Actuator digital shadow design method for aircraft stability control simulation
By constructing a simulation sub-shadow model of the actuator's external structure perception and control functions, the problems of model complexity and real-time performance in the simulation of the aircraft stability control system were solved, achieving accurate simulation results and rapid anomaly localization.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANGHAI AEROSPACE CONTROL TECH INST
- Filing Date
- 2026-02-03
- Publication Date
- 2026-06-09
AI Technical Summary
Existing simulation methods for aircraft stability control systems are difficult to accurately simulate sudden physical conditions, and the efficiency of attributing experimental problems is low. It is also difficult to balance the complexity and real-time performance of traditional models.
A sensory sub-shadow model of the actuator's external structure and a simulation sub-shadow model of its control function are constructed. By sensing and simulating the actuator's environmental state, a digital shadow hardware system and a shadow 3D digital prototype are established to realize real-time state judgment and simulation of the actuator.
It improves the accuracy and consistency of aircraft stability control simulation, shortens the time for locating experimental problems, and enhances the correspondence between simulation results and physical results.
Smart Images
Figure CN122172613A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a digital shadow design method for actuators in aircraft stability control simulation, belonging to the field of aircraft stability control simulation. Background Technology
[0002] As the operating conditions of aircraft continue to expand, the complexity of simulation requirements for stability control systems is gradually increasing. Traditional stability control system simulations often use a single transfer function to represent actuator models, which, after simplification, lacks simulation support for sudden changes in physical conditions. Conversely, simulations using complex dynamic models are difficult to integrate into the simulation process in real time due to excessively long solution times. Furthermore, when experimental problems occur, the initial review of stability control systems relies solely on experience and brainstorming for attribution analysis, while later stages heavily depend on cross-verification using physical hardware data related to the sudden situations, severely impacting the timeliness of attribution.
[0003] Digital shadowing, as a technique that maps unidirectionally from physical space to digital space, can effectively solve the problem of actuator model complexity in the simulation of stable control systems, while improving the attribution efficiency of experimental problems, if designed properly. However, due to the numerous basic physical characteristics of actuators, existing digital simulation methods struggle to select suitable features to establish physical shadows of actuators, making it impossible to accurately simulate aircraft stability control. Summary of the Invention
[0004] The technical problem solved by this invention is to overcome the shortcomings of existing technologies and provide a digital shadow design method for actuators in aircraft stability control simulation. This method constructs an actuator external structure perception sub-shadow model to perceive the environmental state of the actuator and determine whether the actuator is in a normal state. It then designs an actuator control function simulation sub-shadow model to simulate the actuator's operation, thus solving the problem that existing digital simulation methods are unable to accurately simulate aircraft stability control.
[0005] The technical solution of this invention is: A simulation method for aircraft stability control is used as a digital shadow design method for actuators. The steps are as follows: (1) Based on the actual reference aircraft control system, a digital shadow hardware system is established; the digital shadow hardware system is used to perform physical simulation of the actuator controller and each actuator in the reference aircraft control system; (2) Establish a shadow 3D digital prototype corresponding to the digital shadow hardware system; (3) Based on the digital shadow hardware system, establish an actuator digital shadow model; the actuator digital shadow model includes an actuator control function simulation sub-shadow model and an actuator external structure perception sub-shadow model; the actuator external structure perception sub-shadow model is used to receive user input data; the user input data includes the temperature data of the actuator controller in the control system of the aircraft to be simulated, as well as the temperature data and strain data corresponding to each actuator; the actuator external structure perception sub-shadow model performs a discrimination operation based on the user input data to determine whether the actuator controller and each actuator in the control system of the aircraft to be simulated are in a normal state, and records the data of the actuator controller and actuator in an abnormal state to form an abnormal record log; the actuator control function simulation sub-shadow model simulates the working conditions of all actuators in the control system of the aircraft to be simulated based on the user input data; (4) Connect the actuator digital shadow model to the shadow 3D digital prototype to obtain the final simulation actuator digital shadow model; the actuator external structure perception sub-shadow model displays the abnormal record log formed by the shadow 3D digital prototype; the actuator control function simulation sub-shadow model displays the simulation results of the actuator working status through the shadow 3D digital prototype.
[0006] Furthermore, the digital shadow hardware system described in step (1) includes actuators, an actuator controller, strain sensors, temperature sensors, and a mounting frame; the number of actuators in the digital shadow hardware system is consistent with the number of actuators in the actual reference aircraft control system; each actuator in the digital shadow hardware system is fixed on the mounting frame, and the fixed position of the actuator on the mounting frame corresponds to the installation position of the actuator in the actual reference aircraft control system; strain sensors and temperature sensors are arranged near each actuator's fixed position on the mounting frame to measure the deformation of the mounting frame at the actuator's fixed position and the temperature of the surrounding environment; a temperature sensor is arranged inside the housing of the actuator controller to measure the temperature of the actuator controller; Each actuator has at least 3 strain sensors and at least 1 temperature sensor installed near a fixed position; the actuator controller housing has at least 1 temperature sensor installed inside.
[0007] Furthermore, the specific steps for establishing the shadow 3D digital prototype corresponding to the digital shadow hardware system in step (2) are as follows: (2.1) Use computer-aided design software to establish a three-dimensional model corresponding to the digital shadow hardware system; the three-dimensional model includes simulation models of all actuators, actuator controllers, all strain sensors, all temperature sensors and mounting frames in the digital shadow hardware system; (2.2) Using strain sensors and temperature sensors near each actuator in the digital shadow hardware system, obtain multiple sets of measured strain data and multiple sets of measured temperature data for each actuator; using temperature sensors arranged inside the actuator controller housing in the digital shadow hardware system, obtain multiple sets of measured temperature data for the actuator controller. (2.3) Using the simulation model of each actuator, simulate multiple sets of simulated strain data and multiple sets of simulated temperature data for each actuator; using the simulation model of the actuator controller, simulate multiple sets of simulated temperature data for the actuator controller. (2.4) Based on multiple sets of measured strain data, multiple sets of measured temperature data, multiple sets of simulated strain data and multiple sets of simulated temperature data for each actuator, the simulation model of each actuator in the three-dimensional model is calibrated; based on multiple sets of measured temperature data and multiple sets of simulated temperature data for the actuator controller, the simulation model of the actuator controller in the three-dimensional model is calibrated to obtain the calibrated three-dimensional model; (2.5) Import the calibrated 3D model into the analysis software to obtain the shadow 3D digital prototype corresponding to the digital shadow hardware system.
[0008] Furthermore, the specific steps for establishing the actuator control function simulation shadow model in step (3) are as follows: The first step is to establish a simulation sub-shadow model framework for actuator control function based on the parameter information of all actuators in the digital shadow hardware system. The second step is to select several target temperature points within the temperature range where all actuators in the digital shadow hardware system are working normally, according to a preset temperature interval. The third step is to place the digital shadow hardware system inside the incubator and adjust the temperature inside the incubator to the first selected target temperature point. The fourth step is to conduct a frequency sweep experiment on all actuators in the digital shadow hardware system to obtain the gain and phase difference data of all actuators at each frequency point at the first target temperature point. The fifth step involves using the acquired gain and phase difference data to solve the transfer function corresponding to the first target temperature point through a system identification method. Step 6: Obtain the transfer function corresponding to all target temperature points except the first target temperature point. The acquisition process is the same as steps 3 to 5. Step 7: Assign the transfer functions corresponding to all target temperature points to the actuator control function simulation sub-shadow model framework to obtain the actuator control function simulation sub-shadow model.
[0009] Furthermore, for temperature points that are not selected as target temperature points within the temperature range where all actuators in the digital shadow hardware system are operating normally, the actuator control function simulation sub-shadow model will use the transfer function of the target temperature point whose temperature value is closest to that temperature point as the transfer function of that temperature point.
[0010] Furthermore, the specific steps for establishing the actuator external structure sensor shadow model in step (3) are as follows: The first step is to establish a sensory sub-shadow model framework for the actuator's external structure based on the sensor parameters of all strain sensors and temperature sensors in the digital shadow hardware system. The second step is to reconstruct the deflection value of the mounting frame at each actuator fixed position using the data collected by the strain sensors near the fixed position of each actuator and the deflection reconstruction calculation formula. The third step is to assign the temperature collected by the temperature sensor located inside the actuator housing and the deflection value of the mounting frame at each fixed position of the actuator to the actuator external structure perception sub-shadow model frame, thereby obtaining the actuator external structure perception sub-shadow model.
[0011] Furthermore, in step (3), the specific steps of the actuator external structure perception shadow model performing the discrimination operation based on user input data are as follows: The first step is to obtain the temperature of the installation environment of the actuator in the control system of the aircraft to be simulated, based on the temperature data of the actuator in the user input data; then proceed to the second step. The second step is to compare the temperature of the installation environment where the actuator controller is located with the temperature threshold range of the controller. If the temperature of the installation environment where the actuator controller is located is within the temperature threshold range of the controller, then the actuator controller in the control system of the simulated aircraft is in a normal state, and the third step is executed; otherwise, the actuator controller in the control system of the simulated aircraft is in an abnormal state, and all actuators in the control system of the simulated aircraft are in an abnormal state, and the entire discrimination operation ends. The third step is to calculate the deflection at a fixed position of each actuator in the control system of the simulated aircraft based on the strain data of each actuator in the user input data and using the deflection reconstruction calculation formula; then proceed to the fourth step. Fourth step: Based on the temperature data of each actuator in the user input data, obtain the temperature of the installation environment of each actuator in the control system of the aircraft to be simulated; then proceed to the fifth step. The fifth step is to compare the deflection at a fixed position of each actuator in the control system of the simulated aircraft with the deflection threshold range, and to compare the temperature of the installation environment of each actuator with the actuator temperature threshold range. If the deflection at the fixed position of the actuator is within the deflection threshold range and the temperature of the installation environment of the actuator is within the actuator temperature threshold range, then the actuator is in a normal state; otherwise, the actuator is in an abnormal state.
[0012] Furthermore, in step (3), the external structure sensing shadow model of the actuator records the data of the actuator and actuator controller in the abnormal state in the control system of the aircraft to be simulated. Specifically, it records the strain data and temperature data of the actuator in the abnormal state in the user input data, and at the same time records the temperature data of the actuator controller in the abnormal state in the user input data.
[0013] Secondly, this invention also proposes a ground simulation test method based on a simulation-based digital shadow model of a actuator. The ground simulation test method is implemented based on the simulation-based digital shadow model of the actuator obtained from the aforementioned aircraft stability control simulation-based digital shadow design method. The specific steps are as follows: The first step is to obtain a simulation-based digital shadow design method for aircraft stability control actuators, as described above, to obtain a simulation-based digital shadow model of the actuators. The second step is to input the user input data into the digital shadow model of the actuator in the simulation. The user input data is based on the measurement of the control system of the aircraft to be simulated during the simulation experiment in the ground laboratory. It includes the temperature data of the actuator controller in the control system of the aircraft to be simulated, as well as the temperature data and strain data corresponding to each actuator. The third step is for the external structure perception shadow model of the actuator to perform a discrimination operation based on the user input data, to determine whether the actuator controller and each actuator in the control system of the simulated aircraft are in a normal state, and to record data of the actuator controller and actuator in an abnormal state to form an abnormal record log. The fourth step is to simulate the operation of all actuators in the control system of the aircraft under simulation based on user input data. The fifth step involves the external structure sensing sub-shadow model of the actuator displaying the generated anomaly log through the shadow 3D digital prototype; the actuator control function simulation sub-shadow model displays the simulation results of the actuator's operation through the shadow 3D digital prototype, thus completing the ground simulation test.
[0014] Thirdly, this invention also proposes a flight simulation test method based on a simulation-based digital shadow model of a actuator. The flight simulation test method is implemented based on the simulation-based digital shadow model of the actuator obtained from the aforementioned aircraft stability control simulation-based digital shadow design method. The specific steps are as follows: The first step is to obtain a simulation-based digital shadow design method for aircraft stability control actuators, as described above, to obtain a simulation-based digital shadow model of the actuators. The second step is to input the user input data into the digital shadow model of the actuator in the simulation. The user input data is based on the measurement of the control system of the aircraft to be simulated during actual flight, including the temperature data of the actuator controller in the control system of the aircraft to be simulated, as well as the temperature data and strain data corresponding to each actuator. The third step is for the external structure perception shadow model of the actuator to perform a discrimination operation based on the user input data, to determine whether the actuator controller and each actuator in the control system of the simulated aircraft are in a normal state, and to record data of the actuator controller and actuator in an abnormal state to form an abnormal record log. The fourth step is to simulate the operation of all actuators in the control system of the aircraft under simulation based on user input data. The fifth step involves the external structure sensing sub-shadow model of the actuator displaying the generated anomaly log through the shadow 3D digital prototype; the actuator control function simulation sub-shadow model displays the simulation results of the actuator's operation through the shadow 3D digital prototype, thus completing the flight simulation test.
[0015] The advantages of this invention compared to the prior art are: (1) This invention constructs an actuator external structure perception sub-shadow model to perceive the environmental state of the actuator and determine whether the actuator is in a normal state. At the same time, it designs an actuator control function simulation sub-shadow model to simulate the actuator, thereby realizing accurate simulation of the aircraft control system and improving the consistency and accuracy of the simulation results of the stability control system with the actual results.
[0016] (2) The present invention records the information of actuators in abnormal state and generates an abnormal record log, which makes it easier for experimental personnel to quickly obtain abnormal data and shortens the time for subsequent experimental problem location.
[0017] (3) The present invention displays the simulation results and data acquisition results by designing a three-dimensional digital prototype, which makes it easier for experimental personnel to better understand the parameter information of the actuator during the simulation process and to better carry out subsequent experimental design. Attached Figure Description
[0018] Figure 1This invention provides a flowchart of a digital shadow design method for actuators used in aircraft stability control simulation. Figure 2 This is a schematic diagram of the digital shadow hardware system in the digital shadow design method for aircraft stability control simulation of the present invention; Figure 3 This is a flowchart of a ground simulation test based on a digital shadow model of a actuator, according to the present invention. Figure 4 This is a flowchart of a flight simulation test based on a digital shadow model of a actuator, according to the present invention. Detailed Implementation
[0019] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings.
[0020] like Figure 1 As shown, this invention provides a method for digital shadow design of actuators in aircraft stability control simulation, the steps of which are as follows: (1) Based on the actual reference aircraft control system, a digital shadow hardware system is established; the digital shadow hardware system is used to perform physical simulation of the actuator controller and each actuator in the reference aircraft control system; The reference aircraft control system includes an actuation controller and multiple actuators; the actuation controller is used to send control commands to the actuators, and the actuators are used to receive the control commands and convert the control commands into mechanical motion.
[0021] Furthermore, the digital shadow hardware system described in step (1) includes actuators, an actuator controller, strain sensors, temperature sensors, and a mounting frame; the number of actuators in the digital shadow hardware system is consistent with the number of actuators in the actual reference aircraft control system; each actuator in the digital shadow hardware system is fixed on the mounting frame, and the fixed position of the actuator on the mounting frame corresponds to the installation position of the actuator in the actual reference aircraft control system; strain sensors and temperature sensors are arranged near each actuator's fixed position on the mounting frame to measure the deformation of the mounting frame at the actuator's fixed position and the temperature of the surrounding environment; a temperature sensor is arranged inside the housing of the actuator controller to measure the temperature of the actuator controller; Each actuator has at least 3 strain sensors and at least 1 temperature sensor installed near a fixed position; the actuator controller housing has at least 1 temperature sensor installed inside.
[0022] Furthermore, the architecture of the digital shadow hardware system is as follows: Figure 2As shown, the actuator in the digital shadow hardware system includes a servo actuator device comprising a drive motor, an angle sensor, a transmission mechanism, an actuator housing, and an actuator controller. The actuator housing has two mounting holes for screw connection to the axial mounting device of the strain sensor, and a mounting groove for the temperature sensor is provided at the actuator's rotating shaft. At least four axial mounting devices for the strain sensor should be prepared, with an axial cross-section of type "I". When using four axial mounting devices, one side should be fitted to the actuator housing, and the other side to the actuator mounting cavity. If there are more than four axial mounting devices, the additional devices should be evenly distributed between each pair of the existing four. The strain sensor has at least three strain detection points distributed outwards at equal intervals from the screw connection point between the axial mounting device and the actuator housing, and at least one strain detection point is selected between the two mounting holes. Temperature sensors are divided into two types: those for the actuator housing and those for the actuator controller. Temperature sensors for the housing are installed in the mounting groove of the actuator housing; temperature sensors for the controller are installed inside the metal housing of the controller. (2) Establish a shadow 3D digital prototype corresponding to the digital shadow hardware system. The specific steps are as follows: (2.1) Use computer-aided design software to establish a three-dimensional model corresponding to the digital shadow hardware system; the three-dimensional model includes simulation models of all actuators, actuator controllers, all strain sensors, all temperature sensors and mounting frames in the digital shadow hardware system; (2.2) Using strain sensors and temperature sensors near each actuator in the digital shadow hardware system, obtain multiple sets of measured strain data and multiple sets of measured temperature data for each actuator; using temperature sensors arranged inside the actuator controller housing in the digital shadow hardware system, obtain multiple sets of measured temperature data for the actuator controller. (2.3) Using the simulation model of each actuator, simulate multiple sets of simulated strain data and multiple sets of simulated temperature data for each actuator; using the simulation model of the actuator controller, simulate multiple sets of simulated temperature data for the actuator controller. (2.4) Based on multiple sets of measured strain data, multiple sets of measured temperature data, multiple sets of simulated strain data and multiple sets of simulated temperature data for each actuator, the simulation model of each actuator in the three-dimensional model is calibrated; based on multiple sets of measured temperature data and multiple sets of simulated temperature data for the actuator controller, the simulation model of the actuator controller in the three-dimensional model is calibrated to obtain the calibrated three-dimensional model; (2.5) Import the calibrated 3D model into the analysis software to obtain the shadow 3D digital prototype corresponding to the digital shadow hardware system.
[0023] The computer-aided design software is Creo, and the analysis software is ANSYS and Satellite Tool Kit.
[0024] (3) Based on the digital shadow hardware system, establish an actuator digital shadow model; the actuator digital shadow model includes an actuator control function simulation sub-shadow model and an actuator external structure perception sub-shadow model; the actuator external structure perception sub-shadow model is used to receive user input data; the user input data includes the temperature data of the actuator controller in the control system of the aircraft to be simulated, as well as the temperature data and strain data corresponding to each actuator; the actuator external structure perception sub-shadow model performs a discrimination operation based on the user input data to determine whether the actuator controller and each actuator in the control system of the aircraft to be simulated are in a normal state, and records the data of the actuator controller and actuator in an abnormal state to form an abnormal record log; the actuator control function simulation sub-shadow model simulates the working conditions of all actuators in the control system of the aircraft to be simulated based on the user input data; The specific steps for establishing the actuator control function simulation shadow model in step (3) are as follows: The first step is to establish a simulation sub-shadow model framework for actuator control function based on the parameter information of all actuators in the digital shadow hardware system. The second step is to select several target temperature points within the temperature range where all actuators in the digital shadow hardware system are working normally, according to a preset temperature interval. The third step is to place the digital shadow hardware system inside the incubator and adjust the temperature inside the incubator to the first selected target temperature point. The fourth step is to conduct a frequency sweep experiment on all actuators in the digital shadow hardware system to obtain the gain and phase difference data of all actuators at each frequency point at the first target temperature point. The fifth step involves using the acquired gain and phase difference data to solve the transfer function corresponding to the first target temperature point through a system identification method. Step 6: Obtain the transfer function corresponding to all target temperature points except the first target temperature point. The acquisition process is the same as steps 3 to 5. Step 7: Assign the transfer functions corresponding to all target temperature points to the actuator control function simulation sub-shadow model framework to obtain the actuator control function simulation sub-shadow model.
[0025] For a temperature point that is not selected as the target temperature point within the temperature range where all actuators in the digital shadow hardware system are working normally, the actuator control function simulation sub-shadow model will use the transfer function of the target temperature point whose temperature value is closest to that temperature point as the transfer function of that temperature point.
[0026] The specific steps for establishing the sensor shadow model of the actuator's external structure in step (3) are as follows: The first step is to establish a sensory sub-shadow model framework for the actuator's external structure based on the sensor parameters of all strain sensors and temperature sensors in the digital shadow hardware system. The second step is to reconstruct the deflection value of the mounting frame at each actuator fixed position using the data collected by the strain sensors near the fixed position of each actuator and the deflection reconstruction calculation formula. The third step is to assign the temperature collected by the temperature sensor located inside the actuator housing and the deflection value of the mounting frame at each fixed position of the actuator to the actuator external structure perception sub-shadow model frame, thereby obtaining the actuator external structure perception sub-shadow model.
[0027] In step (3), the sensor shadow model of the actuator's external structure performs a discrimination operation based on user input data. The specific steps are as follows: The first step is to obtain the temperature of the installation environment of the actuator in the control system of the aircraft to be simulated, based on the temperature data of the actuator in the user input data; then proceed to the second step. The second step is to compare the temperature of the installation environment where the actuator controller is located with the temperature threshold range of the controller. If the temperature of the installation environment where the actuator controller is located is within the temperature threshold range of the controller, then the actuator controller in the control system of the simulated aircraft is in a normal state, and the third step is executed; otherwise, the actuator controller in the control system of the simulated aircraft is in an abnormal state, and all actuators in the control system of the simulated aircraft are in an abnormal state, and the entire discrimination operation ends. The third step is to calculate the deflection at a fixed position of each actuator in the control system of the simulated aircraft based on the strain data of each actuator in the user input data and using the deflection reconstruction calculation formula; then proceed to the fourth step. Fourth step: Based on the temperature data of each actuator in the user input data, obtain the temperature of the installation environment of each actuator in the control system of the aircraft to be simulated; then proceed to the fifth step. The fifth step is to compare the deflection at a fixed position of each actuator in the control system of the simulated aircraft with the deflection threshold range, and to compare the temperature of the installation environment of each actuator with the actuator temperature threshold range. If the deflection at the fixed position of the actuator is within the deflection threshold range and the temperature of the installation environment of the actuator is within the actuator temperature threshold range, then the actuator is in a normal state; otherwise, the actuator is in an abnormal state.
[0028] In step (3), the external structure sensing shadow model of the actuator records the data of the actuator and actuator controller in the abnormal state in the control system of the aircraft to be simulated. Specifically, it records the strain data and temperature data of the actuator in the abnormal state in the user input data, and at the same time records the temperature data of the actuator controller in the abnormal state in the user input data.
[0029] Based on step (3), the present invention records the information of actuators in abnormal states and generates an abnormal record log, which makes it easier for experimental personnel to quickly obtain abnormal data and shortens the time for subsequent experimental problem localization.
[0030] (4) Connect the actuator digital shadow model to the shadow 3D digital prototype to obtain the final simulation actuator digital shadow model; the actuator external structure perception sub-shadow model displays the abnormal record log formed by the shadow 3D digital prototype; the actuator control function simulation sub-shadow model displays the simulation results of the actuator working status through the shadow 3D digital prototype.
[0031] Based on step (4), the present invention displays the simulation results and data acquisition results by designing a three-dimensional digital prototype, which makes it easier for experimental personnel to better understand the parameter information of the actuator during the simulation process and to better carry out subsequent experimental design.
[0032] Through the entire process described above, this invention constructs an actuator external structure perception sub-shadow model to perceive the environmental state of the actuator and determine whether the actuator is in a normal state. At the same time, it designs an actuator control function simulation sub-shadow model to simulate the actuator, thereby achieving accurate simulation of the aircraft control system and improving the consistency and accuracy between the simulation results and the actual results of the stability control system.
[0033] Secondly, such as Figure 3 As shown, this invention also proposes a ground simulation test method based on a simulation-based digital shadow model of a actuator. The ground simulation test method is implemented based on the simulation-based digital shadow model of the actuator obtained from the aforementioned aircraft stability control simulation-based digital shadow design method. The specific steps are as follows: The first step is to obtain a simulation-based digital shadow design method for aircraft stability control actuators, as described above, to obtain a simulation-based digital shadow model of the actuators. The second step is to input the user input data into the digital shadow model of the actuator in the simulation. The user input data is based on the measurement of the control system of the aircraft to be simulated during the simulation experiment in the ground laboratory. It includes the temperature data of the actuator controller in the control system of the aircraft to be simulated, as well as the temperature data and strain data corresponding to each actuator. The third step is for the external structure perception shadow model of the actuator to perform a discrimination operation based on the user input data, to determine whether the actuator controller and each actuator in the control system of the simulated aircraft are in a normal state, and to record data of the actuator controller and actuator in an abnormal state to form an abnormal record log. The fourth step is to simulate the operation of all actuators in the control system of the aircraft under simulation based on user input data. The fifth step involves the external structure sensing sub-shadow model of the actuator displaying the generated anomaly log through the shadow 3D digital prototype; the actuator control function simulation sub-shadow model displays the simulation results of the actuator's operation through the shadow 3D digital prototype, thus completing the ground simulation test.
[0034] Thirdly, such as Figure 4 As shown, this invention also proposes a flight simulation test method based on a simulation-based digital shadow model of a actuator. The flight simulation test method is implemented based on the simulation-based digital shadow model of the actuator obtained from the aforementioned aircraft stability control simulation-based digital shadow design method. The specific steps are as follows: The first step is to obtain a simulation-based digital shadow design method for aircraft stability control actuators, as described above, to obtain a simulation-based digital shadow model of the actuators. The second step is to input the user input data into the digital shadow model of the actuator in the simulation. The user input data is based on the measurement of the control system of the aircraft to be simulated during actual flight, including the temperature data of the actuator controller in the control system of the aircraft to be simulated, as well as the temperature data and strain data corresponding to each actuator. The third step is for the external structure perception shadow model of the actuator to perform a discrimination operation based on the user input data, to determine whether the actuator controller and each actuator in the control system of the simulated aircraft are in a normal state, and to record data of the actuator controller and actuator in an abnormal state to form an abnormal record log. The fourth step is to simulate the operation of all actuators in the control system of the aircraft under simulation based on user input data. The fifth step involves the external structure sensing sub-shadow model of the actuator displaying the generated anomaly log through the shadow 3D digital prototype; the actuator control function simulation sub-shadow model displays the simulation results of the actuator's operation through the shadow 3D digital prototype, thus completing the flight simulation test.
[0035] The parts of this invention not described in detail are common knowledge to those skilled in the art.
Claims
1. A method for digital shadow design of actuators using aircraft stability control simulation, characterized in that... include: A digital shadow hardware system is established based on the actual reference aircraft control system. The digital shadow hardware system is used to perform physical simulation of the actuator controller and each actuator in the reference aircraft control system. Establish a shadow 3D digital prototype corresponding to the digital shadow hardware system; Based on a digital shadow hardware system, an actuator digital shadow model is established. This model includes an actuator control function simulation sub-shadow model and an actuator external structure perception sub-shadow model. The external structure perception sub-shadow model receives user input data, including temperature data of the actuator controller in the simulated aircraft control system, as well as temperature and strain data for each actuator. The external structure perception sub-shadow model performs a discrimination operation based on the user input data, determining whether the actuator controller and each actuator in the simulated aircraft control system are in a normal state, and records data for actuator controllers and actuators in abnormal states, forming an anomaly log. The actuator control function simulation sub-shadow model simulates the operation of all actuators in the simulated aircraft control system based on the user input data. The actuator digital shadow model is connected to the shadow 3D digital prototype to obtain the final simulation actuator digital shadow model; the actuator external structure perception sub-shadow model displays the generated abnormal record log through the shadow 3D digital prototype; the actuator control function simulation sub-shadow model displays the simulation results of the actuator working status through the shadow 3D digital prototype.
2. The aircraft stability control simulation method for digital shadow design of actuators according to claim 1, characterized in that: The digital shadow hardware system includes actuators, an actuator controller, strain sensors, temperature sensors, and a mounting frame. The number of actuators in the digital shadow hardware system is consistent with the number of actuators in the actual reference aircraft control system. Each actuator in the digital shadow hardware system is fixed to the mounting frame, and the fixed position of the actuator on the mounting frame corresponds to the installation position of the actuator in the actual reference aircraft control system. Strain sensors and temperature sensors are arranged near each actuator's fixed position on the mounting frame to measure the deformation of the mounting frame at the actuator's fixed position and the temperature of the surrounding environment. A temperature sensor is arranged inside the housing of the actuator controller to measure the temperature of the actuator controller. Each actuator has at least 3 strain sensors and at least 1 temperature sensor installed near a fixed position; the actuator controller housing has at least 1 temperature sensor installed inside.
3. The aircraft stability control simulation method for actuator digital shadow design according to claim 2, characterized in that: The specific steps for establishing a shadow 3D digital prototype corresponding to the digital shadow hardware system are as follows: (2.1) Use computer-aided design software to establish a three-dimensional model corresponding to the digital shadow hardware system; the three-dimensional model includes simulation models of all actuators, actuator controllers, all strain sensors, all temperature sensors and mounting frames in the digital shadow hardware system; (2.2) Using strain sensors and temperature sensors near each actuator in the digital shadow hardware system, obtain multiple sets of measured strain data and multiple sets of measured temperature data for each actuator; using temperature sensors arranged inside the actuator controller housing in the digital shadow hardware system, obtain multiple sets of measured temperature data for the actuator controller. (2.3) Using the simulation model of each actuator, simulate multiple sets of simulated strain data and multiple sets of simulated temperature data for each actuator; using the simulation model of the actuator controller, simulate multiple sets of simulated temperature data for the actuator controller. (2.4) Based on multiple sets of measured strain data, multiple sets of measured temperature data, multiple sets of simulated strain data and multiple sets of simulated temperature data for each actuator, the simulation model of each actuator in the three-dimensional model is calibrated; based on multiple sets of measured temperature data and multiple sets of simulated temperature data for the actuator controller, the simulation model of the actuator controller in the three-dimensional model is calibrated to obtain the calibrated three-dimensional model; (2.5) Import the calibrated 3D model into the analysis software to obtain the shadow 3D digital prototype corresponding to the digital shadow hardware system.
4. The aircraft stability control simulation method for actuator digital shadow design according to claim 2, characterized in that: The specific steps for establishing the simulation shadow model of the actuator control function are as follows: The first step is to establish a simulation sub-shadow model framework for actuator control function based on the parameter information of all actuators in the digital shadow hardware system. The second step is to select several target temperature points within the temperature range where all actuators in the digital shadow hardware system are working normally, according to a preset temperature interval. The third step is to place the digital shadow hardware system inside the incubator and adjust the temperature inside the incubator to the first selected target temperature point. The fourth step is to conduct a frequency sweep experiment on all actuators in the digital shadow hardware system to obtain the gain and phase difference data of all actuators at each frequency point at the first target temperature point. The fifth step involves using the acquired gain and phase difference data to solve the transfer function corresponding to the first target temperature point through a system identification method. Step 6: Obtain the transfer function corresponding to all target temperature points except the first target temperature point. The acquisition process is the same as steps 3 to 5. Step 7: Assign the transfer functions corresponding to all target temperature points to the actuator control function simulation sub-shadow model framework to obtain the actuator control function simulation sub-shadow model.
5. The aircraft stability control simulation method for actuator digital shadow design according to claim 4, characterized in that: For a temperature point that is not selected as the target temperature point within the temperature range where all actuators in the digital shadow hardware system are working normally, the actuator control function simulation sub-shadow model will use the transfer function of the target temperature point whose temperature value is closest to that temperature point as the transfer function of that temperature point.
6. The aircraft stability control simulation method for actuator digital shadow design according to claim 2, characterized in that: The specific steps for establishing the sensor shadow model of the actuator's external structure are as follows: The first step is to establish a sensory sub-shadow model framework for the actuator's external structure based on the sensor parameters of all strain sensors and temperature sensors in the digital shadow hardware system. The second step is to reconstruct the deflection value of the mounting frame at each actuator fixed position using the data collected by the strain sensors near the fixed position of each actuator and the deflection reconstruction calculation formula. The third step is to assign the temperature collected by the temperature sensor located inside the actuator housing and the deflection value of the mounting frame at each fixed position of the actuator to the actuator external structure perception sub-shadow model frame, thereby obtaining the actuator external structure perception sub-shadow model.
7. The aircraft stability control simulation method for digital shadow design of actuators according to claim 1, characterized in that: The specific steps of the actuator external structure perceptron shadow model performing discrimination operations based on user input data are as follows: The first step is to obtain the temperature of the installation environment of the actuator in the control system of the aircraft to be simulated, based on the temperature data of the actuator in the user input data; then proceed to the second step. The second step is to compare the temperature of the installation environment where the actuator controller is located with the temperature threshold range of the controller. If the temperature of the installation environment where the actuator controller is located is within the temperature threshold range of the controller, then the actuator controller in the control system of the simulated aircraft is in a normal state, and the third step is executed; otherwise, the actuator controller in the control system of the simulated aircraft is in an abnormal state, and all actuators in the control system of the simulated aircraft are in an abnormal state, and the entire discrimination operation ends. The third step is to calculate the deflection at a fixed position of each actuator in the control system of the simulated aircraft based on the strain data of each actuator in the user input data and using the deflection reconstruction calculation formula. Perform step four; Fourth step: Based on the temperature data of each actuator in the user input data, obtain the temperature of the installation environment of each actuator in the control system of the aircraft to be simulated; then proceed to the fifth step. The fifth step is to compare the deflection at the fixed position of each actuator in the control system of the aircraft to be simulated with the deflection threshold range, and to compare the temperature of the installation environment of each actuator with the actuator temperature threshold range. If the deflection at the fixed position of the actuator is within the deflection threshold range and the temperature of the installation environment of the actuator is within the actuator temperature threshold range, then the actuator is in normal condition. Otherwise, the actuator is in an abnormal state.
8. The aircraft stability control simulation method for digital shadow design of actuators according to claim 1, characterized in that: The actuator external structure sensing shadow model records the data of the actuators and actuator controllers in abnormal states in the control system of the simulated aircraft. Specifically, it records the strain and temperature data of the actuators in abnormal states in the user input data, and also records the temperature data of the actuator controllers in abnormal states in the user input data.
9. A ground simulation test method based on a simulation-based digital shadow model of a actuator, characterized in that: The ground simulation test method is based on the simulation obtained by the actuator digital shadow design method of the aircraft stability control simulation according to any one of claims 1 to 8, and is implemented as an actuator digital shadow model. The specific steps are as follows: The first step is to obtain a simulation-based digital shadow model of the actuator based on the aircraft stability control simulation-based actuator digital shadow design method according to any one of claims 1 to 8. The second step is to input the user input data into the simulation's digital shadow model of the actuator; The user input data is based on measurements taken during the simulation experiment of the control system of the aircraft to be simulated in the ground laboratory. It includes the temperature data of the actuator controller in the control system of the aircraft to be simulated, as well as the temperature data and strain data corresponding to each actuator. The third step is for the external structure perception shadow model of the actuator to perform a discrimination operation based on the user input data, to determine whether the actuator controller and each actuator in the control system of the simulated aircraft are in a normal state, and to record data of the actuator controller and actuator in an abnormal state to form an abnormal record log. The fourth step is to simulate the operation of all actuators in the control system of the aircraft under simulation based on user input data. The fifth step involves the external structure sensing sub-shadow model of the actuator displaying the generated anomaly log through the shadow 3D digital prototype; the actuator control function simulation sub-shadow model displays the simulation results of the actuator's operation through the shadow 3D digital prototype, thus completing the ground simulation test.
10. A flight simulation test method based on a simulation-based digital shadow model of a actuator, characterized in that: The flight simulation test method is based on the simulation obtained by the actuator digital shadow design method for aircraft stability control simulation according to any one of claims 1 to 8, and is implemented as an actuator digital shadow model. The specific steps are as follows: The first step is to obtain a simulation-based digital shadow model of the actuator based on the aircraft stability control simulation-based actuator digital shadow design method according to any one of claims 1 to 8. The second step is to input the user input data into the simulation's digital shadow model of the actuator; The user input data is based on measurements taken during actual flight of the control system of the simulated aircraft, including temperature data of the actuator controller in the control system of the simulated aircraft, as well as temperature and strain data corresponding to each actuator. The third step is for the external structure perception shadow model of the actuator to perform a discrimination operation based on the user input data, to determine whether the actuator controller and each actuator in the control system of the simulated aircraft are in a normal state, and to record data of the actuator controller and actuator in an abnormal state to form an abnormal record log. The fourth step is to simulate the operation of all actuators in the control system of the aircraft under simulation based on user input data. The fifth step involves the external structure sensing sub-shadow model of the actuator displaying the generated anomaly log through the shadow 3D digital prototype; the actuator control function simulation sub-shadow model displays the simulation results of the actuator's operation through the shadow 3D digital prototype, thus completing the flight simulation test.