Angle calibration method of tilting actuating mechanism
By using a tilt-actuator integrated testing system to detect power characteristics and calibrate angles, the safety and testing efficiency issues of the tilt-actuator mechanism of tilt rotor aircraft were solved, and an efficient and safe angle calibration method was realized.
Patent Information
- Application Number
- CN202511416618.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-30
- Publication Date
- 2025-12-12
AI Technical Summary
The lack of an effective method for calibrating the angle of tilting actuators in existing technologies leads to shortcomings in the safety and testing efficiency of tiltrotor aircraft.
A tilting actuation integrated test system was used to test power characteristics, install nacelle position sensors, and test movement direction. An electronic goniometer was used for angle calibration. The tilting actuation mechanism was driven to rotate by sending actuation signals, and sensor angle data was obtained for closed-loop control.
It improves the safety and testing efficiency of the tilt rotor's tilting actuator, avoids aircraft rollover caused by polarity errors or voltage runaway, and has automated calibration and testing capabilities.
Smart Images
Figure CN121106741A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application belongs to the technical field of tilt-rotor aircraft testing, and particularly relates to a method for calibrating the angle of a tilt-actuating mechanism. BACKGROUND
[0002] A tilt-rotor aircraft is a new aircraft that combines the fixed-wing aircraft and the helicopter, and has the ability of vertical take-off and hovering in the air of the helicopter, and the advantages of high-speed cruising flight and fuel economy of the propeller aircraft.
[0003] At present, the manufacturing technology of the tilt-rotor aircraft is in the initial stage, and the development of large-tonnage tilt-rotor aircraft is particularly lacking. As an important component system for realizing the shape change of the tilt-rotor mechanism, the tilt-actuating mechanism is a breakthrough, leap and innovative key technology in principle, assembly and angle calibration. The angle calibration reliability of the tilt-actuating mechanism is the key to improving the safe flight of the tilt-rotor aircraft. At present, there is a lack of an effective angle calibration method. SUMMARY
[0004] In order to solve the problem that the tilt-actuating mechanism cannot be effectively angle calibrated in the prior art, the present application provides a method for calibrating the angle of a tilt-actuating mechanism. The technical solution is as follows: In a first aspect, a method for calibrating the angle of a tilt-actuating mechanism is provided, which is used in a tilt-actuating integrated test system, and the method comprises the following steps: Step 1: detecting the power supply characteristics of the tilt-actuating mechanism; Step 2: if the power supply characteristic detection result is qualified, adjusting the aircraft to a body horizontal state, making the wheels off the ground, and making the wings in a natural drooping attitude, adsorbing an electronic angle gauge at the calibration plane of the tilt-actuating mechanism, and installing a nacelle position sensor on the tilt-actuating mechanism; Step 3: testing the motion direction of the nacelle position sensor and the polarity of the tilt-actuating mechanism, and in the testing process, sending an actuating signal to the tilt-actuating mechanism controller, so that the tilt-actuating mechanism controller drives the tilt-actuating mechanism to rotate based on the actuating signal; Step 4: calibrating and testing the angle of the tilt-actuating mechanism, and in the calibration and testing process, sending an actuating signal to the tilt-actuating mechanism controller, so that the tilt-actuating mechanism controller drives the tilt-actuating mechanism to rotate based on the actuating signal; acquiring the sensor angle collected by the nacelle position sensor during the angle calibration, and combining the sensor angle and the actual angle data of the tilt-actuating mechanism obtained by the electronic angle gauge to calibrate the angle of the tilt-actuating mechanism.
[0005] Optionally, step 1 specifically comprises the following steps: (1) connecting the input and output ends of the tilting actuator controller with the adapter cable of the tilting actuator integrated test system; (2) starting the tilting actuator integrated test system, the tilting actuator integrated test system supplies 28V power to the tilting actuator controller and establishes 1394B communication; (3) the tilting actuator integrated test system sends an actuation signal to the tilting actuator controller, the tilting actuator controller sends power characteristic data to the tilting actuator, so that the tilting actuator integrated test system collects the power characteristic data, and the tilting actuator integrated test system compares the collected power characteristic data with the preset power characteristic data range, if the collected power characteristic data belongs to the preset power characteristic data range, the power characteristic detection result is qualified, the power characteristic data includes analog current, voltage and frequency; (4) disconnecting the output end of the tilting actuator controller from the adapter cable of the tilting actuator integrated test system and restoring the on-board power plug connection.
[0006] Optionally, the process of installing the nacelle position sensor in step 2 includes: fixing the tilting actuator at a 90±1° position; connecting the shaft of the nacelle position sensor with the spline of the tilting actuator, the bolts connecting the two are not tightened; adjusting the position of the spline of the nacelle position sensor and the tilting actuator so that the left nacelle position sensor pointer is at the 20±1° scale line and the right nacelle position sensor pointer is at the 100±1° scale line; then tightening the bolts.
[0007] Optionally, the process of testing the motion direction of the nacelle position sensor in step 3 is: the tilting actuator integrated test system sends a tilting actuator motion instruction 1 to the tilting actuator controller; the left nacelle position sensor moves clockwise and the right nacelle position sensor moves counterclockwise; the tilting actuator motion instruction 1 is to adjust the tilting actuator angle from large to small; the tilting actuator integrated test system sends a tilting actuator motion instruction 2 to the tilting actuator controller; the left nacelle position sensor moves counterclockwise and the right nacelle position sensor moves clockwise; the tilting actuator motion instruction 2 is to adjust the tilting actuator angle from small to large.
[0008] Optionally, the process of testing the polarity of the tilting actuator in step 3 is: the tilting actuator integrated test system sends a tilting actuator motion instruction 3 to the tilting actuator controller, the tilting actuator angle remains unchanged; the tilting actuator motion instruction 3 is to set the tilting actuator angle to the current nacelle position sensor angle; The tilt actuation integrated test system sends a tilt actuation mechanism movement instruction 4 to the tilt actuation mechanism controller, and the tilt actuation mechanism angle is reduced; the tilt actuation mechanism movement instruction 4 is to adjust the tilt actuation mechanism angle from large to small; The tilt actuation integrated test system sends a tilt actuation mechanism movement instruction 5 to the tilt actuation mechanism controller, and the tilt actuation mechanism angle is increased; the tilt actuation mechanism movement instruction 5 is to adjust the tilt actuation mechanism angle from small to large.
[0009] Optionally, the process of angle calibration of the tilt actuation mechanism in step 4 is as follows: A plurality of angles of the tilt actuation mechanism to be calibrated are set in advance; When calibrating an angle, the tilt actuation integrated test system sends a tilt actuation mechanism movement instruction 6 to the tilt actuation mechanism controller; the tilt actuation mechanism moves to the angle indicated by the tilt actuation mechanism movement instruction 6; if the tilt actuation mechanism angle deviation is less than ±0.1°, it is qualified; the tilt actuation mechanism angle deviation is the difference between the sensor angle collected by the nacelle position sensor and the actual angle data of the tilt actuation mechanism obtained by the electronic angle gauge; the tilt actuation mechanism movement instruction 6 is the angle to be calibrated; otherwise, the tilt actuation integrated test system sends a tilt actuation mechanism movement instruction 7 to the tilt actuation mechanism controller; the tilt actuation mechanism moves to the angle indicated by the tilt actuation mechanism movement instruction 7, and the tilt actuation mechanism angle deviation is compensated; until the tilt actuation mechanism angle deviation after compensation is less than ±0.1°; the tilt actuation mechanism movement instruction 7 is the angle of the tilt actuation mechanism movement instruction 6 after compensation of the tilt actuation mechanism angle deviation; the current sensor angle α collected by the nacelle position sensor is taken as the angle to be calibrated in the tilt actuation mechanism movement instruction 6, and the calibration of the angle is completed; The above steps are repeated to complete the calibration of the remaining angles.
[0010] Optionally, the process of calibration test of the tilt actuation mechanism in step 4 is as follows: The tilt actuation integrated test system sends a tilt actuation mechanism movement instruction 8 to the tilt actuation mechanism controller; the tilt actuation mechanism moves to the angle indicated by the tilt actuation mechanism movement instruction 8; If the tilt actuation mechanism angle deviation is less than ±0.5°, it is qualified, otherwise, the angle calibration of the tilt actuation mechanism is re-performed; the tilt actuation mechanism movement instruction 8 is the angle to be calibrated and tested, and the angle to be calibrated and tested covers 90°~0°.
[0011] Further, the method further comprises: After the calibration test is completed, the tilt actuation mechanism is restored to the 90° state, and the aircraft is restored to the landing state; Disconnect the connection between the input end of the tilting actuator mechanism controller and the adapter cable of the tilting actuator integrated test system and restore the connection of the on-board power plug.
[0012] The present application has at least the following advantages: The present application provides a tilting actuator mechanism angle calibration method, which breaks through the key technology of ground adjustment test of the tilting actuator mechanism of a tilt-rotor aircraft, solves the problem that the tilting actuator mechanism of the tilt-rotor aircraft cannot verify its function and performance on the ground, and has advantages in safety and test efficiency: (1) High safety: The power supply characteristics of the tilting actuator mechanism control system are verified in advance through the integrated test method and system, the parameters such as current, voltage, frequency and polarity are checked, and the aircraft overturning caused by tilting actuator overload due to polarity error, current or voltage out of control is avoided; at the same time, the calibration test process is fully verified, a reliable closed-loop control is formed, and the test of the limit position is realized, thereby ensuring the operation safety of the tilting actuator mechanism.
[0013] (2) High test efficiency The system architecture is easy to implement and has automatic test capability. After connecting the adapter cable, the data of the sensor signals, electronic angle gauge and nacelle position sensor can be collected by the tilting actuator integrated test system to form open-loop and closed-loop control, the 1394B communication of the tilting actuator mechanism controller is established and control signals are sent, thereby realizing automatic detection of the power supply characteristics of the tilting actuator mechanism and automatic calibration and test. BRIEF DESCRIPTION OF DRAWINGS
[0014] Figure 1 is an angle calibration device of a tilting actuator mechanism.
[0015] Figure 2 is an angle calibration method block diagram of a tilting actuator mechanism.
[0016] Figure 3 is an angle calibration process flow chart of a tilting actuator mechanism.
[0017] 1 - tilt-rotor aircraft; 2 - tilting actuator integrated test system; 3 - tilting actuator mechanism; 4 - tilting actuator mechanism controller; 5 - nacelle position sensor; 6 - electronic angle gauge; 7 - input end of tilting actuator mechanism controller; 8 - output end of tilting actuator mechanism controller; 9 - flight management system on the tilt-rotor aircraft. DETAILED DESCRIPTION
[0018] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.
[0019] The features and illustrative embodiments of various aspects of the present application will be described below in detail. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one of ordinary skill in the art that the present application can be practiced without some of these specific details. The following description of embodiments is merely exemplary in nature and is provided to give a better understanding of the present application. The present application is not limited to any particular setting or method as set forth below, but covers any modifications, equivalents, and alternatives falling within the spirit of the present application. In the drawings and the following description, well-known structures and techniques are not shown in order to avoid unnecessary obscurity of the present application.
[0020] It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict, and each embodiment can be referred to and cited by each other.
[0021] The present application will be further described below by specific embodiments and drawings.
[0022] The present application provides a kind of angle calibration method of tilting actuator mechanism, in this method, power supply characteristic detection before tilting actuator test is completed by tilting actuator integrated test system, avoid because polarity error, current or voltage out of control leads to tilting actuator overload causes aircraft to overturn;The motion direction test of nacelle position sensor and the polarity test of tilting actuator mechanism are completed by tilting actuator integrated test system;Tilting actuator mechanism controller is sent actuation signal by tilting actuator integrated test system, so that the actuation signal is based on the controller driving tilting actuator mechanism rotation;The sensor angle of tilting actuator mechanism collected by nacelle position sensor is acquired, the actual angle data of tilting actuator mechanism obtained by combining the sensor angle of tilting actuator mechanism and electronic angle measuring instrument, angle calibration is carried out to tilting actuator mechanism.
[0023] Referring to Figure 1 , Figure 2 , a kind of power supply characteristic detection method of tilting actuator mechanism is proposed in an embodiment of the present application, including: (1) the input end 7 of tilting actuator mechanism controller and the output end 8 of the controller of the tilting actuator mechanism are connected with the adapter cable of tilting actuator integrated test system 2.
[0024] (2) Start the tilting actuator integrated test system 2, and supply 28V power to the tilting actuator mechanism controller 4 and establish 1394B communication by the tilting actuator integrated test system 2.
[0025] (3) The tilting actuator integrated test system 2 sends an actuation signal to the tilting actuator mechanism controller 4, and after processing by the tilting actuator mechanism controller 4, analog current, voltage and frequency such as +10mA, -20mA, 7V±0.14V and 10kHz±100Hz are given to the tilting actuator mechanism 3; the digital ammeter, digital voltmeter and electronic oscilloscope in the tilting actuator integrated test system 2 are used for interpretation, and if the current positive and negative, current size, voltage size and frequency stability output by the tilting actuator mechanism controller 4 belong to the preset power supply characteristic data range, then the power supply characteristic detection result is qualified.
[0026] (4) Disconnect the connection between the tilting actuator mechanism controller output end 8 and the adapter cable of the tilting actuator integrated test system 2 and restore the on-board power plug connection.
[0027] Referring to Figure 1 , Figure 2 , Figure 3 , the angle calibration method of the tilting actuator mechanism provided by the application comprises the following steps: First, the tilting rotorcraft 1 is adjusted to a body horizontal state, the wheels are off the ground, and the wings are in a natural drooping posture; the electronic angle measuring instrument 6 is adsorbed at the calibration plane of the tilting actuator mechanism 3.
[0028] (1) Installation of the nacelle position sensor: The tilting actuator mechanism 3 is fixed at a position of 90±1°; the rotating shaft of the nacelle position sensor 5 is connected with the spline of the tilting actuator mechanism 3, and the fastening bolt is temporarily not tightened; the rotating shaft of the nacelle position sensor 5 is adjusted to be in the same position as the spline of the tilting actuator mechanism 3, so that the left nacelle position sensor 5 pointer is at the 20±1° scale line and the right nacelle position sensor 5 pointer is at the 100±1° scale line; the fastening bolt of the nacelle position sensor 5 is tightened.
[0029] (2) Test of the movement direction of the nacelle position sensor: Observe the installation mode of the nacelle position sensor 5, face the nacelle position sensor 5 pointer, and confirm the movement direction of the pointer; The tilting actuator integrated test system 2 sends a tilting actuator mechanism movement instruction 1 to the controller 4 of the tilting actuator mechanism, the left nacelle position sensor 5 should move clockwise, and the right nacelle position sensor 5 should move counterclockwise; the tilting actuator mechanism movement instruction 1 is to move from 90° to 60° at a speed of 1° / s; The tilt actuation integrated test system 2 sends the tilt actuation mechanism movement instruction 2 to the controller 4 of the tilt actuation mechanism, the left nacelle position sensor 5 should make counterclockwise movement, and the right nacelle position sensor 5 should make clockwise movement. The tilt actuation mechanism movement instruction 2 is to move from 60° to 90° at a speed of 1° / s.
[0030] (3) Polar test of the tilt actuation mechanism: At this time, the tilt actuation mechanism 3 is at 90°, the tilt actuation integrated test system 2 sends the tilt actuation mechanism movement instruction 3 to the controller 4 of the tilt actuation mechanism, the left and right tilt actuation mechanisms 3 do not change the angle; the tilt actuation mechanism movement instruction 3 is an angle of 90° and an angular velocity of 1° / s; The tilt actuation integrated test system 2 sends the tilt actuation mechanism movement instruction 4 to the controller 4 of the tilt actuation mechanism, the left and right tilt actuation mechanisms 3 are both downward deflected; the tilt actuation mechanism movement instruction 4 is an angle of 70° and an angular velocity of 1° / s The tilt actuation integrated test system 2 sends the tilt actuation mechanism movement instruction 5 to the controller 4 of the tilt actuation mechanism, the left and right tilt actuation mechanisms 3 are both downward deflected; the tilt actuation mechanism movement instruction 5 is an angle of 50° and an angular velocity of 1° / s; The tilt actuation integrated test system 2 sends the tilt actuation mechanism movement instruction 6 to the controller 4 of the tilt actuation mechanism, the left and right tilt actuation mechanisms 3 are both downward deflected; the tilt actuation mechanism movement instruction 6 is an angle of 30° and an angular velocity of 1° / s; The tilt actuation integrated test system 2 sends the tilt actuation mechanism movement instruction 7 to the controller 4 of the tilt actuation mechanism, the left and right tilt actuation mechanisms 3 are both upward deflected; the tilt actuation mechanism movement instruction 7 is an angle of 50° and an angular velocity of 1° / s; The tilt actuation integrated test system 2 sends the tilt actuation mechanism movement instruction 8 to the controller 4 of the tilt actuation mechanism, the left and right tilt actuation mechanisms 3 are both upward deflected; the tilt actuation mechanism movement instruction 8 is an angle of 70° and an angular velocity of 1° / s; The tilt actuation integrated test system 2 sends the tilt actuation mechanism movement instruction 9 to the controller 4 of the tilt actuation mechanism, the left and right tilt actuation mechanisms 3 are both upward deflected; the tilt actuation mechanism movement instruction 9 is an angle of 90° and an angular velocity of 1° / s; (4) 90° calibration of the tilt actuation mechanism The tilt actuation integrated test system 2 sends a tilt actuation movement instruction to the tilt actuation mechanism controller 4 to move the tilt actuation mechanism 3 to 90°, and if the tilt actuation mechanism angle deviation is less than ±0.1°, it is qualified, otherwise, the tilt actuation movement instruction is sent to compensate the deviation angle, until the tilt actuation mechanism angle deviation after compensation is less than ±0.1°. The sensor angles αleft1 and αright1 of the tilt actuation mechanism collected by the nacelle position sensor 5 are bound to the 90° angle value of the tilt actuation mechanism controller 4, and the 90° calibration of the tilt actuation mechanism is completed.
[0031] (5) 70° calibration of the tilt actuation mechanism The tilt actuation integrated test system 2 sends a tilt actuation movement instruction to the tilt actuation mechanism controller 4 to move the tilt actuation mechanism 3 to 70°, and if the tilt actuation mechanism angle deviation is less than ±0.1°, it is qualified, otherwise, the tilt actuation movement instruction is sent to compensate the deviation angle, until the tilt actuation mechanism angle deviation after compensation is less than ±0.1°. The sensor angles αleft2 and αright2 of the tilt actuation mechanism collected by the nacelle position sensor 5 are bound to the 70° angle value of the tilt actuation mechanism controller 4, and the 70° calibration of the tilt actuation mechanism is completed.
[0032] After the tilt actuation integrated test system 2 sends a tilt actuation movement instruction to the tilt actuation mechanism controller 4 to move the tilt actuation mechanism 3 to 80°, it is moved to 70° again, and if the tilt actuation mechanism angle deviation is less than ±0.5°, it is qualified, otherwise, the above steps are repeated until the requirements are met.
[0033] (6) 50° calibration of the tilt actuation mechanism The tilt actuation integrated test system 2 sends a tilt actuation movement instruction to the tilt actuation mechanism controller 4 to move the tilt actuation mechanism 3 to 50°, and if the tilt actuation mechanism angle deviation is less than ±0.1°, it is qualified, otherwise, the tilt actuation movement instruction is sent to compensate the deviation angle, until the tilt actuation mechanism angle deviation after compensation is less than ±0.1°. The sensor angles αleft3 and αright3 of the tilt actuation mechanism collected by the nacelle position sensor 5 are bound to the 50° angle value of the tilt actuation mechanism controller 4, and the 50° calibration of the tilt actuation mechanism is completed.
[0034] After the tilt actuation integrated test system 2 sends a tilt actuation movement instruction to the tilt actuation mechanism controller 4 to move the tilt actuation mechanism 3 to 60°, it is moved to 50° again, and if the tilt actuation mechanism angle deviation is less than ±0.5°, it is qualified, otherwise, the above steps are repeated until the requirements are met.
[0035] (7) 25° calibration of the tilt actuation mechanism The tilt actuator integrated test system 2 sends a tilt actuator movement instruction to the tilt actuator controller 4 to move the tilt actuator 3 to an angle of 25°. If the angle deviation of the tilt actuator is less than ±0.1°, it is qualified. Otherwise, the tilt actuator movement instruction is sent to compensate for the deviation angle until the angle deviation of the tilt actuator is less than ±0.1° after compensation. The sensor angles αleft 4 and αright 4 of the tilt actuator collected by the nacelle position sensor 5 are bound to the 25° angle value of the tilt actuator controller 4, and the 25° calibration of the tilt actuator is completed.
[0036] After the tilt actuator integrated test system 2 sends a tilt actuator movement instruction to the tilt actuator controller 4 to move the tilt actuator 3 to an angle of 30°, it is moved to an angle of 25° again. If the angle deviation of the tilt actuator is less than ±0.5°, it is qualified. Otherwise, the above steps are repeated until the requirements are met.
[0037] (8) 0° calibration of the tilt actuator The tilt actuator integrated test system 2 sends a tilt actuator movement instruction to the tilt actuator controller 4 to move the tilt actuator 3 to an angle of 0°. If the angle deviation of the tilt actuator is less than ±0.1°, it is qualified. Otherwise, the tilt actuator movement instruction is sent to compensate for the deviation angle until the angle deviation of the tilt actuator is less than ±0.1° after compensation. The sensor angles αleft 5 and αright 5 of the tilt actuator collected by the nacelle position sensor 5 are bound to the 0° angle value of the tilt actuator controller 4, and the 0° calibration of the tilt actuator is completed.
[0038] After the tilt actuator integrated test system 2 sends a tilt actuator movement instruction to the tilt actuator controller 4 to move the tilt actuator 3 to an angle of 10°, it is moved to an angle of 0° again. If the angle deviation of the tilt actuator is less than ±0.5°, it is qualified. Otherwise, the above steps are repeated until the requirements are met.
[0039] (9) Calibration value test of the tilt actuator The tilt actuator integrated test system 2 sends a tilt actuator movement instruction to the tilt actuator controller 4 to restore the tilt actuator 3 to an angle of 90°. After ensuring that the 90°, 70°, 50°, 25°, and 0° angles of the tilt actuator have been calibrated and bound, the tilt actuator 3 is set to angles of 90°, 80°, 70°, 60°, 50°, 40°, 30°, 20°, 10°, and 0°, respectively. If the angle deviation at each angle is less than ±0.5°, it is qualified. Otherwise, it is recalibrated. After the calibration value test, the tilt actuator 3 is restored to a state of 90°, and the tilt rotorcraft 1 is restored to a landing state. The connection between the tilt actuator controller input end 7 and the tilt actuator integrated test system 2 is disconnected, and the on-board electrical plug connection is restored.
[0040] (10) Function final test of tilt actuator Function final test of tilt actuator 3 is carried out through flight management system 9 on the airplane.
[0041] At this time, the angle of tilt actuator 3 is 90°, and flight control tilt actuator movement instruction 1 is given through flight management system 9, and left and right tilt actuators 3 are in 90° locking state; flight control tilt actuator movement instruction 1 is angle 80°, speed 1° / s, and tilt is not allowed; Flight control tilt actuator movement instruction 2 is given through flight management system 9, and left and right tilt actuators 3 are deflected downward at a speed of 1±0.5° / s and locked at 80°±0.5°, and the angle difference between the two nacelles during movement does not exceed 0.5°; flight control tilt actuator movement instruction 2 is angle 80°, speed 1° / s, and tilt is allowed; Flight control tilt actuator movement instruction 3 is given through flight management system 9, and left and right tilt actuators 3 are deflected downward at a speed of 3±0.5° / s, locked after receiving the tilt not allowed command, and continue to deflect downward after receiving the tilt allowed command again, and locked at 30°±0.5°, and the angle difference between the two nacelles during movement does not exceed 0.5°; flight control tilt actuator movement instruction 3 is angle 30°, speed 3° / s, and tilt is allowed, tilt is not allowed during tilt, and tilt is allowed after 5s; Flight control tilt actuator movement instruction 4 is given through flight management system 9, and left and right tilt actuators 3 are deflected upward at a speed of 3±0.5° / s and locked at 80°±0.5°, and the angle difference between the two nacelles during movement does not exceed 0.5°; flight control tilt actuator movement instruction 4 is angle 80°, speed 3° / s, and tilt is allowed; Flight control tilt actuator movement instruction 5 is given through flight management system 9, and left and right tilt actuators 3 are deflected upward at a speed of 1±0.5° / s and locked at 90°±0.5°, and the angle difference between the two nacelles during movement does not exceed 0.5°; flight control tilt actuator movement instruction 5 is angle 90°, speed 1° / s, and tilt is allowed; Flight control tilt actuator movement instruction 6 is given through flight management system 9, and left and right tilt actuators 3 are deflected upward at a speed of 1±0.5° / s and locked at 95°±0.5°, and the angle difference between the two nacelles during movement does not exceed 0.5°; flight control tilt actuator movement instruction 6 is angle 95°, speed 1° / s, and tilt is allowed; After the function final test of tilt actuator 3, tilt actuator 3 is restored to 90° state.
[0042] The above merely expresses the embodiments of the present application, the description is more specific and detailed, but cannot be understood as the limitation of the patent scope. It should be noted that for ordinary skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. In addition, the unexplained part of the present application is all the routine technology.
Claims
1. A method for calibrating the angle of a tilting actuator, characterized in that, For a tilting actuation integrated testing system, the method includes: Step 1: Perform power supply characteristic testing on the tilting actuator; Step 2: If the power characteristics test result is qualified, adjust the aircraft to a horizontal state with the fuselage, the wheels off the ground, and the wings in a natural drooping attitude. Attach the electronic angle measuring instrument to the calibration plane of the tilt actuator and install the nacelle position sensor on the tilt actuator. Step 3: Perform motion direction test of the nacelle position sensor and polarity test of the tilting actuator. During the test, send an actuation signal to the tilting actuator controller so that the tilting actuator controller can drive the tilting actuator to rotate based on the actuation signal. Step 4: Perform angle calibration and calibration test on the tilting actuator. During the calibration and test, send an actuation signal to the tilting actuator controller so that the tilting actuator controller can drive the tilting actuator to rotate based on the actuation signal. During angle calibration, obtain the sensor angle collected by the nacelle position sensor, and combine the sensor angle with the actual angle data of the tilting actuator obtained by the electronic goniometer to calibrate the angle of the tilting actuator.
2. The method according to claim 1, characterized in that, Step 1 specifically includes: (1) Connect the input and output terminals of the tilting actuator controller to the adapter cable of the tilting actuator integrated test system; (2) Start the tilting actuation integrated test system. The tilting actuation integrated test system supplies 28V power to the tilting actuation mechanism controller and establishes 1394B communication. (3) The tilting actuation integrated test system sends an actuation signal to the tilting actuation mechanism controller, and the tilting actuation mechanism controller sends power characteristic data to the tilting actuation mechanism so that the tilting actuation integrated test system can collect the power characteristic data. The tilting actuation integrated test system compares the collected power characteristic data with the preset power characteristic data range. If the collected power characteristic data is within the preset power characteristic data range, the power characteristic test result is qualified. The power characteristic data includes analog current, voltage and frequency. (4) Disconnect the adapter cable between the output end of the tilting actuator controller and the tilting actuator integrated test system and restore the power plug connection on the machine.
3. The method according to claim 1, characterized in that, Step 2, the process of installing the nacelle position sensor, includes: Fix the tilting actuator at 90±1°; connect the nacelle position sensor shaft to the tilting actuator spline, but do not tighten the bolts connecting the two yet; adjust the position of the nacelle position sensor shaft and the spline teeth of the tilting actuator so that the left nacelle position sensor pointer is at the 20±1° mark and the right nacelle position sensor pointer is at the 100±1° mark; then tighten the bolts.
4. The method according to claim 1, characterized in that, The process of testing the motion direction of the nacelle position sensor in step 3 is as follows: The tilting actuator integrated test system sends tilting actuator motion command 1 to the tilting actuator controller; the left nacelle position sensor moves clockwise and the right nacelle position sensor moves counterclockwise; tilting actuator motion command 1 is to adjust the tilting actuator angle from large to small; The tilting actuator integrated test system sends tilting actuator motion command 2 to the tilting actuator controller; the left nacelle position sensor moves counterclockwise and the right nacelle position sensor moves clockwise; tilting actuator motion command 2 is to adjust the tilting actuator angle from small to large.
5. The method according to claim 1, characterized in that, The process of conducting the polarity test of the tilting actuator in step 3 is as follows: The tilting actuation integrated test system sends tilting actuation mechanism movement command 3 to the tilting actuation mechanism controller, while keeping the tilting actuation mechanism angle unchanged; tilting actuation mechanism movement command 3 sets the tilting actuation mechanism angle to the current nacelle position sensor angle; The tilting actuator integrated test system sends tilting actuator motion command 4 to the tilting actuator controller, which reduces the tilting actuator angle; tilting actuator motion command 4 is to adjust the tilting actuator angle from large to small; The tilting actuator integrated test system sends tilting actuator motion command 5 to the tilting actuator controller, which increases the tilting actuator angle; tilting actuator motion command 5 is to adjust the tilting actuator angle from small to large.
6. The method according to claim 1, characterized in that, The process of calibrating the angle of the tilting actuator in step 4 is as follows: Multiple tilting actuator angles that need to be calibrated are preset; When calibrating an angle, the tilting actuator integrated test system sends a tilting actuator movement command 6 to the tilting actuator controller; the tilting actuator moves to the angle indicated by the tilting actuator movement command 6; if the tilting actuator angle deviation is less than ±0.1°, it is qualified; the tilting actuator angle deviation is the difference between the sensor angle collected by the nacelle position sensor and the actual angle data of the tilting actuator obtained by the electronic goniometer; the tilting actuator movement command 6 is the angle to be calibrated; otherwise, the tilting actuator integrated test system sends a tilting actuator movement command 6 to the tilting actuator controller. The actuation mechanism controller sends tilting actuation mechanism movement command 7; the tilting actuation mechanism moves to the angle indicated by tilting actuation mechanism movement command 7, and the tilting actuation mechanism angle deviation is compensated; until the tilting actuation mechanism angle deviation after compensation is less than ±0.1°; the tilting actuation mechanism movement command 7 is the angle after tilting actuation mechanism movement command 6 is compensated for the tilting actuation mechanism angle deviation; the current sensor angle α collected by the nacelle position sensor is used as the angle to be calibrated in tilting actuation mechanism movement command 6, and the calibration of this angle is completed; Repeat the above steps to complete the calibration of the remaining angles.
7. The method according to claim 1, characterized in that, The calibration test of the tilting actuator in step 4 is as follows: The tilting actuator integrated test system sends tilting actuator motion command 8 to the tilting actuator controller; the tilting actuator moves to the angle indicated by tilting actuator motion command 8; If the angle deviation of the tilting actuator is less than ±0.5°, it is qualified; otherwise, the angle calibration of the tilting actuator should be repeated. The tilting actuator motion command 8 is the angle that needs to be calibrated and tested, and the calibration and test angle covers 90°~0°.
8. The method according to claim 7, characterized in that, The method further includes: After the calibration test is completed, the tilting actuator will be restored to 90° and the aircraft will be returned to the landing position. Disconnect the adapter cable between the tilt actuator controller input terminal and the tilt actuator integrated test system and restore the power plug connection on the machine.