to be simulated, the first theoretical threshold expression of the anti-manipulation condition of the servo system, and the second theoretical threshold expression of the anti-manipulation condition of the servo system, includes:

[0052] Substitute the design parameter values ​​of the servo motor to be simulated into the first theoretical threshold expression of the anti-manipulation condition of the servo system to calculate the first theoretical threshold of the aerodynamic hinge torque gradient of the servo system.

[0053] Substituting the design parameters of the servo motor to be simulated, the maximum operating current of the servo system, and the anti-reverse control coefficient of the servo system into the second theoretical threshold expression for the anti-reverse control condition of the servo system, the second theoretical threshold of the starting hinge torque gradient of the servo system is calculated.

[0054] The larger of the first theoretical threshold for the aerodynamic hinge torque gradient of the rudder system and the second theoretical threshold for the aerodynamic hinge torque gradient of the rudder system is taken as the divergence threshold for the aerodynamic hinge torque gradient of the rudder system.

[0055] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0056] 1. There is no need to build a load test platform. The simulation results of the rudder system can be obtained through the system control model and transfer function expression, making it more convenient to obtain anti-maneuvering performance parameters;

[0057] 2. By using the system control model and transfer function expression, more comprehensive simulation results of the rudder system can be obtained, which can more accurately characterize the performance of the rudder system under anti-maneuvering conditions. Compared with the load table simulation in the existing technology, it has better practicality.

[0058] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0059] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0060] Figure 1 is a schematic diagram of the servo control structure model according to an embodiment of the present invention;

[0061] Figure 2 This is a schematic diagram of a servo control structure model with maximum operating current limiting added in an embodiment of the present invention;

[0062] Figure 3 In the example of this embodiment of the invention, the torque gradient of the simulation system command at degree 2 is 0 and Time-domain response curve of the rudder system;

[0063] Figure 4 In the example of this embodiment of the invention, the torque gradient of the simulation system command at 10 degrees is 0 and... Time-domain response curve of the rudder system;

[0064] Figure 5 In the example of this embodiment of the invention, the torque gradients of the simulation system commands at 2 degrees and 10 degrees are 0 and 0, respectively. Frequency domain response curve of the rudder system. Detailed Implementation

[0065] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0066] A specific embodiment of the present invention discloses a system performance analysis method based on rudder system anti-maneuvering. The method includes:

[0067] Establish a servo control structure model based on the servo control system mechanism;

[0068] Based on the aforementioned servo control structure model, the closed-loop transfer function of the servo system is obtained;

[0069] Based on the closed-loop transfer function of the rudder system, the performance parameter expression of the rudder system, the first theoretical threshold expression of the rudder system in anti-maneuvering condition, and the relationship between the performance parameters of the rudder system when the aerodynamic hinge torque is 0 and the performance parameters in anti-maneuvering condition are obtained.

[0070] Based on the closed-loop transfer function of the rudder system, and combined with the design maximum operating current and design maximum output torque of the rudder motor, the second theoretical threshold expression for the anti-manipulation condition of the rudder system is obtained.

[0071] Based on the design parameter values ​​of the servo motor to be simulated, the first theoretical threshold expression of the anti-manipulation condition of the servo system, and the second theoretical threshold expression of the anti-manipulation condition of the servo system, the divergence threshold of the servo motor to be simulated under the anti-manipulation condition is calculated and output.

[0072] A simulation system with a servo control structure model is used to simulate and output the response curve of the servo under anti-manipulation condition when the servo under simulation is within the divergence threshold, and output the corresponding performance parameter values ​​of the servo under anti-manipulation condition.

[0073] Specifically, this embodiment establishes a servo control structure model based on the mechanism of the servo control system. Generally, the mechanism of the servo control system includes forward transmission and disturbance feedback characteristics, as well as a three-loop nested iterative input feedback structure consisting of a position loop, a voltage loop, and a torque loop. After the input command is input, it passes through the position loop, voltage loop, and torque loop layer by layer to complete the transmission and transformation from the position closed loop to the voltage closed loop and then to the torque closed loop, and finally outputs the angle adjusted by the servo.

[0074] Furthermore, such as Figure 1 As shown, the servo control structure model specifically includes,

[0075] The servo motor command input feedback module processes the input command to obtain the servo motor deflection angle adjustment angle. The servo motor command input feedback loop includes a command processing module, an inner loop voltage input feedback module, a displacement feedback module, and a radian / angle conversion module.

[0076] The instruction processing module is used to amplify the input through a proportional gain and output the processed instruction, and then input the processed instruction to the inner loop voltage input feedback module.

[0077] The inner loop voltage input feedback module outputs the servo deflection angle adjustment radian based on the processed command.

[0078] The radian / angle conversion module is used to convert the servo deflection angle adjustment radian into the servo deflection angle adjustment angle, and then input the servo deflection angle adjustment angle into the displacement feedback module.

[0079] The displacement feedback module is used to multiply the servo deflection angle adjustment angle by the feedback output sensor proportional coefficient and output displacement feedback. The difference between the displacement feedback and the input servo command is then used as the input to the command processing module.

[0080] Specifically, the servo command input feedback module includes a position loop function. After subtracting the input command from the displacement feedback, it is passed to the inner layer of the voltage loop. The inner layer processes the input command and outputs the servo deflection angle adjustment radian, then converts and outputs the servo deflection angle adjustment angle. This angle is then processed into displacement feedback and fed back to the input of the servo command input feedback module, thus forming a position input feedback closed loop. The servo command input feedback module satisfies both the controller algorithm and the displacement feedback output algorithm. The controller algorithm is simplified as the expression:

[0081] ( U i - U 0)* Kz = In the formula,

[0082] U i It is the input instruction. U 0 represents the displacement feedback. It is the equivalent DC voltage input to the servo motor. Kz It is proportional gain;

[0083] The displacement feedback output algorithm is simplified as the expression:

[0084] U 0= * K f In the formula,

[0085] It is the servo motor deflection angle adjustment angle. K f It is the proportional coefficient of the servo motor feedback output sensor.

[0086] Furthermore, the inner loop voltage input feedback module includes an armature current calculation module, a motor electromagnetic torque calculation module, an inner loop torque input feedback module, and a back electromotive force feedback module, wherein...

[0087] The armature current calculation module is used to calculate and obtain the armature current of the servo motor, and then output the armature current to the electromagnetic torque calculation module of the motor.

[0088] The motor electromagnetic torque calculation module is used to calculate and obtain the motor electromagnetic torque based on the armature current, and then output the motor electromagnetic torque to the inner ring torque input feedback module.

[0089] The inner ring torque input feedback module outputs the servo deflection angle adjustment radian based on the electromagnetic torque of the motor.

[0090] The back EMF feedback module calculates the back EMF feedback of the servo motor based on the servo deflection angle adjustment radian, and uses the difference between the back EMF feedback and the processed command as the input of the armature current calculation module.

[0091] Specifically, the inner loop voltage input feedback module includes a voltage loop function to satisfy the motor armature voltage balance equation, which is expressed as follows:

[0092] In the formula,

[0093] It is the back electromotive force feedback of the servo motor. It is the armature current of the servo motor. It is the armature resistance of the servo motor. It is the armature inductance of the servo motor. It is the derivative of the armature current of the servo motor with respect to time;

[0094] Wherein, the servo motor input equivalent DC voltage Subtract the back EMF feedback of the servo motor multiplied by The armature current of the servo motor is obtained. ,in, s It is the transfer function operator of the rudder system, representing the calculation of the first derivative;

[0095] The armature current of the servo motor The electromagnetic torque of the motor is calculated by inputting the motor electromagnetic torque into the electromagnetic torque calculation module. The electromagnetic torque equation is expressed as follows:

[0096] In the formula,

[0097] It is the electromagnetic torque of the servo motor. It is the electromagnetic torque coefficient of the servo motor;

[0098] The electromagnetic torque of the servo motor The inner ring torque input feedback module is used to calculate the servo deflection angle.

[0099] The back EMF feedback of the servo motor is calculated based on the servo deflection angle and back EMF equation. The back electromotive force equation is expressed as follows:

[0100] In the formula,

[0101] It is the back electromotive force coefficient of the servo motor. It is the angular acceleration of the servo motor, where, The transmission structure equation, calculated from the transmission mechanism equation and the rudder deflection angle, is expressed as follows:

[0102] In the formula, = s， It is the angular acceleration of the servo motor.

[0103] Thus, the inner loop voltage input feedback module forms a voltage input feedback closed loop.

[0104] Furthermore, the inner ring torque input feedback module includes a rotational angular velocity calculation module, a rudder deflection angle calculation module, and an external force torque feedback module, wherein,

[0105] The rotational angular velocity calculation module is used to calculate the rotational angular velocity and output it to the radian calculation module;

[0106] The rudder deflection angle calculation module calculates and obtains the rudder deflection angle in radians based on the rotational angular velocity, and outputs the rudder deflection angle in radians to the radian / angle conversion module and the external force torque feedback module;

[0107] The external torque feedback module calculates the external torque feedback based on the rudder deflection angle radian, and uses the difference between the external torque feedback and the electromagnetic torque of the motor as the input of the rotational angular velocity calculation module.

[0108] Specifically, the inner loop torque input feedback module includes a torque loop function, satisfying the motor torque balance equation, the transmission mechanism equation, and the external torque equation. The motor torque balance equation is expressed as follows:

[0109] In the formula,

[0110] It is the moment of inertia of the servo motor. It is the angular acceleration of the servo motor. It is the total reduction ratio of the servo motor. The efficiency of the servo motor reduction mechanism is... It is the moment of inertia at the rudder shaft of the rudder system. It is the aerodynamic hinge torque gradient of the rudder system;

[0111] Among them, the electromagnetic torque of the servo motor Subtract the external torque M1 of the rudder system, and multiply by The rotational angular acceleration of the servo motor is obtained. Based on the servo motor rotation angular acceleration The servo deflection angle of the servo motor is calculated using the equations of the transmission mechanism. ;

[0112] The servo deflection angle The external torque feedback of the rudder system is calculated by inputting the external torque feedback module;

[0113] Based on the servo deflection angle The external torque feedback of the rudder system is calculated using the external torque equation, which is expressed as follows:

[0114] M 1= In the formula,

[0115] M 1 is the external torque feedback of the rudder system.

[0116] Thus, the inner loop torque input feedback module forms a torque input feedback closed loop.

[0117] Furthermore, the closed-loop transfer function of the rudder system is specifically expressed as follows:

[0118] In the formula,

[0119] s It is the transfer function operator of the rudder system. It is the proportional gain of the servo control command. It is the electromagnetic torque coefficient of the servo motor. It is the overall reduction ratio of the servo motor. This refers to the efficiency of the servo speed reduction mechanism. It is the armature resistance of the servo motor. It is the armature inductance of the servo motor. It is the aerodynamic hinge torque gradient of the rudder system. It is the proportional coefficient of the servo motor feedback output sensor. It is the back electromotive force coefficient of the rudder system. It is the total moment of inertia at the servo motor.

[0120] Specifically, the torque loop formed by the inner loop torque input feedback module yields the inner loop torque closed-loop transfer function, which is expressed as follows:

[0121] In the formula, ;

[0122] The voltage loop formed by the inner loop voltage input feedback module, and then the inner loop voltage closed-loop transfer function based on the inner loop torque closed-loop transfer function, are expressed as follows:

[0123] ;

[0124] The position loop formed by the servo command input feedback module, and the servo closed-loop transfer function based on the inner loop voltage closed-loop transfer function, are used to obtain the servo closed-loop transfer function, which is expressed as follows:

[0125] .

[0126] Furthermore, consider the armature inductance. Much smaller than the armature resistance The armature inductor The simplified expression for the closed-loop transfer function of the rudder system is as follows: (Simplified to 0)

[0127] In the formula,

[0128] The gain of the rudder system is expressed as a formula: ,

[0129] The natural frequency of the rudder system is expressed as a formula: ,

[0130] The inherent damping coefficient of the rudder system is expressed by the formula: The gain of the rudder system The natural frequency of the rudder system , The inherent damping coefficient of the rudder system is a performance parameter of the rudder system.

[0131] Specifically, to facilitate the calculation and expression of performance parameters, the armature inductance of the motor is taken into account. Generally much smaller than armature resistance , The servo closed-loop transfer function is further simplified to the following expression:

[0132] ;

[0133] The performance indicators of a rudder system can generally be described by gain, natural frequency, and damping coefficient. Changes in the aerodynamic hinge torque gradient will affect the performance of the rudder system. Further derivation of the above expressions yields expressions that include rudder motor performance parameters, specifically including:

[0134] In the formula,

[0135] The gain of the rudder system is expressed as a formula: ,

[0136] The natural frequency of the rudder system is expressed as a formula: ,

[0137] The inherent damping coefficient of the rudder system is expressed by the formula: The gain of the rudder system The natural frequency of the rudder system , The inherent damping coefficient of the rudder system is a performance parameter of the rudder system.

[0138] The simplified expression for the servo motor closed-loop transfer function, the expression for the servo system performance parameters, excluding the aerodynamic hinge torque gradient of the servo system. Apart from the single variable, all other parameters are the servo design parameters. The resulting univariate transformation relationship is based on the servo being under different aerodynamic hinge torque gradients, i.e. By taking different values, it is easy to simulate and calculate the specific values ​​of the servo motor performance parameters.

[0139] Furthermore, the first theoretical threshold expression for the anti-maneuvering condition of the rudder system is obtained based on the Routh criterion and the closed-loop transfer function of the rudder system, and is specifically expressed as follows:

[0140] .

[0141] Specifically, based on the Routh criterion, for the closed-loop transfer function of the steering system, when the steering system is in anti-maneuvering condition, the denominator of the closed-loop transfer function of the steering system is less than 0, that is... Therefore, the expression for the first theoretical threshold of the anti-maneuvering condition of the rudder system can be obtained as follows: .

[0142] Furthermore, the relationship between the performance parameters of the rudder system when the aerodynamic hinge torque is 0 and the performance parameters under anti-maneuvering conditions specifically includes:

[0143] The gain of the rudder system under anti-maneuvering conditions increases to the gain when the aerodynamic hinge torque of the rudder system is 0. times;

[0144] The natural frequency of the rudder system under anti-maneuvering conditions decreases to the natural frequency when the aerodynamic hinge torque of the rudder system is 0. ;

[0145] The inherent damping coefficient of the rudder system increases under anti-maneuvering conditions to the inherent damping coefficient when the aerodynamic hinge torque of the rudder system is 0. ;

[0146] The phase lag difference of the rudder system increases under anti-maneuvering conditions, expressed as the formula:

[0147] In the formula,

[0148] ω 0 is the natural frequency when the aerodynamic hinge torque gradient of the rudder system is zero.

[0149] ω It is the natural frequency of the rudder system under anti-maneuvering conditions.

[0150] ξ 0 is the inherent damping coefficient when the aerodynamic hinge torque gradient of the rudder system is 0.

[0151] Specifically, to further simplify the simulation calculation of the performance parameters, the relationship between the performance parameters of the rudder system when the aerodynamic hinge torque is 0 and the performance parameters under the anti-maneuvering condition is derived through the following steps:

[0152] Based on the specific implementation of the aforementioned servo system, the servo motor feedback output sensor coefficient is first... K f The value is 1;

[0153] When the aerodynamic hinge torque of the rudder system is 0, that is =0,

[0154] The rudder system gain =1,

[0155] The natural frequency of the aerodynamic hinge of the rudder system when the torque gradient is 0. ;

[0156] The inherent damping coefficient of the rudder system when the aerodynamic hinge torque gradient is 0 ;

[0157] When the aerodynamic hinge torque of the rudder system is less than 0, i.e. <0,

[0158] The rudder system gain The derivation is as follows: = / ;

[0159] Will ω 0 and expression = / Substitution ,get = ω 0 ;

[0160] Will ξ 0 and expression = / Substitution ,get = ξ 0 ,

[0161] The phase lag difference of the rudder system increases under anti-maneuvering conditions, expressed as the formula:

[0162] .

[0163] Furthermore, the second theoretical threshold expression for the anti-maneuvering condition of the rudder system specifically includes:

[0164] In the formula,

[0165] This represents the maximum operating current of the rudder system.

[0166] The input servo command.

[0167] The anti-maneuvering coefficient of the rudder system is given.

[0168] Specifically, when evaluating the performance of the servo system under anti-manipulation conditions, this embodiment also needs to consider the actual maximum operating current and maximum torque output of the servo motor. Due to the nonlinear characteristics of the servo motor, such as saturation voltage limiting, maximum operating current limiting, maximum angular velocity limiting, dead zone characteristics, and gap characteristics, the actual anti-manipulation capability of the physical servo is less than the theoretical analysis. Therefore, it is necessary to add a maximum operating current limit to the servo motor control model, such as... Figure 2 As shown.

[0169] Considering the actual torque capability provided by the servo motor under the maximum operating current limit, the torque gradient of the pneumatic hinge must meet the following conditions: Thus, the expression for the second theoretical threshold is obtained, where, This is an anti-reverse control coefficient that takes into account the actual nonlinear characteristics of the servo motor and the overshoot of the system response, and is generally taken as a value of... scope.

[0170] Furthermore, the calculation and output of the divergence threshold under the anti-manipulation condition of the servo motor under simulation based on the design parameter values ​​of the servo motor to be simulated, the first theoretical threshold expression of the anti-manipulation condition of the servo system, and the second theoretical threshold expression of the anti-manipulation condition of the servo system specifically includes:

[0171] Substitute the design parameter values ​​of the servo motor to be simulated into the first theoretical threshold expression of the anti-manipulation condition of the servo system to calculate the first theoretical threshold of the aerodynamic hinge torque gradient of the servo system.

[0172] Substituting the design parameters of the servo motor to be simulated, the maximum operating current of the servo system, and the anti-reverse control coefficient of the servo system into the second theoretical threshold expression for the anti-reverse control condition of the servo system, the second theoretical threshold of the starting hinge torque gradient of the servo system is calculated.

[0173] The larger of the first theoretical threshold for the aerodynamic hinge torque gradient of the rudder system and the second theoretical threshold for the aerodynamic hinge torque gradient of the rudder system is taken as the divergence threshold for the aerodynamic hinge torque gradient of the rudder system.

[0174] Specifically, due to the differences in the design parameters of the rudder system and servo motor, it is impossible to predict which of the first and second theoretical thresholds for the anti-manipulation condition of the rudder system is larger. Therefore, the specific values ​​of the two thresholds can be calculated by combining the expressions for the first and second theoretical thresholds for the anti-manipulation condition of the rudder system obtained in this embodiment with the design parameters of the rudder system and servo motor. The larger of the two values ​​is then taken as the divergence threshold under the anti-manipulation condition of the rudder system.

[0175] The servo system servo motor design parameters include: the proportional gain of the servo motor control command. The electromagnetic torque coefficient of the servo motor The total reduction ratio of the servo motor The efficiency of the servo deceleration mechanism The armature resistor of the servo motor The armature inductance of the servo motor The proportional coefficient of the servo motor feedback output sensor The back electromotive force coefficient of the rudder system The total moment of inertia at the servo motor The maximum operating current of the rudder system .

[0176] For example, the following describes the technical process of this embodiment using a mathematical simulation analysis of the performance of a certain servo motor, and verifies the actual effect of the technical solution of this embodiment through a simulation system.

[0177] The design parameters of a certain servo motor include: overall reduction ratio. Speed ​​reduction mechanism efficiency Electromagnetic torque coefficient back electromotive force coefficient Maximum operating current limit Controller proportional gain armature resistance armature inductance .

[0178] When the pneumatic hinge torque gradient Servo gain is =1, system natural frequency ω 0 = 161 rad / s, inherent damping coefficient ξ 0 = 0.69;

[0179] When the counter-actuation pneumatic hinge torque gradient When converted to 2292 Nm / rad, the servo gain is Increased to 1.11, natural frequency =153rad / s, inherent damping coefficient =0.73, at a frequency of 100 rad / s, the rudder system phase lags by 5°, such as Figure 5 As shown. Figure 3 and Figure 4 The torque gradients at 2 degrees and 10 degrees are given as 0 and 0 respectively. The system response curve is shown below.

[0180] Ignoring the maximum operating current limit, the maximum torque gradient for convergence in the time domain simulation at 10° is obtained. The first theoretical threshold for the anti-maneuvering condition of the rudder system obtained by mathematical simulation in this embodiment. Basically the same; considering the maximum operating current limit, the maximum torque gradient under time-domain simulation convergence is: The second theoretical threshold for the anti-maneuvering condition of the rudder system obtained by mathematical simulation in this embodiment. (Anti-manipulation coefficient) (Taking 0.5) is basically the same. Overall and The maximum value, the maximum aerodynamic hinge torque gradient that the system can withstand under the simulation command of 10°, is .

[0181] Compared to existing technologies, this embodiment establishes a simulation model of the servo control system, derives the closed-loop function, and innovatively obtains the performance parameter expressions of the servo system, as well as the first and second theoretical threshold expressions reflecting the anti-manipulation conditions of the servo system, through effective and convenient processing. It also derives the relationship between the performance parameters when the aerodynamic hinge torque is 0 and the performance parameters under anti-manipulation conditions. The performance analysis method provided by this invention is simple and thorough, helping to obtain the performance characteristics of the servo system under anti-manipulation conditions. It solves the problems of difficulty in constructing traditional anti-manipulation torque load tables and the difficulty in accurately obtaining the response performance of the servo system under anti-manipulation conditions. Without constructing a load table, the performance parameters and divergence thresholds of the servo system under anti-manipulation conditions can be obtained through mathematical simulation calculations. Verified by the simulation system, the mathematical simulation results of this embodiment are accurate and reliable, and have practical value for guiding servo system design and problem reproduction.

[0182] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0183] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method of analyzing system performance based on countersteering of a rudder system, characterized by, The method includes: Establish a servo control structure model based on the servo control system mechanism; Based on the aforementioned servo control structure model, the closed-loop transfer function of the servo system is obtained; Based on the closed-loop transfer function of the rudder system, the performance parameter expression of the rudder system, the first theoretical threshold expression of the rudder system in anti-maneuvering condition, and the relationship between the performance parameters of the rudder system when the aerodynamic hinge torque is 0 and the performance parameters in anti-maneuvering condition are obtained. Based on the closed-loop transfer function of the rudder system, and combined with the design maximum operating current and design maximum output torque of the rudder motor, the second theoretical threshold expression for the anti-manipulation condition of the rudder system is obtained. Based on the design parameter values ​​of the servo motor to be simulated, the first theoretical threshold expression of the anti-manipulation condition of the servo system, and the second theoretical threshold expression of the anti-manipulation condition of the servo system, the divergence threshold of the servo motor to be simulated under the anti-manipulation condition is calculated and output. A simulation system with a servo control structure model is used to simulate and output the response curve of the servo under anti-manipulation condition when the servo under simulation is within the divergence threshold, and output the corresponding performance parameter values ​​of the servo under anti-manipulation condition.

2. A method of analyzing the performance of a system based on adverse control of a rudder system according to claim 1, characterized in that, The servo control structure model specifically includes: The servo motor command input feedback module processes the input command to obtain the servo motor deflection angle adjustment angle. The servo motor command input feedback loop includes a command processing module, an inner loop voltage input feedback module, a displacement feedback module, and a radian / angle conversion module. The instruction processing module is used to amplify the input through a proportional gain and output the processed instruction, and then input the processed instruction to the inner loop voltage input feedback module. The inner loop voltage input feedback module outputs the servo deflection angle adjustment radian based on the processed command. The radian / angle conversion module is used to convert the servo deflection angle adjustment radian into the servo deflection angle adjustment angle, and then input the servo deflection angle adjustment angle into the displacement feedback module. The displacement feedback module is used to multiply the servo deflection angle adjustment angle by the feedback output sensor proportional coefficient and output displacement feedback. The difference between the displacement feedback and the input servo command is then used as the input to the command processing module.

3. A system performance analysis method based on rudder system anti-maneuvering according to claim 2, characterized in that, The inner loop voltage input feedback module includes an armature current calculation module, a motor electromagnetic torque calculation module, an inner loop torque input feedback module, and a back electromotive force feedback module, wherein... The armature current calculation module is used to calculate and obtain the armature current of the servo motor, and then output the armature current to the electromagnetic torque calculation module of the motor. The motor electromagnetic torque calculation module is used to calculate and obtain the motor electromagnetic torque based on the armature current, and then output the motor electromagnetic torque to the inner ring torque input feedback module. The inner ring torque input feedback module outputs the servo deflection angle adjustment radian based on the electromagnetic torque of the motor. The back EMF feedback module calculates the back EMF feedback of the servo motor based on the adjustment radian of the servo motor deflection angle, and uses the difference between the back EMF feedback and the processed command as the input of the armature current calculation module.

4. A system performance analysis method based on rudder system anti-maneuvering according to claim 3, characterized in that, The inner ring torque input feedback module includes a rotational angular velocity calculation module, a rudder deflection angle calculation module, and an external force torque feedback module, wherein... The rotational angular velocity calculation module is used to calculate the rotational angular velocity and output it to the rudder deflection angle calculation module; The rudder deflection angle calculation module calculates and obtains the rudder deflection angle in radians based on the rotational angular velocity, and outputs the rudder deflection angle in radians to the radian / angle conversion module and the external force torque feedback module; The external torque feedback module calculates the external torque feedback based on the rudder deflection angle radian, and uses the difference between the external torque feedback and the electromagnetic torque of the motor as the input of the rotational angular velocity calculation module.

5. A system performance analysis method based on rudder system anti-maneuvering according to claim 4, characterized in that, The closed-loop transfer function of the rudder system is specifically expressed as follows: In the formula, s It is the transfer function operator of the rudder system. It is the proportional gain of the servo control command. It is the electromagnetic torque coefficient of the servo motor. It is the overall reduction ratio of the servo motor. The efficiency of the servo speed reduction mechanism is... It is the armature resistance of the servo motor. It is the armature inductance of the servo motor. It is the aerodynamic hinge torque gradient of the rudder system. It is the proportional coefficient of the servo motor feedback output sensor. It is the back electromotive force coefficient of the rudder system. It is the total moment of inertia at the servo motor.

6. A system performance analysis method based on rudder system anti-maneuvering according to claim 5, characterized in that, Consider the armature inductance Much smaller than the armature resistance The armature inductor The simplified expression for the closed-loop transfer function of the rudder system is as follows: (Simplified to 0) In the formula, The gain of the rudder system is expressed as a formula: , The natural frequency of the rudder system is expressed as a formula: , The inherent damping coefficient of the rudder system is expressed by the formula: The gain of the rudder system The natural frequency of the rudder system , The inherent damping coefficient of the rudder system is a performance parameter of the rudder system.

7. A system performance analysis method based on rudder system anti-maneuvering according to claim 6, characterized in that, The first theoretical threshold expression for the anti-maneuvering condition of the steering system is obtained based on the Routh criterion and the closed-loop transfer function of the steering system, and is specifically expressed as follows: 。 8. A system performance analysis method based on rudder system anti-maneuvering according to claim 7, characterized in that, The relationship between the performance parameters of the rudder system when the aerodynamic hinge torque is 0 and the performance parameters under anti-maneuvering conditions specifically includes: The gain of the rudder system under anti-maneuvering conditions increases to the gain when the aerodynamic hinge torque of the rudder system is 0. times; The natural frequency of the rudder system under anti-maneuvering conditions decreases to the natural frequency when the aerodynamic hinge torque of the rudder system is 0. ; The inherent damping coefficient of the rudder system increases under anti-maneuvering conditions to the inherent damping coefficient when the aerodynamic hinge torque of the rudder system is 0. ; The phase lag difference of the rudder system increases under anti-maneuvering conditions, expressed as the formula: In the formula, ω 0 is the natural frequency when the aerodynamic hinge torque gradient of the rudder system is zero. ω It is the natural frequency of the rudder system under anti-maneuvering conditions. ξ 0 is the inherent damping coefficient when the aerodynamic hinge torque gradient of the rudder system is 0.

9. A system performance analysis method based on rudder system anti-maneuvering according to claim 8, characterized in that, The second theoretical threshold expression for the anti-maneuvering condition of the steering system specifically includes: In the formula, This represents the maximum operating current of the rudder system. The input servo command. The anti-maneuvering coefficient of the rudder system is given.

10. A system performance analysis method based on rudder system anti-maneuvering according to claim 9, characterized in that, The calculation and output of the divergence threshold under the anti-manipulation condition of the servo motor under simulation, based on the design parameter values ​​of the servo motor to be simulated, the first theoretical threshold expression of the servo system anti-manipulation condition, and the second theoretical threshold expression of the servo system anti-manipulation condition, specifically includes: Substitute the design parameter values ​​of the servo motor to be simulated into the first theoretical threshold expression of the anti-manipulation condition of the servo system to calculate the first theoretical threshold of the aerodynamic hinge torque gradient of the servo system. Substituting the design parameters of the servo motor to be simulated, the maximum operating current of the servo system, and the anti-reverse control coefficient of the servo system into the second theoretical threshold expression for the anti-reverse control condition of the servo system, the second theoretical threshold of the starting hinge torque gradient of the servo system is calculated. The larger of the first theoretical threshold for the aerodynamic hinge torque gradient of the rudder system and the second theoretical threshold for the aerodynamic hinge torque gradient of the rudder system is taken as the divergence threshold for the aerodynamic hinge torque gradient of the rudder system.

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