Modeling method for horizontal stabilizer actuator of large aircraft
By modeling the horizontal stabilizer actuator in detail, obtaining key parameters, and constructing the test environment, the problem of unrealistic models in existing technologies is solved, and the accuracy and reliability of flight control system simulation verification are improved.
Patent Information
- Application Number
- CN202512011218.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-29
- Publication Date
- 2026-03-20
AI Technical Summary
The lack of a scientifically sound and reasonable modeling method for horizontal stabilizer actuators in existing technologies leads to a decrease in the credibility of flight control system simulation verification results.
By determining the working principle of the horizontal stabilizer actuator, obtaining key parameters, constructing the test environment, collecting test data, and establishing a detailed actuator model, including the steady-state speed, delay, displacement range, and time constant of the inertial element of the ball nut, an integrator module is constructed to simulate the motion characteristics of the actuator.
This ensures that the horizontal stabilizer actuator model accurately reflects the actuator's motion characteristics, improving the credibility of flight control system simulation verification without requiring hardware modifications.
Smart Images
Figure CN121704210A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of flight control system design, and specifically relates to a modeling method for the horizontal stabilizer actuator of a large aircraft. Background Technology
[0002] The horizontal stabilizer is a crucial control surface for large aircraft, used to achieve longitudinal trim. With the development of fly-by-wire flight control systems, the motion of the horizontal stabilizer is governed by complex flight control laws. During the flight control system design process, it is necessary to build a simulation environment to simulate and analyze the aircraft response under the operation of the flight control system, thereby evaluating the correctness of the flight control system design. The horizontal stabilizer actuator model is an important component of the simulation environment; therefore, it is necessary to model the horizontal stabilizer actuator to simulate the motion characteristics of a real horizontal stabilizer.
[0003] Currently, no scientifically sound modeling method for horizontal stabilizer actuators has been established in existing technologies. The conventional approach is to simplify the horizontal stabilizer actuator into a single integrator element, which fails to realistically simulate the motion characteristics of the horizontal stabilizer, such as velocity, position, and time delay. Inaccurate horizontal stabilizer actuator models will affect the simulation verification results of the flight control system, reducing its reliability.
[0004] Therefore, there is an urgent need for a technical solution to overcome or mitigate at least one of the aforementioned defects in the existing technology. Summary of the Invention
[0005] The purpose of this application is to provide a modeling method for the horizontal stabilizer actuator of a large aircraft to solve at least one problem existing in the prior art.
[0006] The technical solution of this application is:
[0007] Modeling methods for horizontal stabilizer actuators of large aircraft include:
[0008] Step S1: Determine the working principle of the horizontal stabilizer actuator;
[0009] Step S2: Determine the key parameters of the horizontal stabilizer actuator based on its working principle;
[0010] Step S3: Construct the experimental environment and obtain experimental data for key parameters;
[0011] Step S4: Construct a horizontal stabilizer actuator model based on the key parameters determined from the experimental data.
[0012] In at least one embodiment of this application, in step S1, the working principle of the horizontal stabilizer actuator is as follows:
[0013] The horizontal stabilizer actuator receives electrical command signals from the flight control computer, controls the position of the solenoid valve, drives the hydraulic motor to rotate through hydraulic energy, the hydraulic motor drives the power wheel system, converts hydraulic energy into mechanical energy, causes the ball screw to rotate, and then converts it into the extension and retraction motion of the ball nut, which controls the deflection / descent motion of the control surface through the mechanical lever arm.
[0014] In at least one embodiment of this application, the key parameters of step S2 and the horizontal stabilizer actuator include the steady-state speed of the ball nut extension and retraction motion, the delay between the ball nut extension and retraction motion and the electrical command signal, the displacement range of the ball nut, the steady-state voltage value of the electrical command signal, and the inertial link time constant of the actuator's start / stop dynamic response.
[0015] In at least one embodiment of this application, in step S3, the test environment includes a horizontal stabilizer actuator test piece, an electrical command signal generator, a linear displacement sensor, a data storage and analysis system, and a hydraulic source.
[0016] In at least one embodiment of this application, step S3, obtaining experimental data for key parameters, includes:
[0017] Collect time-displacement test data of the ball nut, extract the time and corresponding displacement value, and calculate the steady-state velocity of the ball nut's extension and retraction motion.
[0018] In at least one embodiment of this application, the average of a plurality of steady-state velocities is calculated as the final steady-state velocity.
[0019] In at least one embodiment of this application, step S3, obtaining experimental data for key parameters, includes:
[0020] Based on the experimental data, the electrical command signal and the ball nut displacement curve were plotted. By comparing the effective time of the electrical command signal with the time of ball nut displacement change, the delay of the ball nut extension and retraction motion was obtained.
[0021] In at least one embodiment of this application, the average of multiple delays is calculated as the final delay.
[0022] In at least one embodiment of this application, step S3, obtaining experimental data for key parameters, includes:
[0023] Based on the experimental data, the extreme positions of the ball nut's extension and retraction motions are extracted to obtain the displacement range of the ball nut.
[0024] In at least one embodiment of this application, step S3, obtaining experimental data for key parameters, includes:
[0025] Collect test data of electrical command signals corresponding to the extension and retraction movements of the ball nut, and extract the steady-state voltage values of the electrical command signals corresponding to the extension and retraction movements of the ball nut.
[0026] In at least one embodiment of this application, step S4, constructing a horizontal stabilizer actuator model based on key parameters determined from experimental data, includes:
[0027] A retraction electrical command steady-state voltage module is constructed based on the steady-state voltage value of the electrical command signal corresponding to the ball nut retraction movement, and an extension electrical command steady-state voltage module is constructed based on the steady-state voltage value of the electrical command signal corresponding to the ball nut extension movement.
[0028] A retraction motion delay module is constructed based on the delay of the ball nut retraction motion, and an extension motion delay module is constructed based on the delay of the ball nut extension motion.
[0029] Construct a first-order inertial element for the dynamic response of the ball nut retraction motion, and construct a first-order inertial element for the dynamic response of the ball nut extension motion;
[0030] A retraction speed gain module is constructed based on the steady-state speed of the ball nut retraction motion and the steady-state voltage of the retraction electrical command; an extension speed gain module is constructed based on the steady-state speed of the ball nut extension motion and the steady-state voltage of the extension electrical command.
[0031] Construct an integrator module to convert actuator velocity into actuator displacement. The limiting range of the integrator is determined based on the displacement range of the ball nut, and the initial value of the integrator is determined based on the initial position of the ball nut.
[0032] In at least one embodiment of this application, in the first-order and second-order inertial links, the model output curve is compared with the test curve, and the time constant of the inertial link is adjusted so that the error between the model output and the test curve at the initial moment of motion and the stopping moment meets the requirements, thereby determining the time constant of the inertial link.
[0033] In at least one embodiment of this application, step S5 is further included: adding the horizontal stabilizer actuator model to the flight control system simulation model.
[0034] The invention has at least the following beneficial technical effects:
[0035] The modeling method for horizontal stabilizer actuators of large aircraft proposed in this application can ensure that the horizontal stabilizer actuator model truly reflects the motion characteristics of the actuator, thereby improving the credibility of the simulation verification results of the flight control system. Attached Figure Description
[0036] Figure 1 This is a schematic diagram illustrating the working principle of a horizontal stabilizer actuator according to one embodiment of this application;
[0037] Figure 2 This is a schematic diagram of the test environment for one embodiment of this application;
[0038] Figure 3 This is a retraction motion electrical command signal curve according to one embodiment of this application;
[0039] Figure 4 This is an embodiment of the extension motion electrical command signal curve of this application;
[0040] Figure 5 This is a ball nut displacement curve according to one embodiment of this application;
[0041] Figure 6 This is a schematic diagram of a horizontal stabilizer actuator model according to one embodiment of this application;
[0042] Figure 7 This is a curve comparing the model output with experimental data from one embodiment of this application;
[0043] Figure 8 This is an error curve of one embodiment of this application. Detailed Implementation
[0044] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.
[0045] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this application.
[0046] The following is in conjunction with the appendix Figures 1 to 8 This application will be described in further detail.
[0047] This application provides a method for modeling the horizontal stabilizer actuator of a large aircraft, including the following steps:
[0048] Step S1: Determine the working principle of the horizontal stabilizer actuator;
[0049] Step S2: Determine the key parameters of the horizontal stabilizer actuator based on its working principle;
[0050] Step S3: Construct the experimental environment and obtain experimental data for key parameters;
[0051] Step S4: Construct a horizontal stabilizer actuator model based on the key parameters determined from the experimental data.
[0052] like Figure 1 As shown, in step S1, the working principle of the horizontal stabilizer actuator is as follows:
[0053] The horizontal stabilizer actuator receives electrical command signals from the flight control computer, controls the position (open / close) of the solenoid valve, drives the hydraulic motor to rotate via hydraulic energy, and controls its speed and direction. The hydraulic motor drives the power wheel system, converting hydraulic energy into mechanical energy, causing the ball screw to rotate, which in turn converts into the extension and retraction motion (linear motion) of the ball nut. The mechanical lever controls the deflection / upward movement of the control surface.
[0054] The model must accurately reflect the key performance characteristics of the actuator; therefore, the key parameters of the actuator itself must be determined before establishing the model. In step S2, for the horizontal stabilizer actuator, the key parameters include the steady-state speed of the ball nut extension and retraction motion, the delay between the ball nut extension and retraction motion and the electrical command signal, the displacement range of the ball nut, the steady-state voltage value of the electrical command signal, the actuator's motion / stop dynamic response, and the time constant of the inertial element in the actuator's start / stop dynamic response.
[0055] In a preferred embodiment of this application, in step S3, experimental data on the actuator's motion are obtained through experimentation, and the experimental data is analyzed to determine the key parameters in step S2. For example... Figure 2 As shown, the test environment included a horizontal stabilizer actuator test piece, an electrical command signal generator, a linear displacement sensor for measuring the displacement of the ball nut, a data storage and analysis system, and a hydraulic power source. During the test, the switching electrical signals controlled the extension and retraction of the ball nut. The linear displacement sensor mounted on the ball nut collected the nut's displacement signal and transmitted it to the data storage and analysis system. The recording device displayed the displacement curve and stored the data. Simultaneously, the data recording device also collected and stored the command signals.
[0056] In step S3, time-displacement test data of the ball nut are collected, the time and corresponding displacement values are extracted, and the steady-state velocity of the ball nut's extension and retraction motions is calculated. Using a sample statistical method, the steady-state velocity of the extension and retraction motions in multiple sets of test data is calculated, and finally, the average value is taken to obtain the steady-state velocity of the ball nut's extension / retraction motions.
[0057] In one embodiment of this application, according to Figure 5 From the displacement curve of the ball nut, we can see that during the retraction process, the displacement is 557.32 mm at 13.07 s and 482.78 mm at 15.92 s. Therefore, the steady-state velocity of the ball nut's retraction motion during this time period can be calculated as (557.32 - 482.78) / (15.92 - 13.07) = 26.15 mm / s. Similarly, the steady-state velocity of the extension motion can be calculated using data from the extension process.
[0058] In step S3, such as Figure 3-5 As shown, electrical command signal and ball nut displacement curves were plotted based on experimental data. By comparing the effective time of the electrical command signal with the time of ball nut displacement change, the delay of the ball nut's extension and retraction movements was obtained. There is a delay from the time the solenoid valve receives the electrical command signal to the ball nut beginning its linear displacement movement. This delay includes the valve core's insensitive area and mechanical transmission clearance, which can be simplified to a pure delay element in mathematical modeling. By plotting the command signal and ball nut displacement curves based on experimental data and extracting the effective time of the command signal and the time of displacement change, the actuator delay in this experiment can be obtained. Statistical analysis of the delays from multiple sets of experimental data, followed by averaging, yields the delays of the ball nut's retraction and extension movements.
[0059] In one embodiment of this application, the command time is obtained through the electrical command signal curve, and the ball nut movement time is obtained through the ball nut displacement curve, thereby obtaining the delay between the ball nut displacement movement and the electrical command signal. Figure 4 From the electrical command signal curve, the initial extension command time is approximately 1.15 seconds; according to... Figure 5 From the ball nut displacement curve, we can see that the ball nut begins to move at approximately 1.25 seconds. Therefore, the delay between the ball nut's displacement and the command signal is 1.25 - 1.15 = 0.1 seconds.
[0060] In step S3, the extreme positions of the ball nut's extension and retraction movements are extracted based on the experimental data to obtain the displacement range of the ball nut. During the experiment, an electrical command signal is continuously applied. When the ball nut's linear displacement reaches its extreme position, the displacement range of the ball nut can be determined based on the current displacement.
[0061] In a preferred embodiment of this application, in step S3, test data of electrical command signals corresponding to the extension and retraction movements of the ball nut are collected, and the steady-state voltage values of the electrical command signals corresponding to the extension and retraction movements of the ball nut are extracted. For example... Figure 3-4 As shown, by analyzing the electrical command signals for the extension and retraction movements in the experimental data, the steady-state voltage value of the electrical command signal can be obtained. According to... Figure 3-4 The electrical command signal curve shows a steady-state voltage of approximately 27.75V.
[0062] In step S4, a horizontal stabilizer actuator model is constructed based on the key parameters determined from the experimental data, including:
[0063] A retraction electrical command steady-state voltage module is constructed based on the steady-state voltage value of the electrical command signal corresponding to the ball nut retraction movement, and an extension electrical command steady-state voltage module is constructed based on the steady-state voltage value of the electrical command signal corresponding to the ball nut extension movement.
[0064] A retraction motion delay module is constructed based on the delay of the ball nut retraction motion, and an extension motion delay module is constructed based on the delay of the ball nut extension motion.
[0065] Construct a first-order inertial element for the dynamic response of the ball nut retraction motion, and construct a first-order inertial element for the dynamic response of the ball nut extension motion;
[0066] A retraction speed gain module is constructed based on the steady-state speed of the ball nut retraction motion and the steady-state voltage of the retraction electrical command; an extension speed gain module is constructed based on the steady-state speed of the ball nut extension motion and the steady-state voltage of the extension electrical command.
[0067] Construct an integrator module to convert actuator velocity into actuator displacement. The limiting range of the integrator is determined based on the displacement range of the ball nut, and the initial value of the integrator is determined based on the initial position of the ball nut.
[0068] In a preferred embodiment of this application, according to step S3, the steady-state velocity of the extension motion is K1 mm / s, and the steady-state velocity of the retraction motion is K2 mm / s; the extension motion delay is Td_Shen s, and the retraction motion delay is Td_Suo s; the displacement range of the ball nut is [S_LIMD, S_LIMU] mm; the steady-state voltage value of the extension command is Input_Shen V, and the steady-state voltage value of the retraction command is Input_Suo V. A horizontal stabilizer actuator model with an integrator as the core component is constructed, including voltage, delay element, first-order inertial element, steady-state velocity, and actuator displacement range. The first-order inertial element is used to simulate the actuator's start / stop process, and the time constant can be selected by comparing with experimental curves. The obtained horizontal stabilizer actuator model is as follows: Figure 6 As shown, Kv_Suo = K2 / Input_Suo, Kv_Shen = K1 / Input_Shen. The initial value x0 of the integrator is the initial position of the actuator rolling nut, and the limit value of the integrator is [S_LIMD, S_LIMU].
[0069] In the first-order and second-order inertial elements, the model output curve is compared with the experimental curve. By adjusting the time constant of the inertial element, the error between the model output and the experimental curve at the initial moment of motion and the moment of stopping is made to meet the requirements, thereby determining the time constant of the inertial element.
[0070] The modeling method for the horizontal stabilizer actuator of a large aircraft in this application also includes step S5, which involves adding the horizontal stabilizer actuator model to the flight control system simulation model.
[0071] The modeling method for the horizontal stabilizer actuator of a large aircraft in this application uses a first-order inertial element to simulate the acceleration and deceleration of the actuator, since the actuator experiences acceleration during the initial motion and deceleration during stopping, in order to better model the actuator. Figure 6 The time constant Ts is determined by comparing the model output curve with the experimental curve, thus minimizing the error between the model output and the experimental curve at the initial and final moments of motion.
[0072] use Figure 3-4 The electrical command signal shown serves as the input signal to the model, and the model output curve is compared with... Figure 5 The nut displacement test curves shown are compared, and an error curve is plotted. The results are as follows: Figure 7-8 As shown, the model output can correctly respond to the voltage command signal, accurately reflect the motion trend of the actuator, and has a small error compared to the experimental data curve, thus proving the accuracy of the established model.
[0073] The modeling method for horizontal stabilizer actuators of large aircraft presented in this application ensures that the actuator model realistically reflects the actuator's motion characteristics, simulating motion speed, delay characteristics, and dynamic response characteristics, thereby improving the credibility of flight control system simulation verification. This application solves the problem of failing to realistically simulate horizontal stabilizer actuators during flight control system simulation verification, making the simulation verification more complete and realistic. This application requires no modification to any hardware components; horizontal stabilizer actuator models can be designed according to this method and directly added to the flight control system simulation model, saving modification costs.
[0074] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A method for modeling the horizontal stabilizer actuator of a large aircraft, characterized in that, include: Step S1: Determine the working principle of the horizontal stabilizer actuator; Step S2: Determine the key parameters of the horizontal stabilizer actuator based on its working principle; Step S3: Construct the experimental environment and obtain experimental data for key parameters; Step S4: Construct a horizontal stabilizer actuator model based on the key parameters determined from the experimental data.
2. The method for modeling the horizontal stabilizer actuator of a large aircraft according to claim 1, characterized in that, In step S1, the working principle of the horizontal stabilizer actuator is as follows: The horizontal stabilizer actuator receives electrical command signals from the flight control computer, controls the position of the solenoid valve, drives the hydraulic motor to rotate through hydraulic energy, the hydraulic motor drives the power wheel system, converts hydraulic energy into mechanical energy, causes the ball screw to rotate, and then converts it into the extension and retraction motion of the ball nut, which controls the deflection / descent motion of the control surface through the mechanical lever arm.
3. The method for modeling the horizontal stabilizer actuator of a large aircraft according to claim 2, characterized in that, Step S2: Key parameters of the horizontal stabilizer actuator include the steady-state speed of the ball nut extension and retraction motion, the delay between the ball nut extension and retraction motion and the electrical command signal, the displacement range of the ball nut, the steady-state voltage value of the electrical command signal, and the time constant of the inertial element in the actuator's start / stop dynamic response.
4. The method for modeling the horizontal stabilizer actuator of a large aircraft according to claim 3, characterized in that, In step S3, the test environment includes a horizontal stabilizer actuator test piece, an electrical command signal generator, a linear displacement sensor, a data storage and analysis system, and a hydraulic source.
5. The method for modeling the horizontal stabilizer actuator of a large aircraft according to claim 4, characterized in that, In step S3, experimental data for key parameters are obtained, including: Collect time-displacement test data of the ball nut, extract the time and corresponding displacement value, and calculate the steady-state velocity of the ball nut's extension and retraction motion.
6. The method for modeling the horizontal stabilizer actuator of a large aircraft according to claim 5, characterized in that, The average of multiple steady-state velocities is calculated as the final steady-state velocity.
7. The method for modeling the horizontal stabilizer actuator of a large aircraft according to claim 6, characterized in that, In step S3, experimental data for key parameters are obtained, including: Based on the experimental data, the electrical command signal and the ball nut displacement curve were plotted. By comparing the effective time of the electrical command signal with the time of ball nut displacement change, the delay of the ball nut extension and retraction motion was obtained.
8. The method for modeling the horizontal stabilizer actuator of a large aircraft according to claim 7, characterized in that, Calculate the average of multiple delays as the final delay.
9. The method for modeling the horizontal stabilizer actuator of a large aircraft according to claim 6, characterized in that, In step S3, experimental data for key parameters are obtained, including: Based on the experimental data, the extreme positions of the ball nut's extension and retraction motions are extracted to obtain the displacement range of the ball nut.
10. The method for modeling the horizontal stabilizer actuator of a large aircraft according to claim 9, characterized in that, In step S3, experimental data for key parameters are obtained, including: Collect test data of electrical command signals corresponding to the extension and retraction movements of the ball nut, and extract the steady-state voltage values of the electrical command signals corresponding to the extension and retraction movements of the ball nut.
11. The method for modeling the horizontal stabilizer actuator of a large aircraft according to claim 10, characterized in that, In step S4, a horizontal stabilizer actuator model is constructed based on the key parameters determined from the experimental data, including: A retraction electrical command steady-state voltage module is constructed based on the steady-state voltage value of the electrical command signal corresponding to the ball nut retraction movement, and an extension electrical command steady-state voltage module is constructed based on the steady-state voltage value of the electrical command signal corresponding to the ball nut extension movement. A retraction motion delay module is constructed based on the delay of the ball nut retraction motion, and an extension motion delay module is constructed based on the delay of the ball nut extension motion. Construct a first-order inertial element for the dynamic response of the ball nut retraction motion, and construct a first-order inertial element for the dynamic response of the ball nut extension motion; A retraction speed gain module is constructed based on the steady-state speed of the ball nut retraction motion and the steady-state voltage of the retraction electrical command; an extension speed gain module is constructed based on the steady-state speed of the ball nut extension motion and the steady-state voltage of the extension electrical command. Construct an integrator module to convert actuator velocity into actuator displacement. The limiting range of the integrator is determined based on the displacement range of the ball nut, and the initial value of the integrator is determined based on the initial position of the ball nut.
12. The method for modeling the horizontal stabilizer actuator of a large aircraft according to claim 11, characterized in that, In the first-order and second-order inertial elements, the model output curve is compared with the experimental curve. By adjusting the time constant of the inertial element, the error between the model output and the experimental curve at the initial moment of motion and the moment of stopping is made to meet the requirements, thereby determining the time constant of the inertial element.
13. The method for modeling the horizontal stabilizer actuator of a large aircraft according to claim 12, characterized in that, It also includes step S5, adding the horizontal stabilizer actuator model to the flight control system simulation model.