Controller, control model generation method, and test device

Abstract

To reduce labor when performing regulation of flow velocity.SOLUTION: A controller controls a test device which comprises: a flow path in which fluid can flow; a laboratory which is provided in the flow path and in which a specimen is disposed so as to enable its attitude to be changed; and a fluid driving device which generates flow of the fluid in the flow path by rotating a rotation wing by a motor. The controller acquires test information including at least one of an elevation angle α indicating the attitude of the specimen, a sideslip angle β and a roll angle γ, and controls rotation of the motor according to the acquired test information, so that flow velocity of the fluid in the laboratory becomes constant.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a control device, a control model generation method, and a test device. [Background technology]

[0002] There is known a wind tunnel testing device for testing the characteristics of a test specimen against an air flow (for example, see Patent Document 1). The wind tunnel testing device has a blower installed in a wind tunnel, and the blower is driven to form an air flow in the wind tunnel, and various characteristics of the test specimen are measured in a measurement area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2-311732 Summary of the Invention [Problem to be solved by the invention]

[0004] In the wind tunnel testing equipment described above, the wind speed fluctuates when the position of the test specimen is changed. Therefore, the wind speed must be adjusted every time the position of the test specimen is changed, which is time-consuming.

[0005] The present disclosure has been made in consideration of the above, and aims to provide a control device, a control model generation method, and a test device that can reduce the effort required to adjust wind speed. [Means for solving the problem]

[0006] The control device according to the present disclosure is a control device that controls a test apparatus including a flow path through which a fluid can flow, a test chamber provided in the flow path in which a test specimen is placed so that its posture can be changed, and a fluid drive device that generates a flow of the fluid within the flow path by rotating a rotor using a motor, and obtains test information including at least one of an angle of attack α, a sideslip angle β, and a roll angle γ that indicate the posture of the test specimen, and controls the rotation of the motor in accordance with the obtained test information so that the flow rate of the fluid in the test chamber is constant.

[0007] The control model generation method according to the present disclosure is a control model generation method for generating a control model of a wind tunnel testing apparatus including: a wind tunnel; a test chamber in which a test specimen is arranged so that its attitude can be changed, the test chamber having an acquisition unit that acquires test information including at least an angle of attack and a sideslip angle that indicate the attitude of the test specimen; a blower that generates wind in the wind tunnel by rotating a rotor using a motor; and a control device that controls the rotation of the motor. The control model generation method generates a control model of a wind tunnel testing apparatus including: a test chamber in which a test specimen is arranged so that its attitude can be changed, the test chamber having an acquisition unit that acquires test information including at least an angle of attack and a sideslip angle that indicate the attitude of the test specimen; b and an acquisition step of acquiring a relationship between the value of the angular velocity ω of the motor and the acquired wind speed v b Based on the relationship between the angular velocity ω and the inertia coefficient λ of the wind flowing through the wind tunnel M a first identification step of identifying the value of the obtained wind speed v b and the angular velocity ω, and the identified inertia coefficient λ M Based on this, the viscosity coefficient λ of the wind flowing through the wind tunnel is calculated. L A second identification step of identifying the obtained wind speed v b and the angular velocity ω, and the identified inertia coefficient λ M and the viscosity coefficient λ L and generating a control model based on the control model.

[0008] The testing apparatus according to the present disclosure includes a flow path through which a fluid can flow, a test chamber provided in the flow path, in which a specimen is arranged so that its attitude can be changed, and an acquisition unit that acquires test information including at least one of an angle of attack α, a sideslip angle β, and a roll angle γ that indicate the attitude of the specimen, a fluid drive device that generates a flow of the fluid within the flow path by rotating a rotor using a motor, and a control device that controls the rotation of the motor in accordance with the test information detected by the acquisition unit so that the flow rate of the fluid in the test chamber is constant. Effect of the Invention

[0009] According to the present disclosure, it is possible to provide a control device, a control model generation method, and a test device that can reduce the effort required to adjust wind speed. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram illustrating an example of a wind tunnel testing device according to the present embodiment. [Diagram 2] FIG. 2 is a functional block diagram showing an example of a wind tunnel testing device. [Diagram 3] FIG. 3 is a diagram showing an example of an equivalent model of a wind tunnel testing device. [Figure 4] FIG. 4 is a diagram showing another example of an equivalent model of a wind tunnel testing device. [Diagram 5] FIG. 5 is a diagram showing another example of an equivalent model of a wind tunnel testing device. [Figure 6] FIG. 6 is a flowchart showing an example of a control model generating method according to this embodiment. [Figure 7] FIG. 7 is a diagram showing an example of an operation in a test pattern run in the acquisition step. [Figure 8] FIG. 8 is a diagram showing the relationship between wind speed and angular velocity. [Figure 9] FIG. 9 is a diagram showing another example of the control model of the wind tunnel testing device. [Figure 10] FIG. 10 is a diagram showing another example of the operation in the test pattern operation in the acquisition step. [Figure 11] FIG. 11 is a diagram showing the relationship between the angle of attack and the lift coefficient. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Note that the present invention is not limited to these embodiments. In addition, the components in the following embodiments include those that are replaceable and easy for a person skilled in the art, or those that are substantially the same.

[0012] Fig. 1 is a schematic diagram showing an example of a wind tunnel test apparatus according to the present embodiment. Fig. 2 is a functional block diagram showing an example of the wind tunnel test apparatus. As shown in Figs. 1 and 2, the wind tunnel test apparatus (test apparatus) 100 according to the present embodiment includes a wind tunnel (flow path) 10, a test chamber 20, a blower (fluid drive unit) 30, and a control device 40.

[0013] The wind tunnel 10 allows gas such as air or carbon dioxide to flow as a fluid. As the wind tunnel 10, various types of wind tunnels, such as a recirculating wind tunnel or an open type wind tunnel, can be used. In this embodiment, the wind tunnel 10 is, for example, a recirculating wind tunnel. The wind tunnel 10 has an air passage 11, an intake port 12, and an exhaust port 13. In the recirculating type wind tunnel, the air passage 11 is bent at, for example, four points, and the intake port 12 and the exhaust port 13 face each other. The air passage 11 is a path through which air flows. The intake port 12 is provided at one end of the air passage 11. The exhaust port 13 is provided at the other end of the air passage 11.

[0014] The test chamber 20 is disposed between the inlet 12 and the outlet 13 of the air passage 11. In the test chamber 20, a specimen P is disposed between the inlet 12 and the outlet 13. Examples of the specimen P include an aircraft, a vehicle, and the like. In the wind tunnel 10, both ends of the air passage 11 are connected to the test chamber 20. The air passage 11 of the wind tunnel 10 and the test chamber 20 form a path through which air circulates.

[0015] A specimen support section 21 is provided in the test chamber 20. The specimen support section 21 supports the specimen P so that the attitude of the specimen P can be changed. An acquisition section 22 is also provided in the test chamber 20. The acquisition section 22 acquires test information including at least one of the angle of attack α, the sideslip angle β, and the roll angle γ, which indicate the attitude of the specimen P. The acquisition section 22 acquires the wind speed in the test chamber 20. In this embodiment, the reference for the angle of attack α, the sideslip angle β, and the roll angle γ can be the axis AX along the blowing direction of the wind blown out from the air outlet 13.

[0016] The blower 30 is disposed inside the air passage 11. The blower 30 generates wind in the wind tunnel 10 by rotating a rotor 31, such as a fan, by a motor 32.

[0017] The control device 40 controls the rotation of the motor 32 in accordance with the test information so that the wind speed in the test chamber 20 is constant.

[0018] The control device 40 controls the operation of the motor 32. The control device 40 includes a communication unit 41, a processing unit 42, and a storage unit 43.

[0019] The communication unit 41 performs wired or wireless communication with an external device, and includes an interface such as a network interface card.

[0020] The processing unit 42 performs various types of information processing. The processing unit 42 includes a processor such as a Central Processing Unit (CPU) and memories such as a Read Only Memory (ROM) and a Random Access Memory (RAM).

[0021] The processing unit 42 controls the rotation of the motor 32 in accordance with the test information so that the air speed in the test chamber 20 is constant.

[0022] The storage unit 43 stores information such as various programs, data, etc. The storage unit 43 includes storage such as a hard disk drive (HDD) and a solid state drive (SSD).

[0023] In the control device 40, the processor in the processing unit 42 reads out various programs and loads them in a memory to execute information processing. Examples of the various programs include a program received by the communication unit 41, a program stored in the storage unit 43, and a program recorded on an external recording medium. The control device 40 functions as an information processing device (computer) that executes various information processing. Note that the various programs may be executed by an information processing device other than the control device 40, or the control device 40 and the other information processing device may cooperate to execute the various programs.

[0024] In this embodiment, the equivalent mass of the wind flowing through the wind tunnel 10 is M e , the equivalent viscosity of the wind flowing through the wind tunnel 10 is C e , the wind speed of the wind blowing out from the blower 30 is v b , the thrust coefficient of the blower 30 is K RT , the angular velocity of the motor 32 is ω, and the equivalent mass M e , equivalent viscosity C e , wind speed v b When each of the angular velocity ω and the angular velocity ω is a variable having at least one of the angle of attack α, the sideslip angle β, and the roll angle γ of the specimen P as a parameter, the processing unit 42 calculates the flow velocity v b The equivalent mass M is calculated using relational data showing the relationship between the angular velocity ω and at least one of the angle of attack α, the sideslip angle β, and the roll angle γ. e , equivalent viscosity C e and thrust coefficient K RT Identifying

number

[0025] In the equivalent model M1, the equivalent mass M e , equivalent viscosity C e , wind speed v b As described above, each of the angular velocity ω and the angular velocity ω is a variable that has as a parameter at least one of the angle of attack α, the sideslip angle β, and the roll angle γ of the specimen P. e , equivalent viscosity C e , wind speed v b , thrust coefficient K RT and the angular velocity ω may each be a variable having the temperature T in the wind tunnel 10 as a parameter.

[0026] 3 is a diagram showing an example of an equivalent model of a wind tunnel testing device. The equivalent model M1 shown in FIG. 3 is an equivalent model of the wind tunnel testing device 100 that satisfies the relationship shown in the above-mentioned equation 1. The equivalent model M1 has a calculation unit 51 and transfer elements 52, 53, 54, and 55. The calculation unit 51 calculates K RT ω 2 The calculation unit 51 also receives the output of a transfer element 55, which will be described later. RT ω 2 The transfer element 52 receives the calculation result of the calculator 51. The transfer element 52 subtracts the output result of the calculator 51 from the equivalent mass M e The transfer element 53 receives the calculation result of the transfer element 52. The transfer element 53 integrates the calculation result of the transfer element 52 and outputs the wind speed v b The transfer element 54 outputs the wind speed v calculated by the transfer element 53. b is input. The transfer element 54 is b The transfer element 55 outputs the squared value of the transfer element 54. e The output of the transfer element 55 is input to the calculation unit 51 described above.

[0027] In the above formula 1, both sides are M e ·K RTWhen we divide by this, we get the relationship shown in Equation 2 below.

[0028]

number

[0029] In the formula 2, λ M is the inertia coefficient of the wind flowing through the wind tunnel 10. L is the viscosity coefficient of the wind flowing through the wind tunnel 10. The inertia coefficient λ M , viscosity coefficient λ L , wind speed v b When each of the angular velocity ω and the angular velocity ω is a variable having at least one of the angle of attack α, the sideslip angle β, and the roll angle γ of the specimen P as a parameter, the processing unit 42 calculates the flow velocity v b The inertia coefficient λ is calculated using relationship data indicating the relationship between the angular velocity ω and at least one of the angle of attack α, the sideslip angle β, and the roll angle γ. M and the viscosity coefficient λ L Based on Equation 2, the wind speed v b By determining the angular velocity ω so as to reach the target value, the rotation of the motor 32 can be controlled so that the wind speed in the test room 20 becomes constant.

[0030] Fig. 4 is a diagram showing another example of an equivalent model of a wind tunnel testing device. The equivalent model M2 shown in Fig. 4 is an equivalent model of the wind tunnel testing device 100 that satisfies the relationship shown in the above formula 2. The equivalent model M2 has a calculation unit 61 and transfer elements 60, 62, 63, 64, and 65. The transfer element 60 has a value ω 2 The output result of the transfer element 60 is input to the calculation unit 61. The output result of the transfer element 65, which will be described later, is also input to the calculation unit 61. The calculation unit 61 calculates the above-mentioned input ω 2 The transfer element 62 subtracts the output result of the transfer element 65 from the inertia coefficient λ MThe transfer element 63 receives the calculation result of the transfer element 62. The transfer element 63 integrates the calculation result of the transfer element 62 and outputs the wind speed v b The transfer element 64 outputs the wind speed v calculated by the transfer element 63. b is input. The transfer element 64 is b The transfer element 65 applies the viscosity coefficient λ to the output result of the transfer element 64. L The output result of the transfer element 65 is input to the calculation unit 61 described above.

[0031] Fig. 5 is a diagram showing another example of an equivalent model of a wind tunnel test device. The equivalent model M3 shown in Fig. 5 is configured by adding a transfer element 66 to the equivalent model M2 shown in Fig. 4. The transfer element 66 is a b is input. The transfer element 66 is b Cross-sectional area ratio A b / A m Multiply by and output the calculation result. Note that the cross-sectional area A b is the cross-sectional area of ​​the outlet of the blower 30. m is the cross-sectional area of ​​the entrance of the test chamber 20. The output of the transfer element 66 is the wind speed v of the wind entering the test chamber 20.

[0032] In the equivalent models M2 and M3, the inertia coefficient λ M , viscosity coefficient λ L , wind speed v b As described above, each of the angular velocity ω and the angular velocity ω is a variable having at least one of the attack angle α, the sideslip angle β, and the roll angle γ of the specimen P as a parameter. M , viscosity coefficient λ L , wind speed v b and the angular velocity ω may each be a variable having the temperature T in the wind tunnel 10 as a parameter.

[0033] The processing unit 42 of the control device 40 controls the rotation of the motor 32 in response to test information including at least one of the angle of attack α, sideslip angle β, and roll angle γ so that the wind speed v in the test chamber 20 is constant. This control allows the control device 40 to automatically adjust the wind speed v in the test chamber 20 in response to at least one of the angle of attack α, sideslip angle β, and roll angle γ of the test specimen P when changing the attitude of the test specimen P, thereby reducing the effort required to adjust the wind speed v. Furthermore, since control is performed using at least one parameter of the angle of attack α, sideslip angle β, and roll angle γ, high-precision control is possible.

[0034] Next, a control model generation method for generating the above-mentioned equivalent models M2 and M3 will be described. Fig. 6 is a flowchart showing an example of the control model generation method according to this embodiment. As shown in Fig. 6, the control model generation method according to this embodiment includes an acquisition step S10, a first identification step S20, a second identification step S30, and a generation step S40. Each step will be described in order below.

[0035] In the acquisition step S10, the wind speed v of the wind flowing out from the blower 30 is obtained when the attack angle α and the sideslip angle β, which indicate the attitude of the test specimen P, are changed. b and the angular velocity ω of the motor 32. In addition to the attack angle α and sideslip angle β, if other parameters such as the roll angle γ and the temperature T in the wind tunnel 10 are added, the added parameters are also related to the wind speed v b and angular velocity ω.

[0036] In the acquisition step S10, the above relationship can be acquired by performing a test pattern operation using the wind tunnel testing device 100. FIG. 7 is a diagram showing an example of the operation in the test pattern operation in the acquisition step S10. As shown in FIG. 7, in the test pattern operation, the rotation speed N (rpm) of the motor 32 of the blower 30, the attack angle α of the test specimen P, and the sideslip angle β are changed within a predetermined range, and the wind speed v b The wind speed v bRegarding this, a value measured by a sensor not shown on the downstream side of the blower 30 may be used, or a value calculated based on a value measured by a sensor not shown in the test chamber 20 and the ratio of the cross-sectional area Ab of the outlet of the blower 30 to the cross-sectional area Am of the inlet of the test chamber 20 may be used.

[0037] In the example shown in Figure 7, first, with the rotation speed N of the motor 32 constant at 50 rpm, the angle of attack α is increased in steps of 4° from -8° to 28° for 30 seconds each, and after the angle of attack α reaches 28°, it is decreased in steps of 4° to -8° for 30 seconds each.

[0038] More specifically, the angle of attack α is first held constant at -8° for 30 seconds, and then the angle of attack α is increased by 4° at a rate of 0.4° / s until it reaches -4°. When the angle of attack α reaches -4°, it is held constant at -4° for 30 seconds. After that, it is similarly increased by 4° at a rate of 0.4° / s until it reaches 0°, and when it reaches 0°, it is held constant at 0° for 30 seconds. This operation is repeated until it reaches 28°.

[0039] After that, the angle of attack α is decreased by 4° at a rate of 0.4° / s until it reaches 24°. When the angle of attack α reaches 24°, it is kept constant at 24° for 30 seconds. After that, it is decreased by 4° at a rate of 0.4° / s until it reaches 20°, and when it reaches 20°, it is kept constant at 20° for 30 seconds. This operation is repeated until it reaches -8°.

[0040] While the angle of attack α is changed as described above, the sideslip angle β is kept constant at 0°. After one cycle of the above change in the angle of attack α has been performed, the sideslip angle β is increased from 0° to 10° at a rate of 0.4° / s. When the sideslip angle β reaches 10°, the angle of attack α is kept constant at 10° and another cycle of change is performed in the same manner as above. After one cycle of change in the angle of attack α with the sideslip angle β at 10°, the sideslip angle β is increased from 10° to 20° at a rate of 0.4° / s. When the sideslip angle β reaches 20°, the angle of attack α is kept constant at 20° and another cycle of change is performed in the same manner as above.

[0041] Then, the rotation speed N of the motor 32 is increased from 50 rpm to 100 rpm at a rate of 2.5 rpm / s for 20 seconds. When the rotation speed N of the motor 32 reaches 100 rpm, the angle of attack α and the sideslip angle β are changed in the same manner while keeping the rotation speed constant at 100 rpm. After that, the angle of attack α and the sideslip angle β are changed in the same manner when the rotation speed N of the motor 32 is set to 150 rpm and 200 rpm. Note that in the above description, the angle of attack α is changed in a stepwise manner while the sideslip angle β is kept constant, but this is not limiting. For example, the sideslip angle β may be changed in a stepwise manner while the angle of attack α is kept constant.

[0042] While changing the rotation speed N, the angle of attack α, and the sideslip angle β as above, the wind speed v b By carrying out the measurements, relationship data is obtained that indicates the relationship between the angular velocity ω, wind speed vb, angle of attack α, and sideslip angle β. The angular velocity ω is calculated from the rotation speed N. In the acquisition step S10, a value at an equilibrium point is extracted from the acquired data. Here, the equilibrium point can refer to a state in which the rotation speed N, wind speed vb, angle of attack α, and sideslip angle β are constant during the above-mentioned test pattern operation. In this embodiment, for example, a case in which the rate of change in a predetermined period of time is equal to or less than a threshold value can be regarded as the equilibrium point being reached. That is, in the acquisition step S10, the angular velocity ω, wind speed vb, angle of attack α, and sideslip angle β are calculated and then extracted. b The combination of the wind speed v, the angle of attack α, and the sideslip angle β is extracted as relational data. The extracted relational data can be stored in the storage unit 43. For example, when the angle of attack α and the sideslip angle β are input, the wind speed v b Alternatively, the learning model may be stored in the storage unit 43 so as to output the above-mentioned signal.

[0043] In the first identification step S20, the viscosity coefficient λ of the wind flowing through the wind tunnel 10 is determined based on the acquired relational data. L When the wind speed acceleration of the wind flowing out from the blower 30 is 0, that is, in the steady state,

number

[0044] Based on Equation 3, the viscosity coefficient λ L Tilde (λ L above it with "~": and so on)

number

[0045] In addition, the viscosity coefficient λ L When calculating tilde, it may be estimated by using, for example, the angle of attack α and the sideslip angle β, and by using surface interpolation such as linear surface interpolation. L The method for estimating tilde is not limited to the above-mentioned areal interpolation.

[0046] Figure 8 shows the wind speed v b 8 is a graph showing the relationship between the viscosity coefficient λ and the angular velocity ω. In FIG. 8, the horizontal axis represents the wind speed v, and the vertical axis represents the angular velocity ω. As shown in FIG. 8, L The tilde represents the steady-state angular velocity ω (with a "-" above ω) and the steady-state wind speed v b Bar(v b The slope of the line showing the relationship between eq Therefore, based on the relevant data obtained, the slope K eq is expressed as a function of the attack angle α and the sideslip angle β.

number

[0047] In the second identification step S30, the acquired relational data and the identified viscosity coefficient λ L Based on this, the inertia coefficient λ of the wind flowing through the wind tunnel 10 is calculated. M Identify.

[0048] Based on the above number 2,

number

[0049] In the second identification step S30, the inertia coefficient λ is determined based on the equation (6) by using the identification method of the nonlinear equation by the regression model. M can be sought.

[0050] Each element of the regressor is

number

[0051] In the formula 7, ω 2 and v b 2 The values ​​of ω and v b It can be calculated based on v b Dot (v b For the above, b It can be calculated by differentiating

[0052] Now, if we express the left side of equation 6 as vector f, we get

number

[0053] Using this, the inertia coefficient λ is estimated using the least squares method. M Tilde (λ M above it with "~": and so on)

number

[0054] In the generation step S40, the acquired relationship data and the identified inertia coefficient λ M tilde and viscosity coefficient λ L Based on tilde and

number

[0055] In equation 10, the inertia coefficient λ M tilde and viscosity coefficient λ L tilde is a function of the angle of attack α and the sideslip angle β. In the acquisition step S10, when other parameters such as the roll angle γ and the temperature T in the wind tunnel 10 are added in addition to the angle of attack α and the sideslip angle β as parameters, the inertia coefficient λ M tilde and viscosity coefficient λ L tilde is a function of the angle of attack α, the sideslip angle β, as well as other parameters such as the roll angle γ and the temperature T in the wind tunnel 10.

[0056] In this manner, by performing the acquisition step S10, the first identification step S20, the second identification step S30, and the generation step S40, it is possible to generate a control model capable of controlling the wind speed v with high accuracy.

[0057] 9 is a diagram showing another example of the control model of the wind tunnel testing device 100. The control model M4 shown in FIG. 9 includes the above-mentioned equivalent model M3. That is, the control model M4 has calculation units 71 and 73 and transfer elements 72, 74, and 75. The calculation unit 71 receives a command value v r The calculation unit 71 receives the wind speed v, which is the output of the equivalent model M3. The calculation unit 71 calculates the wind speed command value v r The transfer element 72 receives the output result of the calculation unit 71. The transfer element 72 performs various controls such as PID control on the output result of the calculation unit 71, and outputs the resultant ω FB The calculation unit 73 receives the output result of the transfer element 72. The calculation unit 73 receives the angular velocity compensation value ω r The calculation unit 73 adds the output result of the calculation unit 71 and the output result of the calculation unit 75, and converts the calculation result into the angular velocity ω com The transfer element 74 is the equivalent model M3 described above. The transfer element 74 receives the angular velocity ω comThe transfer element 74 outputs the wind speed v in the test chamber 20. The transfer element 74 also outputs the values ​​of the angle of attack α and the sideslip angle β. The transfer element 75 receives the command value v of the wind speed r The transfer element 75 receives the attack angle α and sideslip angle β output from the transfer element 74. The transfer element 75 receives the input wind speed command value v r Using the values ​​of the attack angle α and the sideslip angle β,

number

[0058] In this way, in the control model M4 shown in FIG. 9, the angular velocity ω com is the compensation value ω shown in Equation 11 r is the value added by the feedforward control. In this way, in the control model M4, the required angular velocity compensation value ω r Therefore, it is possible to calculate the angular velocity ω of the motor 32 more appropriately according to the angle of attack α and the sideslip angle β of the test piece P. com can be input into the model M3.

[0059] Fig. 10 is a diagram showing another example of the operation in the test pattern operation in the acquisition step S10. In Fig. 7, the attack angle α is changed stepwise, but the present invention is not limited to this example. As shown in Fig. 10, the attack angle α may be changed in a sweeping manner.

[0060] 10, the angle of attack α is increased linearly from -8° to 28° at a constant rate while the rotation speed N of the motor 32 is kept constant at, for example, 50 rpm, 100 rpm, 150 rpm, and 200 rpm as described above. After the angle of attack α reaches 28°, it is decreased linearly from 28° to -8° at a constant rate. By changing the angle of attack α linearly in this way, the test time can be shortened compared to when the angle of attack α is changed in a stepwise manner.

[0061] Figure 11 shows the relationship between the angle of attack α and the lift coefficient C L In FIG. 11, the horizontal axis represents the angle of attack α, and the vertical axis represents the lift coefficient C L In FIG. 11, the circles indicate values ​​when the angle of attack α is changed stepwise. The curves indicate changes when the angle of attack α is changed in a sweeping manner. As shown in FIG. 11, when the angle of attack α is changed in a sweeping manner, the lift coefficient C L On the other hand, when the angle of attack α is changed stepwise, the maximum value of the lift coefficient C L It is difficult to determine the maximum value of . In practice, the angle of attack α is changed stepwise in more detail in the section where the maximum value is thought to exist, and the lift coefficient C L Therefore, when the angle of attack α is changed in a sweeping manner, it is possible to significantly reduce the operation time for one test pattern test, compared to when the angle of attack is changed in a stepwise manner.

[0062] As described above, according to the first aspect of the present disclosure, a control device 40 controls a wind tunnel testing apparatus 100 including a wind tunnel 10 through which a gas fluid can flow, a test chamber 20 provided in the wind tunnel 10 in which a test specimen P is arranged so that its posture can be changed, and a blower 30 that generates wind in the wind tunnel 10 by rotating a rotor 31 using a motor 32, and the control device 40 acquires test information including at least one of the angle of attack α, sideslip angle β, and roll angle γ that indicate the posture of the test specimen P, and controls the rotation of the motor 32 in accordance with the acquired test information so that the wind speed in the test chamber 20 is constant.

[0063] According to this configuration, the rotation of the motor 32 is controlled in response to test information including at least one of the angle of attack α, sideslip angle β, and roll angle γ so that the wind speed v in the test chamber 20 is constant. With this control, when the attitude of the specimen P is changed, the wind speed v in the test chamber 20 can be automatically adjusted by the control device 40 in response to at least one of the angle of attack α, sideslip angle β, and roll angle γ of the specimen P, making it possible to reduce the effort required to adjust the wind speed v. Furthermore, since the control is performed using at least one parameter of the angle of attack α, sideslip angle β, and roll angle γ, highly accurate control is possible.

[0064] According to the second aspect of the present disclosure, in the control device 40 according to the first aspect, the equivalent mass of the wind flowing through the wind tunnel 10 is M e , the equivalent viscosity of the wind flowing through the wind tunnel 10 is C e , the wind speed of the wind blowing out from the blower 30 is v b , the thrust coefficient of the blower 30 is K RT , the angular velocity of the motor 32 is ω, and the equivalent mass M e , equivalent viscosity C e , wind speed v b When the angular velocity ω and the angular velocity ω are variables with at least the angle of attack α and the sideslip angle β of the specimen as parameters, the flow velocity v b Using relational data showing the relationship between the angular velocity ω and at least one of the angle of attack α, the sideslip angle β, and the roll angle γ, the equivalent mass M e , equivalent viscosity C e and thrust coefficient K RT Identifying

number

[0065] According to a third aspect of the present disclosure, in the control device 40 according to the first aspect, the inertia coefficient of the wind flowing through the wind tunnel 10 is set to λ M The viscosity coefficient of the wind flowing through the wind tunnel 10 is λ L , the wind speed of the wind blowing out from the blower 30 is v b , the angular velocity of the motor 32 is ω, and the inertia coefficient λ M , viscosity coefficient λ L , wind speed v b When the angular velocity ω and the angular velocity ω are variables with at least the angle of attack α and the sideslip angle β of the specimen as parameters, the flow velocity v b The inertia coefficient λ is calculated using relationship data showing the relationship between at least one of the angular velocity ω, the attack angle α, the sideslip angle β, and the roll angle γ. M and the viscosity coefficient λ L Identifying

number

[0066] According to a fourth aspect of the present disclosure, in the control device 40 according to the third aspect, the inertia coefficient λ M , viscosity coefficient λ L , wind speed v band the angular velocity ω are variables that further use the temperature T inside the wind tunnel 10 as a parameter. With this configuration, the wind speed v can be adjusted with higher accuracy in response to changes in other parameters such as the roll angle γ and the temperature T inside the wind tunnel 10 as test information.

[0067] According to a fifth aspect of the present disclosure, in the control device 40 according to the first aspect, a target value of the wind speed of the wind blown out from the blower device 30 is set to v r , the compensation value of the angular velocity of the motor 32 is ω r Then, the angular velocity ω of the motor 32 is the target value v r and the wind speed v, which is a feedback value of the wind speed in the test room 20. FB In contrast,

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[0068] According to a sixth aspect of the present disclosure, there is provided a control model generation method for generating a control model of a wind tunnel testing apparatus 100 including: a wind tunnel 10 through which a gas, which is a fluid, can flow; a test chamber 20 provided in the wind tunnel 10, in which a specimen P is arranged so as to be able to change its attitude, and having an acquisition unit 22 for acquiring test information including at least an angle of attack and a sideslip angle indicating the attitude of the specimen P; a blower 30 for generating wind in the wind tunnel 10 by rotating a rotor 31 with a motor 32; and a control device 40 for controlling the rotation of the motor 32. The control model generation method generates a control model of a wind tunnel testing apparatus 100 including: a wind tunnel 10 through which a gas, which is a fluid, can flow; a test chamber 20 in which a specimen P is arranged so as to be able to change its attitude, and an acquisition unit 22 for acquiring test information including at least an angle of attack and a sideslip angle indicating the attitude of the specimen P; b and the angular velocity ω of the motor 32 are obtained, and the wind speed vb and acquiring relational data indicating a relationship between the angular velocity ω and at least one of the angle of attack α, the sideslip angle β, and the roll angle γ. L A first identification step of identifying the value of the viscosity coefficient λ L Based on this, the inertia coefficient λ of the wind flowing through the wind tunnel 10 is calculated. M and a second identification step of identifying the obtained relational data and the identified inertia coefficient λ M and the viscosity coefficient λ L and generating a control model based on the control model.

[0069] According to this configuration, by performing the obtaining step, the first identifying step, the second identifying step, and the generating step, it is possible to generate a control model capable of controlling the wind speed v with high accuracy.

[0070] According to a seventh aspect of the present disclosure, in the wind tunnel testing apparatus 100 according to the first aspect, the relational data is a flow velocity v b The relationship between the angular velocity ω, the angle of attack α, and the sideslip angle β is shown, and in the acquisition step, one of the angle of attack and the sideslip angle is kept constant, and the other is changed in a stepwise manner. With this configuration, by changing the other of the angle of attack and the sideslip angle in a stepwise manner, it is possible to acquire a steady-state value while changing the other.

[0071] According to an eighth aspect of the present disclosure, in the wind tunnel testing apparatus 100 according to the first aspect, the relational data is a flow velocity v b The relationship between the angular velocity ω, the angle of attack α, and the sideslip angle β is shown, and in the acquisition step, one of the angle of attack and the sideslip angle is kept constant, and the other is changed in a sweeping manner. According to this configuration, by changing the other of the angle of attack and the sideslip angle in a sweeping manner, it is possible to significantly reduce the operation time for one test pattern test.

[0072] The testing apparatus according to the ninth aspect of the present disclosure includes a wind tunnel 10 through which a gas fluid can flow, a test chamber 20 that is provided in the wind tunnel 10, in which a test specimen P is arranged so that its attitude can be changed, and an acquisition unit 22 that acquires test information including at least one of the angle of attack α, sideslip angle β, and roll angle γ that indicate the attitude of the test specimen P, a blower 30 that generates wind in the wind tunnel 10 by rotating a rotor 31 using a motor 32, and a control device that controls the rotation of the motor 32 in accordance with the acquired test information so that the wind speed in the test chamber 20 is constant.

[0073] According to this configuration, the rotation of the motor 32 is controlled in response to test information including at least one of the angle of attack α, sideslip angle β, and roll angle γ so that the wind speed v in the test chamber 20 is constant. With this control, when the attitude of the specimen P is changed, the wind speed v in the test chamber 20 can be automatically adjusted by the control device 40 in response to at least one of the angle of attack α, sideslip angle β, and roll angle γ of the specimen P, making it possible to reduce the effort required to adjust the wind speed v. Furthermore, since the control is performed using at least one parameter of the angle of attack α, sideslip angle β, and roll angle γ, highly accurate control is possible.

[0074] The technical scope of the present invention is not limited to the above-mentioned embodiment, and appropriate modifications can be made without departing from the spirit of the present invention. For example, the above-mentioned embodiment has been described by taking as an example the wind tunnel test device 100 having a wind tunnel 10 through which air flows as a fluid, but the present invention is not limited to this configuration. For example, the test device may have a flow path such as a pipe or a liquid tank through which a liquid such as water flows as a fluid. [Explanation of symbols]

[0075] 10 Wind tunnel (flow path) 11 Air duct 12 Intake port 13 Air outlet 20 Test Room 21 Specimen support part 22 Acquisition Department 30 Blower (fluid drive unit) 31 Rotor 32 Motor 40 Control device 41 Communications Department 42 Processing section 43 Storage section 51,61,71,73,75 Arithmetic unit 52, 53, 54, 55, 60, 62, 63, 64, 65, 66, 72, 74, 75 Transmission elements 100 Wind tunnel test equipment (test equipment) AX axis M1, M2, M3 equivalent models M4 Control Model P specimen

Claims

1. A control device for controlling a test apparatus including a flow path through which a fluid can flow, a test chamber provided in the flow path in which a specimen is arranged so that its posture can be changed, and a fluid drive device that generates a flow of the fluid in the flow path by rotating a rotor using a motor, Acquire test information including at least one of an attack angle α, a sideslip angle β, and a roll angle γ, which indicate the attitude of the test specimen; The rotation of the motor is controlled in accordance with the acquired test information so that the flow rate of the fluid in the test chamber is constant. Control device.

2. The equivalent mass of the fluid flowing through the flow path is M ｅ , The equivalent viscosity of the fluid flowing through the flow path is C ｅ , The flow velocity of the fluid flowing out from the fluid drive unit is v ｂ , The thrust coefficient of the fluid drive system is K ＲＴ , The angular velocity of the motor is ω year, The equivalent mass M ｅ , the equivalent viscosity C ｅ , the flow velocity v ｂ and the angular velocity ω are variables having at least one of the angle of attack α, the sideslip angle β, and the roll angle γ of the specimen as a parameter, The flow velocity v ｂ and the equivalent mass M using relational data indicating a relationship between the angular velocity ω and at least one of the angle of attack α, the sideslip angle β, and the roll angle γ. ｅ , the equivalent viscosity C ｅ and the thrust coefficient K ＲＴ Identifying [0010] Based on the flow rate v ｂ The angular velocity ω is calculated so as to reach the target value of The control device according to claim 1 .

3. The inertia coefficient of the fluid flowing through the flow path is λ Ｍ , The viscosity coefficient of the fluid flowing through the flow path is λ Ｌ , The flow velocity of the fluid flowing out from the fluid drive unit is v ｂ , The angular velocity of the motor is ω year, The inertia coefficient λ Ｍ , the viscosity coefficient λ Ｌ , the flow velocity v ｂ and the angular velocity ω are variables having at least the angle of attack α and the sideslip angle β of the specimen as parameters, The flow velocity v ｂ The inertia coefficient λ is calculated using relationship data indicating a relationship between the angular velocity ω and at least one of the angle of attack α, the sideslip angle β, and the roll angle γ. Ｍ and the viscosity coefficient λ Ｌ Identifying [0025] Based on the flow rate v ｂ The angular velocity ω is calculated so as to reach the target value of The control device according to claim 1 .

4. The inertia coefficient λ Ｍ , the viscosity coefficient λ Ｌ , the flow velocity v ｂ and the angular velocity ω are variables whose parameter is the temperature T in the flow path. The control device according to claim 3.

5. The target value of the flow velocity of the fluid flowing out from the fluid drive unit is v ｒ , The compensation value of the angular velocity of the motor is ω ｒ Then, The angular velocity ω of the motor is given by: The target value of the flow velocity v ｒ and the flow velocity v, which is a feedback value of the flow velocity in the test chamber. ＦＢ In contrast, [0030] The angular velocity compensation value ω ｒ is the added value. The control device according to claim 3.

6. A flow path through which a fluid can flow; a test chamber provided in the flow path, in which a specimen is arranged so that its attitude can be changed, and including an acquisition unit that acquires test information including at least one of an attack angle α, a sideslip angle β, and a roll angle γ that indicate the attitude of the specimen; a fluid drive unit that generates a flow of the fluid in the flow passage by rotating a rotor using a motor; A control device for controlling the rotation of the motor; A control model generation method for generating a control model of a test device comprising: When the attack angle α and the sideslip angle β, which indicate the attitude of the test specimen, are changed, the flow velocity v of the fluid flowing out of the fluid drive unit is ｂ and the value of the angular velocity ω of the motor are obtained, and the flow velocity v ｂ an acquiring step of acquiring relationship data indicating a relationship between the angular velocity ω and at least one of the angle of attack α, the sideslip angle β, and the roll angle γ; Based on the acquired relationship data, a viscosity coefficient λ of the fluid flowing through the flow path is calculated. Ｌ a first identification step of identifying a value of The acquired relationship data and the identified viscosity coefficient λ Ｌ Based on this, the inertia coefficient λ of the fluid flowing through the flow path Ｍ A second identification step of identifying The obtained relationship data and the identified inertia coefficient λ Ｍ and the viscosity coefficient λ Ｌ A generation step of generating a control model based on the A control model generation method comprising:

7. The relationship data is the flow velocity v ｂ a relationship between the angular velocity ω, the angle of attack α, and the sideslip angle β; In the acquiring step, one of the attack angle α and the sideslip angle β is kept constant, and the other is changed stepwise. The control model generating method according to claim 6.

8. The relationship data is the flow velocity v ｂ a relationship between the angular velocity ω, the angle of attack α, and the sideslip angle β; In the acquiring step, one of the attack angle α and the sideslip angle β is kept constant, and the other is changed in a sweeping manner. The control model generating method according to claim 6.

9. A flow path through which a fluid can flow; a test chamber provided in the flow path, in which a specimen is arranged so that its attitude can be changed, and including an acquisition unit that acquires test information including at least one of an attack angle α, a sideslip angle β, and a roll angle γ that indicate the attitude of the specimen; a fluid drive unit that generates a flow of the fluid in the flow passage by rotating a rotor using a motor; a control device that controls the rotation of the motor in response to the test information detected by the acquisition unit so that a flow rate of the fluid in the test chamber is constant; A test apparatus comprising:

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