Accelerator table signal acquisition and measurement system and method

Abstract

The invention relates to an accelerator table signal acquisition and measurement system, and the system comprises a test bench which is used for installing and fixing all parts of the accelerator table signal acquisition and measurement system; the RVDT is arranged in the accelerator table test piece and is used for acquiring an angular velocity signal of the accelerator lever and integrating and forwarding the acquired angular velocity signal and a force signal to the industrial personal computer; the tail end executing mechanism is used for simulating a human arm under the control of the mechanical arm to carry out various accurate test operations on the accelerator table; the mechanical arm is used for setting mechanical arm pose teaching and track planning through programming to simulate an operation track of a human arm and adjusting the angle of a tail end executing mechanism in real time so as to ensure that the tail end executing mechanism moves in the tangential direction on a motion curve all the time; and the industrial personal computer is used for controlling the motion trails, the operation angles and the force of the tail end executing mechanism and the mechanical arm by providing an interactive interface between equipment and people and a pre-written control program so as to simulate accurate test operation of the human arm to realize automatic test.

Description

Technical Field

[0001] This application relates to the field of power control and manipulation of aircraft power systems, and more specifically, to a method and system for acquiring and measuring throttle force signals and speed signals. Background Technology

[0002] The throttle console, used by pilots to control the thrust of aircraft engines, is mounted on the central control panel of the cockpit. It has important functions such as providing forward and reverse thrust control commands, discrete signals indicating the positions of the forward and reverse thrust levers, providing a soft latch during the reverse thrust stroke, providing a means to activate takeoff / go-around, providing a means to cut off the autothrottle, and providing a means to start and stop engine fuel supply.

[0003] During the aircraft design phase, the following design requirements apply to the throttle console: (1) Force signals such as the stroke control force of the throttle plate forward thrust rod and reverse thrust rod, the maximum control force, the lifting force of the pull-type reverse thrust unlocking device, and the reverse thrust retraction soft locking force; (2) Operating force of TO / GA switch and A / T disconnect switch; (3) The angles of motion of the forward and reverse thrust rods; (4) The speed of movement of the forward thrust rod and the reverse thrust rod.

[0004] In other words, only when the parameters of the designed throttle console meet the above design requirements can it be practically applied to the aircraft. Therefore, during the design phase, it is necessary to use certain technical means to collect and measure force and velocity signals to confirm whether the force and velocity design of the throttle console meets the design requirements.

[0005] Currently, the main methods for measuring throttle position signals are as follows: Figure 1 As shown, a manual spring scale was used to measure the force signals of the forward and reverse thrust rods. This method is difficult to operate and cannot ensure that the spring always moves in the tangential direction (i.e., in a direction that is always perpendicular to the contact surface of the rod / switch). Therefore, the convenience and accuracy of the measurement urgently need to be improved.

[0006] Meanwhile, the measurement of various parameters of the throttle body also includes measuring the switch pressing force and the throttle lever movement speed to confirm whether they meet the design requirements. However, the measurement method of the manual pull spring scale mentioned above obviously cannot meet these measurement needs.

[0007] Therefore, a new acquisition and testing solution is needed to automatically, conveniently, and in real-time acquire and integrate throttle force and speed signals. Summary of the Invention

[0008] This application provides a scheme for acquiring and measuring throttle force and speed signals, which includes a robotic arm connected to a high-precision sensor to automatically and in real time acquire and measure the force signals and speed signals generated by the forward / reverse push operation of the throttle lever and the pressing of the switch.

[0009] According to a first aspect of this application, a throttle position signal acquisition and measurement system is provided, comprising: The test bench is configured to mount and fix the various components of the throttle signal acquisition and measurement system, and to provide power supply / communication interaction between these components. The rotating variable differential transformer RVDT, installed in the throttle platform test piece, is configured to acquire the angular velocity signal of the throttle lever and integrate the acquired angular velocity signal with the force signal and forward it to the industrial control computer. The end effector, located at one end of the robotic arm, is configured to simulate a human arm under the control of the robotic arm to perform various precise test operations on the throttle. The robotic arm has one end fixed to the test bench and the other end equipped with the end effector. The robotic arm is configured to simulate the operation trajectory of a human arm by programming the robotic arm pose teaching and trajectory planning, and at the same time adjust the angle of the end effector in real time to ensure that it moves tangentially along the motion curve at all times. An industrial control computer is configured to control the motion trajectory, operating angle, and force of the end effector and the robotic arm through a control program to simulate the precise testing operations of a human arm and achieve automated testing.

[0010] According to a second aspect of this application, a method for acquiring and measuring throttle position signals is provided, comprising: Perform initial configuration of the throttle console signal acquisition and measurement system; The operating environment of the throttle signal acquisition and measurement system can be set through the interactive interface provided by the industrial control computer of the throttle signal acquisition and measurement system; The industrial control computer controls the motion trajectory, operating angle, and force of the end effector and robotic arm by calling the control program (including the corresponding control parameters of the throttle test database) to simulate the precise test operation of the human arm and simultaneously collect the corresponding test signal data. The industrial control computer receives the collected test signal data, stores it, and displays it on the display interface. During the test operation, the end effector always moves along the tangential direction using the control program.

[0011] This overview is provided to introduce, in a simplified form, some of the concepts further described in the detailed description below. This overview is not intended to identify key or essential features of the claimed subject matter, nor is it intended to limit the scope of the claimed subject matter. Attached Figure Description

[0012] To describe how the above and other advantages and features of the invention are obtained, a more detailed description of the invention, which has been briefly described above, will be presented with reference to specific embodiments of the invention shown in the accompanying drawings. It will be understood that these drawings depict only exemplary embodiments of the invention and are therefore not intended to limit its scope. The invention will be described and explained using the drawings and with the aid of additional features and details, in which: Figure 1 This demonstrates a traditional throttle force signal measurement method that uses a manually pulled spring scale to measure the force signals of the forward and reverse thrust rods.

[0013] Figure 2 A schematic structural diagram of a throttle position signal acquisition and measurement system according to an embodiment of this application is shown.

[0014] Figure 3 A force measurement schematic diagram of a tension / compression sensor according to an embodiment of this application is shown.

[0015] Figure 4 A schematic diagram of throttle lever (push lever) operating force measurement according to an embodiment of this application is shown.

[0016] Figure 5 A schematic diagram of throttle lever (reverse thrust lever) operating force measurement according to an embodiment of this application is shown.

[0017] Figure 6 A schematic diagram of the torque direction of a pressure sensor according to an embodiment of this application is shown.

[0018] Figure 7 A schematic diagram of switch press pressure measurement according to an embodiment of this application is shown.

[0019] Figure 8 A schematic flowchart of a method for maintaining the tangential direction by force according to an embodiment of this application is shown.

[0020] Figure 9 A schematic flowchart of a throttle position signal acquisition and measurement method according to an embodiment of this application is shown. Detailed Implementation

[0021] As mentioned earlier, current throttle position signal measurement technology lacks a mechanism for simultaneously and automatically measuring force and speed signals from the throttle position. Force signal testing of throttle positions on-board or in the laboratory still relies on manual methods, i.e., manually operating springs to pull the forward and reverse thrust rods to measure the force.

[0022] Furthermore, the traditional solution cannot automatically and accurately acquire and measure various force and speed signals, such as the operating force of the throttle lever, the operating force of the push lever, the lifting force of the pull-type push unlocking device, the push retraction soft locking force, the operating force of the TO / GA switch and A / T disconnect switch, and the throttle lever movement rate (angular velocity).

[0023] Therefore, it is evident that the existing technology mainly suffers from the following problems that need to be overcome: (1) Using a manual spring scale to measure force signals is difficult to operate and cannot ensure that the spring always moves in the tangential direction, which means that the convenience and accuracy of force signal measurement cannot be guaranteed, resulting in poor measurement effect; (2) Currently, there is a lack of an integrated solution for throttle consoles that can automatically and synchronously acquire and measure force and speed signals.

[0024] To address these issues, this invention provides a scheme for acquiring and measuring throttle force and speed signals. By connecting a robotic arm to a high-precision sensor, the scheme automatically and in real-time acquires and measures the force and speed signals generated by the forward / reverse push of the throttle lever and the pressing of the switch, thus overcoming the problems described in the prior art. This scheme can be applied to scenarios such as QTP (Quality to Test) and engineering testing during the R&D phase, as well as the precise measurement of throttle force and speed signals by the ATP (Automatic Test Equipment) system at the factory.

[0025] Specifically, in Figure 2 A schematic structural diagram of a throttle position signal acquisition and measurement system according to an embodiment of this application is shown.

[0026] As shown in the figure, this application provides a throttle platform signal acquisition and measurement system, which is used to test a throttle platform test piece. The system mainly includes a test bench 1, a rotary variable differential transformer (RVDT) 2 (integrated with the throttle platform to be tested), a robotic arm 4 with an end effector 3, and an industrial control computer 5. The throttle platform signal acquisition and measurement system is mainly used to acquire and test signals from the throttle platform test piece 6 placed on it.

[0027] The test bench 1 is configured to install and fix the various components of the throttle platform signal acquisition and measurement system, and to provide power / communication interaction for these components.

[0028] Specifically, the main body of the test bench 1 can be an example of a frame welded from square steel. Of course, other materials that can provide a robust supporting structure can also be used, such as aluminum alloy, carbon steel, high-strength plastics, etc.

[0029] The main structure and functions of the test bench 1 are as follows: (1) An upper mounting plate is used to fix the robotic arm 4 and the throttle test piece 6; (2) The internal components include a control cabinet for controlling the operation and communication of the robotic arm 4 and the end effector 3, an electrical cabinet for providing power, and power supply / communication interaction with internal equipment such as RVDT 2 and robotic arm 4. (3) The four sides are designed with sealing plates or doors. The sealing plates are equipped with electrical interfaces such as power supply and communication to realize power supply / communication interaction with external equipment such as industrial control computer 5; (4) Emergency stop buttons are installed around the perimeter to enable emergency stop in abnormal situations; (5) The bottom is equipped with casters and feet, and the sides are equipped with handles to facilitate the movement and placement of the test bench.

[0030] (6) Provide network hardware interfaces such as Ethernet to support the secondary development of the test bench, allowing the server to modify and update the control processor in the test bench through network connection to provide more functions.

[0031] (7) Provide a network port hardware interface, and realize the communication network between various components and the data interaction with external devices such as external industrial control computers through industrial switches inside the system, thereby realizing data communication with other devices, such as transferring the collected throttle force signal and the measured speed signal to the industrial control computer 5 for analysis and storage.

[0032] It should be understood that the above example structures are provided for illustrative purposes only and are not intended to limit the scope of the invention. Developers may add or remove components as needed, and such additions and subtractions fall within the protection scope of this application.

[0033] Rotary variable differential transformer (RVDT) 2 is installed in the throttle test piece 6.

[0034] The throttle platform test piece 6 is actually the throttle platform sample to be tested. Each throttle platform test piece 6 is equipped with a rotary variable differential transformer (RVDT) 2. The RVDT 2 can be connected to the data acquisition card in the control cabinet of the test bench 1 via a cable through the communication interface located under the throttle platform. In this way, the detected angular displacement signal can be converted into the corresponding angular velocity signal and transmitted to the industrial control computer 5.

[0035] The throttle platform test piece 6 is fixed to the base plate of the test bench 1, and its structure is the test piece body (suitable for both backpack and straight-through throttle platforms). When used in the R&D phase (QTP or engineering testing) or the ATP (Automatic Test Platform) phase, it mainly performs the following functions: (1) The force signal is measured using the robotic arm with end effector described in this application; (2) The angular displacement signal collected by the rotating variable differential transformer RVDT 2 inside the throttle platform is converted into an angular velocity signal through rate of change processing and provided to the throttle platform signal acquisition and measurement system to realize the acquisition of the throttle lever angular velocity signal.

[0036] The rotating variable differential transformer (RVDT) 2 is originally installed in the throttle console and is one of the components of the throttle console. The RVDT 2 is configured to collect the angular velocity signal of the throttle lever, and through programming settings, the collected angular velocity signal and force signal are integrated and forwarded to the industrial control computer 5, thereby measuring whether the throttle force signal and velocity signal meet the requirements under various scenarios.

[0037] The main function of the RVDT 2 is to convert the angular displacement of the throttle lever into a linear voltage signal, the output of which is proportional to the rotation angle of the throttle lever.

[0038] Specifically, the RVDT 2 is mainly composed of the following main components: Hollow cylindrical structure: serving as the main frame, with primary and secondary coils wound inside.

[0039] Armature core: A magnetic component that can rotate freely, and its angular displacement changes the magnetic field distribution.

[0040] Primary coil: It receives a constant amplitude alternating current and generates an alternating magnetic field.

[0041] Secondary coil: Two coils with equal number of turns are connected in series in a differential configuration, and the output voltage signal is proportional to the core angle.

[0042] Housing and mechanical connectors: protect the internal structure and enable mechanical coupling with the throttle lever.

[0043] The RVDT 2 transmits the collected angular velocity signal to the control cabinet of the test bench 1 through the communication interface in the throttle test piece 6, and then forwards it to display and operation equipment such as industrial control computer for further processing.

[0044] The end effector 3 is mounted on the robotic arm 4 and is configured to simulate a human arm to perform various precise test operations on the throttle panel under the control of the robotic arm 4, while collecting corresponding force signals to provide to the industrial control computer.

[0045] The end effector 3 adopts a needle-shaped metal structure and mainly consists of a force sensor, a throttle lever, a switch push rod, and an interface for communication with the robotic arm. These components and their main functions are as follows: (1) A throttle rod push rod is arranged on the end effector to realize the push-pull function operation of the forward thrust rod and the reverse thrust rod, so as to realize the real-time measurement of the push-pull force; (2) A switch pressing rod is arranged on the end actuator to realize the pressing function operation of the TO / GA switch and A / T disconnect switch, so as to realize the real-time measurement of pressing force; (3) Arrange high-precision tension and compression sensors with appropriate range on the end effector. The force value monitoring during the operation of the robotic arm is realized by collecting and measuring the push and pull force values ​​of the throttle rod push rod through the tension and compression sensors. At the same time, the corresponding force signal is fed back to the industrial control computer 5 to realize the out-of-tolerance alarm. (4) Arrange a high-precision, appropriately ranged pressure sensor on the end effector to realize the acquisition and measurement of the switch pressing force (e.g., Figure 7 As shown in the figure, the corresponding force signal is fed back to the industrial control computer 5 to realize the out-of-tolerance alarm; (5) The force sensor can communicate using a dedicated multi-core cable and output relevant signals. The default connection requirement is a serial port. Alternatively, a wireless communication module can be used to achieve data communication.

[0046] The force measurement diagram of the tension / compression sensor is shown below. Figure 3 As shown in the figure, the tensile and compressive sensor is made of high-strength alloy steel with high elastic modulus and fatigue resistance. It is designed as a double-bending beam structure with a thin-walled sensitive area in the middle.

[0047] The working principle of the tension / compression sensor is based on the relationship between the deformation of an elastic body and the resistance change of a strain gauge. Specifically, when subjected to force, the elastic body undergoes elastic deformation, and the deformation is linearly related to the magnitude of the external force. This deformation is transmitted to the strain gauge, causing a change in its resistance, thus converting the mechanical force into an electrical signal. The working process of the tension / compression sensor involves the following steps: 1) Relationship between elastic deformation and external force When an external force (tension or compression) is applied to the elastic body of the sensor, the elastic body undergoes corresponding deformation, and the amount of deformation is linearly related to the magnitude of the external force. This deformation is elastic deformation, and the elastic body can return to its original shape after the external force is removed.

[0048] 2) Resistance change of the strain gauge

[0049] Strain gauges are bonded to the surface of an elastomer. When the elastomer deforms, the strain gauges undergo tensile or compressive changes, resulting in an increase in their internal resistance value Δ. RChanges. For example, resistance increases when stretched and decreases when compressed.

[0050] 3) Electrical signal conversion

[0051] Strain gauges are typically used to form a Wheatstone bridge circuit. Changes in resistance cause changes in the bridge's output voltage, and this voltage signal is proportional to the magnitude of the external force. For example, a four-strain gauge full-bridge structure can improve sensitivity and compensate for temperature effects.

[0052] 4) Signal Processing and Output

[0053] The weak voltage signal output by the bridge is amplified, filtered, and then converted into a standard electrical signal (such as 4-20mA or 0-10V), which is then fed back to, for example, an industrial control computer 5 via a communication link.

[0054] In specific application scenarios, when measuring the force signal of the positive thrust rod (such as...) Figure 4 As shown), when the throttle lever of the end effector 3 is pulled by the robotic arm 4 to pull the push rod of the throttle platform, it undergoes tensile deformation, the strain gauge length increases, and the resistance increases (Δ). R >0).

[0055] When measuring the thrust reverser force signal (e.g.) Figure 5 As shown), when the throttle lever of the end effector 3 is pushed by the robotic arm 4, it undergoes compressive deformation, the strain gauge length shortens, and the resistance decreases (Δ). R <0).

[0056] In both test scenarios, the output voltage under stress is amplified, filtered, temperature compensated and linearized by the internal instrument voltage converter of the test bench 1, and then the test bench 1 transmits the processed force signal to display and operation equipment such as an external industrial control computer through a communication network.

[0057] Similarly, the pressure sensor uses a high-strength aluminum or titanium alloy with high stiffness, low hysteresis, and fatigue resistance. Its working principle is as follows: through the combination of elastic body deformation and strain gauge / pressure point elements, the force signal in three-dimensional space (such as...) is... Figure 6 shown F x , F y , F z , M x , M y , M zThe strain gauge's resistance change is converted into a voltage signal through the piezoelectric effect, which is then decoupled and calibrated before being amplified and filtered by the internal instrument voltage converter of the test bench 1. Finally, the test bench 1 transmits the processed force signal to a display and operating device such as an external industrial control computer via a communication network. Since its working principle is basically similar to that of tension / compression sensors—both convert the deformation of the elastic body under stress into a strain gauge resistance change to generate a corresponding force signal—the specific working steps will not be elaborated here.

[0058] It should be understood that the end effector and the aforementioned test sensors included therein are merely given as examples and are not intended to limit the scope of the invention. Depending on actual requirements, technicians can modify the type and number of sensors configured on the end effector to acquire the desired test signal data. Such modifications are all within the scope of this application.

[0059] One end of the robotic arm 4 is fixed to the test bench 1, while the other end is equipped with the end effector 3. Preferably, the degree of freedom of the robotic arm body is no less than that of a simulated human arm.

[0060] In one example, robotic arm 4 is composed of rigid links connected in series or parallel via joints (rotational or translational joints), mainly consisting of an arm (positioning) and a wrist. For example, a typical six-axis robotic arm achieves arbitrary pose control in three-dimensional space through six degrees of freedom, where the first three joints are responsible for positioning and the last three joints are responsible for orientation.

[0061] The robotic arm 4 is configured to simulate the operating trajectory of a human arm through programming, setting the robotic arm's pose teaching and trajectory planning, while simultaneously adjusting the angle of the end effector in real time, thereby ensuring that it always moves tangentially along the motion curve. In this way, during the test, by using the robotic arm to keep the movement trajectory of the end effector in the normal direction to the force-measuring mechanisms on the throttle test piece (such as the forward and reverse thrust rods of the throttle lever, the TO / GA switch, and the A / T disconnect switch), the force sensor integrated on the end effector 3 can accurately and conveniently measure the output force signal.

[0062] The industrial computer 5 is configured to control the motion trajectory, operating angle and force of the end effector 3 and the robotic arm 4 by providing an interactive interface between the equipment and the human and a pre-written control program to simulate the precise testing operation of the human arm and achieve automatic testing.

[0063] The industrial control computer 5 is also configured to receive and store various test signal data collected, such as: the stroke operating force of the throttle front thrust lever and the reverse thrust lever, the maximum operating force, the lifting force of the pull-type reverse thrust unlocking device, the reverse thrust retraction soft locking force, etc.; the operating force of the TO / GA switch and the A / T disconnect switch; the movement angle of the front thrust lever and the reverse thrust lever; the movement speed of the front thrust lever and the reverse thrust lever, etc.

[0064] The industrial control computer 5 can be built into the test bench 1 and communicate with the end effector 3 and the robotic arm 4 via a control cabinet. Alternatively, the industrial control computer 5 can be external and communicate with the control cabinet of the test bench 1 via a communication link. The communication link can be a wired or wireless link.

[0065] Specifically, during the system initialization phase of the industrial control computer 5, a pre-written control program for controlling the movement of the robotic arm and end effector needs to be loaded. This control program must not only meet relevant test requirements but also ensure that the end effector always moves tangentially during force testing. This involves an adaptive attitude adjustment mechanism, meaning that the attitude of the end effector is not fixed during the robotic arm's movement. The control system calculates an optimal contact angle in real time based on the current position of the end effector and the geometric model of the throttle control component, thereby ensuring: 1. Normal contact; 2. Torque balance: Ensures that the contact force passes through the intended point of application, preventing the generation of abnormal torques that could cause the control components to twist.

[0066] To achieve the tangential motion and adaptive attitude adjustment, the control program of the industrial computer 5 includes the following processing steps: 1) Data Acquisition: During the preparation phase of various signal tests on the throttle platform, raw data such as the movement trajectory of the flight expert's arm, operating force, and hand posture are captured by sensors. The flight expert is a technician with sufficient experience and ability to control the arm to perform various operations on the throttle platform test piece 6 according to test requirements during the test. Therefore, the various operational data provided by the expert can serve as reference data for controlling the end effector 3 and the robotic arm 4.

[0067] 2) Data processing and parameter extraction: The collected raw data is transformed into corresponding control parameters that can be executed by the robotic arm 4 and the end effector 3 through methods such as trajectory smoothing and fitting, force curve featureization, and posture rule induction. 3) Throttle test database construction: The processed control parameters are stored in a structured manner to form a throttle test database that includes parameters such as motion trajectory, force curve, and attitude. 4) Control execution: When the robotic arm 4 is working, it obtains the corresponding parameters by querying the throttle test database to control the motion trajectory and manipulation force in real time and in a coordinated manner, so as to simulate the manipulation behavior of a flight expert.

[0068] 5) Ensure the force is maintained in the tangential direction: During the operation of the end effector 3, the theoretical posture and motion trajectory are calculated based on the corresponding parameters in the throttle test database. The lateral force and torque deviation values ​​are detected in real time through the force sensor, and the posture is dynamically fine-tuned through the calculation compensation algorithm to eliminate the deviation.

[0069] Among them, master-slave control technology can be adopted, that is, the system mainly uses position control, but also passively fine-tunes the attitude of the end effector 3 according to the small torque signal fed back by the force sensor, so as to achieve "compliant" control and find the most stable contact attitude.

[0070] Specifically, the example control method for maintaining the tangential direction of the force is as follows: Figure 8 As shown.

[0071] When the end effector performs an operation, the control can be divided into two levels: the feedforward planning layer and the feedback closed-loop control layer.

[0072] First, in step 802 of the feedforward planning layer, the tangent direction of each point on the motion trajectory is calculated based on the motion trajectory model.

[0073] Subsequently, in step 804, the target posture of the end effector 3 is output according to the control program (including the corresponding parameters in the throttle test database).

[0074] Next, in step 806, each force sensor monitors the actual posture data of the end effector 3 in real time.

[0075] Then, in step 808, it is determined whether a non-tangential force is detected.

[0076] If no non-tangential force is detected, the process proceeds to step 810, continuing the tangential motion.

[0077] If a non-tangential force is detected, the process proceeds to step 812 in the feedback closed-loop control layer to calculate the lateral force / torque deviation value.

[0078] Subsequently, in step 814, the required attitude compensation amount is calculated using methods such as an impedance controller based on the deviation value.

[0079] Next, in step 816, the corresponding attitude adjustment command is executed based on the calculated attitude compensation amount.

[0080] Then, the process returns to step 806, where the force sensor monitors the actual attitude data of the end effector 3 again, and it is determined whether non-tangential force is detected in the compensated attitude.

[0081] If non-tangential force is still detected, repeat steps 812-816, and repeat the steps until the deviation is eliminated and tangential motion is achieved.

[0082] use Figure 8 The control method shown allows the end effector 3 to maintain tangential movement along the motion curve during operation (e.g., during push-pull operations on the forward and reverse thrust rods), thereby greatly improving the accuracy of the measured test signal data.

[0083] By initializing and loading the control program with adaptive attitude adjustment and the throttle test database, engineers can then set the operating environment of the throttle signal acquisition and measurement system through the interactive interface provided by the industrial control computer's control software. This includes issuing instructions on the type of throttle test operation to be performed and inputting design requirement parameters. Based on these instructions, the industrial control computer 5 controls the motion trajectory and attitude of the end effector 3 and the robotic arm 4 according to the corresponding control program (including the corresponding parameters in the throttle test database) to simulate the measurement operations of a flight expert, while simultaneously acquiring accurate measurement signal data in real time.

[0084] On the other hand, the industrial control computer 5, as a data storage and output interface, can support the storage and export of real-time data from the throttle signal acquisition and measurement system. That is, various measurement signal data acquired by the end effector 3 are forwarded to the industrial control computer 5 through the control cabinet, and the industrial control computer 5 can store and export the measurement signal data. Furthermore, in some embodiments, the industrial control computer 5 can also perform analysis processing on the measurement signal data and output an analysis report to the operator. For example, the corresponding report can be displayed on a screen or forwarded to a remote server. The analysis report lists whether the detected throttle parameters meet the design requirements, and can even provide optimization suggestions for parts that do not meet the design requirements.

[0085] After introducing the schematic structure of the throttle console signal acquisition and measurement system of this application, the following section combines... Figure 9 The following is a schematic flowchart illustrating a throttle position signal acquisition and measurement method according to an embodiment of this application.

[0086] As shown in the figure, firstly, at step 902, the throttle platform signal acquisition and measurement system is initialized and configured.

[0087] The initialization configuration can be divided into software and hardware levels.

[0088] At the software level, the industrial control computer 5 loads a pre-written control program (including a throttle test database). Using the control program and the throttle test database, the movement trajectory, operating angle, and force of the end effector 3 and the robotic arm 4 can be controlled to simulate the precise testing operations of a human arm and achieve automatic testing.

[0089] At the hardware level, the throttle platform test piece 6 is placed on the base plate of the test bench 1, and its RVDT 2 is connected to the data acquisition card in the control cabinet of the test bench 1 via a cable through the communication interface located below the throttle platform.

[0090] Subsequently, at step 904, the technician sets the operating environment of the throttle signal acquisition and measurement system through the interactive interface provided by the industrial control computer 5 of the throttle signal acquisition and measurement system, such as issuing instructions on which type of throttle test operation to perform and inputting design requirement parameters, etc.

[0091] The types of commands for the throttle panel test operation may include the following types of tests: force signals such as the stroke control force of the throttle panel forward thrust lever and reverse thrust lever, maximum control force, lifting force of the pull-type reverse thrust unlocking device, and reverse thrust retraction soft locking force; control force of the TO / GA switch and A / T disconnect switch; movement angle of the forward thrust lever and reverse thrust lever; movement rate of the forward thrust lever and reverse thrust lever, etc.

[0092] Next, after receiving the corresponding instructions, at step 906, the industrial control computer 5, according to the instructions, calls the control program (including the corresponding control parameters of the throttle test database) to control the motion trajectory, operating angle, and force of the end effector 3 and the robotic arm 4 to simulate the precise test operation of a human arm and simultaneously collect the corresponding test signal data. The test signal data includes the angular velocity signal collected by the RVDT 2 of the throttle test piece 6 and various force signals collected by the end effector 3.

[0093] During the test operation, the end effector always moves along the tangential direction using the adaptive attitude adjustment mechanism provided by the control program.

[0094] The test signal data includes, for example, the following force signals: the stroke force of the throttle front push rod and the back push rod, the maximum operating force, the lifting force of the pull-type back push unlocking device, and the back push retraction soft locking force; the operating force of the TO / GA switch and the A / T disconnect switch; the movement angle of the front push rod and the back push rod; the movement speed of the front push rod and the back push rod, etc.

[0095] Finally, in step 908, the industrial control computer 5 receives the collected test signal data, stores it, and displays it on the display interface to inform the technicians of the test results. In a preferred embodiment, the industrial control computer 5 can further analyze the measurement signal data and output an analysis report to the operator. For example, the report can be displayed on the display interface or forwarded to a remote server. The analysis report can list whether the detected parameters of the throttle meet the design requirements and provide corresponding optimization suggestions.

[0096] In summary, the solution proposed in this application has the following advantages: Innovation and Advantage 1: During the force signal measurement process, the robot arm's posture teaching and trajectory planning can be set through programming, enabling the end effector to adjust its angle in real time. This ensures that the robot can move tangentially at all times when pushing, pulling the positive thrust rod, and the negative thrust rod, overcoming the problem that the original force measurement scheme could not ensure normal force measurement, greatly improving measurement accuracy. At the same time, it is more convenient and efficient than manual measurement, and is applicable to both backpack throttle platforms and straight-through throttle platforms.

[0097] Innovation and Advantage 2: During the speed signal measurement process, the angular displacement signal is obtained by synchronously acquiring the RVDT signal inside the throttle console. The angular velocity of the throttle lever is obtained by calculating its rate of change, and thus the speed signal. This not only avoids the need for redundant sensors but also ensures consistency with the onboard speed signal transmitted to the interface system after deployment. It is also suitable for both backpack and through-type throttle consoles.

[0098] Innovation and Advantage 3: As an integrated acquisition and measurement system, it can automatically, synchronously and accurately acquire and measure throttle force signals and speed signals.

[0099] Although the techniques have been described using language specific to structural features and / or methodological actions, it should be understood that the appended claims are not necessarily limited to the described features or actions. Rather, these features and actions are described as exemplary forms of implementing these techniques.

[0100] The operations of the example processes are shown in separate boxes and are summarized with reference to these boxes. These processes are shown as a flow of logical boxes, each of which may represent one or more operations that can be implemented using hardware, software, or a combination thereof. In the context of software, these operations represent computer-executable instructions stored on one or more computer-readable media that, when executed by one or more processors, cause one or more processors to perform a given operation. Generally, computer-executable instructions include routines, programs, objects, modules, components, data structures, etc., that perform a particular function or implement a particular abstract data type. The order in which the operations are described is not intended to be construed as limiting, and any number of the operations may be executed in any order, combined in any order, subdivided into multiple sub-operations, and / or executed in parallel to implement the described process. The described process may be executed by resources associated with one or more computing devices, such as one or more internal or external CPUs or GPUs, and / or one or more pieces of hardware logic, such as FPGAs, DSPs, or other types of accelerators.

[0101] All of the methods and processes described above can be embodied in software code modules executed by one or more general-purpose computers or processors, and can be fully automated via these software code modules. These code modules can be stored on any type of computer-executable storage medium or other computer storage device. This code can also be packaged into corresponding computer program products. Some or all of these methods can alternatively be embodied in dedicated computer hardware.

[0102] Any routine description, element, or box in the flowcharts described herein and / or in the accompanying drawings should be understood as potentially representing a module, segment, or portion of code comprising one or more executable instructions for implementing a specific logical function or element in that routine. Alternative implementations are included within the scope of the examples described herein, wherein elements or functions may be removed or performed inconsistently with the order shown or discussed, including substantially synchronous or reverse order execution, depending on the functionality involved, as will be understood by those skilled in the art.

[0103] While different embodiments have been described above, it should be understood that they are merely examples and not limitations. Those skilled in the art will appreciate that various modifications in form and detail may be made without departing from the spirit and scope of the invention as defined in the appended claims. Therefore, the breadth and scope of the invention disclosed herein should not be limited by the exemplary embodiments disclosed above, but should be defined solely by the appended claims and their equivalents.

Claims

1. A throttle platform signal acquisition and measurement system for testing throttle platform test pieces, comprising: The test bench is configured to mount and fix the various components of the throttle signal acquisition and measurement system, and to provide power and communication for these components. A rotary variable differential transformer (RVDT) installed inside the throttle platform test piece is configured to detect the angular velocity signal of the throttle lever in the throttle platform test piece and forward the acquired angular velocity signal to the industrial control computer. The robotic arm has one end fixed to the test bench and the other end equipped with an end effector. The robotic arm is configured to simulate the operation trajectory of a human arm and simultaneously adjust the angle of the end effector in real time to ensure that it moves tangentially along the motion curve at all times, so as to perform various precise test operations on the throttle and forward the force signal collected by the end effector to the industrial control computer. An industrial computer is configured to control the robotic arm and the end effector through a control program to simulate the precise testing operations of a human arm to achieve automated testing.

2. The throttle console signal acquisition and measurement system as described in claim 1, characterized in that, in, The test bench includes: A base plate is used to fix the robotic arm and the throttle platform test piece; The control cabinet is used to control the operation and communication of the robotic arm and end effector; Electrical cabinet that provides power; The network port hardware interface is used to enable communication networking between various components within the system and to exchange data with external devices via industrial switches.

3. The throttle console signal acquisition and measurement system as described in claim 2, characterized in that, in, The RVDT is connected to the control cabinet of the test bench via a cable through a communication interface located below the throttle console to convert the detected angular displacement signal into the angular velocity signal and then transmit it to the industrial control computer.

4. The throttle console signal acquisition and measurement system as described in claim 1, characterized in that, The end effector includes: Throttle lever push rod used to realize the push-pull function operation of the forward thrust rod and the reverse thrust rod; A switch push lever used to perform the pressing function operation of TO / GA switches and A / T disconnect switches; An interface for communicating with the robotic arm; and Force sensor, wherein the force sensor includes: A tension / compression sensor is configured to acquire and measure the push / pull force value of the throttle lever push rod, and simultaneously feed back the corresponding force signal to the industrial control computer; The pressure sensor is configured to collect and measure the pressure applied to the switch and simultaneously feed the corresponding force signal back to the industrial control computer.

5. The throttle console signal acquisition and measurement system as described in claim 4, characterized in that, The industrial control computer is preloaded with the control program for controlling the movement of the robotic arm and the end effector; The control program includes the following processing steps: 1) During the preparation phase of various signal tests on the throttle platform, the raw data of the flight expert's arm movement trajectory, operating force, and hand posture are captured by sensors to serve as reference data for controlling the end effector and the robotic arm. 2) The collected raw data is transformed into control parameters that can be executed by the robotic arm and the end effector through trajectory smoothing and fitting, force curve characterization, and posture rule induction methods; 3) The processed control parameters are stored in a structured manner to form a throttle test database; 4) When the robotic arm is working, the corresponding parameters are obtained by querying the throttle test database to control the movement trajectory and manipulation force of the robotic arm in real time and in a coordinated manner, so as to simulate the manipulation behavior of a flight expert. 5) When the end effector is working, the theoretical attitude and motion trajectory are calculated based on the corresponding parameters in the throttle test database. The lateral force and torque deviation values ​​are detected in real time by force sensor feedback, and the attitude of the end effector is dynamically fine-tuned by calculation compensation algorithm.

6. The throttle console signal acquisition and measurement system as described in claim 5, characterized in that, The control program also provides a control method for maintaining the tangential direction of the force, including: 1) Calculate the tangent direction at each point on the motion trajectory based on the motion trajectory model; 2) Output the target posture of the end effector according to the control program and the corresponding parameters in the throttle test database; 3) Each force sensor monitors the actual posture data of the end effector in real time; 4) Determine if a non-tangential force is detected: If the non-tangential force is not detected, the process proceeds to: 5) Continue to maintain the tangential motion; If the non-tangential force is detected, the process proceeds to: 6) Calculate the lateral force / moment deviation value; 7) Calculate the required attitude compensation amount based on the deviation value; 8) Execute the corresponding attitude adjustment command based on the calculated attitude compensation amount, and return to step 3).

7. The throttle console signal acquisition and measurement system as described in claim 1, characterized in that, The industrial control computer is further configured as a data storage and output interface, supporting the storage and export of real-time data from the throttle platform signal acquisition and measurement system.

8. The throttle console signal acquisition and measurement system as described in claim 1, characterized in that, The industrial control computer is further configured to analyze the received measurement signal data and output an analysis report to the operator.

9. The throttle console signal acquisition and measurement system as described in claim 1, characterized in that, The measurement signal data includes: (1) Throttle panel forward thrust rod, reverse thrust rod stroke control force, maximum control force, lifting force of pull-type reverse thrust unlocking device, reverse thrust retraction soft locking force; (2) Operating force of TO / GA switch and A / T disconnect switch; (3) The angles of motion of the forward and reverse thrust rods; (4) The speed of movement of the forward thrust rod and the reverse thrust rod.

10. A method for acquiring and measuring throttle position signals, comprising: Perform initial configuration of the throttle console signal acquisition and measurement system; The operating environment of the throttle signal acquisition and measurement system can be set through the interactive interface provided by the industrial control computer of the throttle signal acquisition and measurement system; The industrial control computer controls the movement trajectory, operating angle, and force of the robotic arm and the end effector mounted on it by calling the control program to simulate the precise test operation of the human arm and simultaneously collect the corresponding test signal data. The industrial control computer receives the collected test signal data, stores it, and displays it on the display interface. During the test operation, the end effector always moves along the tangential direction using the control program.

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