CN105510034A - Jet-vane system non-linear frequency characteristic acquisition system and method - Google Patents
Jet-vane system non-linear frequency characteristic acquisition system and method Download PDFInfo
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- CN105510034A CN105510034A CN201410490209.0A CN201410490209A CN105510034A CN 105510034 A CN105510034 A CN 105510034A CN 201410490209 A CN201410490209 A CN 201410490209A CN 105510034 A CN105510034 A CN 105510034A
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Abstract
The invention relates to the technical field of automatic control, and specifically relates to a jet-vane system non-linear frequency characteristic acquisition system and method, and aims for solving the technical problem that a traditional acquisition method only measures the output characteristic of a jet-vane actuator and cannot acquire the frequency characteristics of the whole system. The jet-vane system non-linear frequency characteristic acquisition system is characterized in that the jet-vane system non-linear frequency characteristic acquisition system comprises a servo test unit (101), a controller (102), an actuator (103), a transmission assembly (104), a vane surface (105) for a jet-vane, an angular rate gyroscope (106), a direct-current regulated power supply (107), a dynamic signal test device (108) and a data processing computer (109). The jet-vane system non-linear frequency characteristic acquisition system and method can test the frequency characteristics, including the structural characteristic of the vane surface for a jet-vane, of the whole jet-vane system, and can modify the jet-vane servo system and the control system to improve the performance of the vane system, aiming at the problem reflected by the test result, when the test result does not satisfy the design requirement.
Description
Technical field
The present invention relates to automatic control technology field, be specifically related to a kind of jet vane mission nonlinear frequency characteristic and obtain system and method.
Background technology
The frequency characteristic of jet vane system is the important evidence of Design of Attitude Control System.Command signal drives jet vane to do angular motion by servo and gear train, and due to the elastic property that the rudderpost rudder face structure of jet vane is intrinsic, command signal, when close to structural resonance frequency, may occur amplifying phenomenon in transmittance process.Simultaneously due to gap when the non-linear of servo control mechanism and Standard, under difference excitation magnitude, system can show obvious nonlinear characteristic.
The shortcoming of existing acquisition jet vane system response method is: the characteristic only measuring actuator Displacement Feedback relative instruction, does not comprise structural elasticity characteristic, cause model accuracy not high.If structural elasticity frequency is very low, be easily coupled with servo, reduce the stability of control design case, have a negative impact.
Summary of the invention
The object of the invention is to solve traditional acquisition methods and only measure jet vane actuator output characteristics, and can not obtain whole system frequency characteristic technical matters, provide one and accurately obtain jet vane mission nonlinear frequency characteristic, obtain system and method with the jet vane mission nonlinear frequency characteristic improving the accuracy of servo-drive system and Control System Design model.
The present invention is achieved in that
A kind of jet vane mission nonlinear frequency characteristic obtains system, comprises servo test cell, controller, actuator, transmission component, jet vane rudder face, angular rate gyroscope, D.C. regulated power supply, dynamic signal testing equipment and data handling machine; Servo test cell respectively with controller and dynamic signal testing equipment connection, controller is connected with actuator, actuator is connected with transmission component, transmission component is connected with jet vane rudder face, jet vane rudder face is connected with angular rate gyroscope, angular rate gyroscope respectively with D.C. regulated power supply and dynamic signal testing equipment connection, dynamic signal testing equipment is connected with data handling machine.
Servo test cell sends command signal respectively to controller and dynamic signal testing equipment; Controller receives the command signal that servo test cell sends, and send drive singal to actuator, drive ram is according to the requirement campaign of drive singal; Transmission component is by the Movement transmit of actuator to jet vane rudder face, and the angle that jet vane rudder face is specified according to command signal does angular motion; D.C. regulated power supply is that angular rate gyroscope is powered; Angular speed when angular rate gyroscope senses that jet vane rudder face does angular motion, sends the angular speed simulating signal sensed to dynamic signal testing equipment; Dynamic signal testing equipment receives the command signal of servo test cell transmission and the angular speed simulating signal of angular rate gyroscope transmission, angular speed simulating signal is converted to angular speed digital signal, then sends to data handling machine by after angular speed digital signal and instruction signal storage; Data handling machine receives two kinds of signals that dynamic signal testing equipment sends, and processes rear acquisition jet vane system response amplitude-frequency phase frequency result to signal.
Servo test cell as above is connected by cable with controller and dynamic signal testing equipment respectively, controller is connected by cable with actuator, actuator is connected by cable with transmission component, transmission component is connected by cable with jet vane rudder face, angular rate gyroscope is fixedly connected on the outside surface of jet vane rudder face, angular rate gyroscope is connected by cable with D.C. regulated power supply and dynamic signal testing equipment respectively, and dynamic signal testing equipment is connected by cable with data handling machine.
Angular rate gyroscope as above adopts VG091B type gyro to realize, and D.C. regulated power supply adopts SS3323 type can follow the tracks of DC stable power supply and realizes, and dynamic signal testing equipment adopts PXI-4472B type dynamic acquisition card to realize.
Jet vane mission nonlinear frequency characteristic described in employing obtains the jet vane mission nonlinear frequency characteristic acquisition methods that system realizes, and specifically comprises the steps:
The first step: test units synchronization by servo and send command signal to controller and dynamic signal testing equipment;
Second step: controller drive ram does angular motion by transmission component excitation jet vane rudder face according to command signal defined terms;
3rd step: the jet vane rudder face angular speed simulating signal recorded is sent to dynamic signal testing equipment by angular rate gyroscope, signal-testing apparatus diagonal angle velocity simulation signal carries out A/D conversion, obtain angular speed digital signal, the command signal gathered in angular speed digital signal and the first step stores by dynamic signal testing device synchronization;
4th step: the two kinds of signals stored in the 3rd step are sent in data handling machine, command signal process is obtained the angular displacement instruction inputted by data handling machine, angular speed digital signal integration is obtained the angular displacement response of jet vane rudder face, carry out frequency characteristic calculating according to angular displacement instruction and angular displacement response diagonal displacement, obtain frequency characteristic amplitude-frequency phase frequency result;
5th step: change the amplitude of command signal, repeats first to fourth step, obtains the non-linear frequency characterization result of jet vane system under different magnitude;
6th step: the frequency characteristic result that the 5th step obtains is analyzed, whole jet vane system resonance frequencies and enlargement factor under obtaining different magnitude;
7th step: the resonance frequency of non-linear frequency characterization result obtain the 6th step and enlargement factor are analyzed, and can provide reference for the design of servo-drive system and control system.
In the first step as above, command signal is sine sweep command signal.
The invention has the beneficial effects as follows:
The present invention utilizes servo instruction to input, sinusoidal excitation is carried out to jet vane system, synchro measure jet vane rudder face responds, the frequency characteristic that and instruction input obtains whole jet vane system is exported by rudder face, then the amplitude of command signal is changed, repetitive measurement system response, obtains the non-linear frequency characteristic of jet vane system.The method can record the frequency characteristic of the whole jet vane system comprising jet vane rudder face architectural characteristic, when test result does not meet design requirement, for the problem of test result reflection, jet vane servo-drive system and control system are improved, to improve the performance of rudder system.
Accompanying drawing explanation
Fig. 1 is the structural representation that jet vane mission nonlinear frequency characteristic of the present invention obtains system.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described further.
As shown in Figure 1, a kind of jet vane mission nonlinear frequency characteristic obtains system, comprises servo test cell 101, controller 102, actuator 103, transmission component 104, jet vane rudder face 105, angular rate gyroscope 106, D.C. regulated power supply 107, dynamic signal testing equipment 108 and data handling machine 109.Servo test cell 101 is connected with controller 102 and dynamic signal testing equipment 108 respectively, controller 102 is connected with actuator 103, actuator 103 is connected with transmission component 104, transmission component 104 is connected with jet vane rudder face 105, jet vane rudder face 105 is connected with angular rate gyroscope 106, angular rate gyroscope 106 is connected with D.C. regulated power supply 107 and dynamic signal testing equipment 108 respectively, and dynamic signal testing equipment 108 is connected with data handling machine 109.
Servo test cell 101 sends command signal respectively to controller 102 and dynamic signal testing equipment 108; Controller 102 receives the command signal that servo test cell 101 sends, and send drive singal to actuator 103, drive ram 103 is according to the requirement campaign of command signal; Transmission component 104 is by the Movement transmit of actuator 103 to jet vane rudder face 105, and the angle that jet vane rudder face 105 is specified according to drive singal does angular motion; D.C. regulated power supply 107 is powered for angular rate gyroscope 106; Angular speed when angular rate gyroscope 106 senses that jet vane rudder face 105 does angular motion, sends the angular speed simulating signal sensed to dynamic signal testing equipment 108; Dynamic signal testing equipment 108 receives the command signal of servo test cell 101 transmission and the angular speed simulating signal of angular rate gyroscope 106 transmission, angular speed simulating signal is converted to angular speed digital signal, then sends to data handling machine 109 by after angular speed digital signal and instruction signal storage; Data handling machine 109 receives two kinds of signals that dynamic signal testing equipment 108 sends, and processes rear acquisition jet vane system response amplitude-frequency phase frequency result to signal.
In the present embodiment, servo test cell 101 is connected by cable with controller 102 and dynamic signal testing equipment 108 respectively, controller 102 is connected by cable with actuator 103, actuator 103 is connected by cable with transmission component 104, transmission component 104 is connected by cable 105 with jet vane rudder face, angular rate gyroscope 106 is fixedly connected on the outside surface of jet vane rudder face 105, angular rate gyroscope 106 is connected by cable with D.C. regulated power supply 107 and dynamic signal testing equipment 108 respectively, dynamic signal testing equipment 108 is connected by cable with data handling machine 109.
Servo test cell 101, controller 102, actuator 103, transmission component 104 and jet vane rudder face 105 is the ingredient of jet vane system, is existing equipment.Angular rate gyroscope 106 adopts VG091B type gyro to realize, and D.C. regulated power supply 107 adopts SS3323 type can follow the tracks of DC stable power supply and realizes, and dynamic signal testing equipment 108 adopts PXI-4472B type dynamic acquisition card to realize.
Adopt above-mentioned jet vane mission nonlinear frequency characteristic to obtain the jet vane mission nonlinear frequency characteristic acquisition methods of system realization, specifically comprise the steps:
The first step: synchronously send command signal to controller 102 and dynamic signal testing equipment 108 by servo test cell 101.Described command signal is sine sweep command signal.
Second step: controller 102 drive ram 103, encourages jet vane rudder face 105 to do angular motion according to command signal defined terms by transmission component 104.
3rd step: the jet vane rudder face 105 angular speed simulating signal recorded is sent to dynamic signal testing equipment 108 by angular rate gyroscope 106, signal-testing apparatus 108 diagonal angle velocity simulation signal carries out A/D conversion, obtain angular speed digital signal, the command signal gathered in angular speed digital signal and the first step synchronously stores by dynamic signal testing equipment 108.
4th step: the two kinds of signals stored in the 3rd step are sent in data handling machine 109, command signal process is obtained the angular displacement instruction inputted by data handling machine 109, angular speed digital signal integration is obtained the angular displacement response of jet vane rudder face 105, carry out frequency characteristic calculating according to angular displacement instruction and angular displacement response diagonal displacement, obtain frequency characteristic amplitude-frequency phase frequency result.
5th step: the amplitude changing sine sweep instruction, repeats first to fourth step, obtains the non-linear frequency characterization result of jet vane system under multiple different magnitude.
6th step: the frequency characteristic result that the 5th step obtains is analyzed, whole jet vane system resonance frequencies and enlargement factor under obtaining different magnitude.
7th step: the resonance frequency of non-linear frequency characterization result obtain the 6th step and enlargement factor are analyzed, and can provide reference for the design of servo-drive system and control system.
The present invention utilizes servo instruction to input, sinusoidal excitation is carried out to jet vane system, synchro measure jet vane rudder face responds, the frequency characteristic that and instruction input obtains whole jet vane system is exported by rudder face, then the amplitude of command signal is changed, repetitive measurement system response, obtains the non-linear frequency characteristic of jet vane system.The method can record the frequency characteristic of the whole jet vane system comprising jet vane rudder face architectural characteristic, when test result does not meet design requirement, for the problem of test result reflection, jet vane servo-drive system and control system are improved, to improve the performance of rudder system.
Claims (5)
1. jet vane mission nonlinear frequency characteristic obtains a system, it is characterized in that: it comprises servo test cell (101), controller (102), actuator (103), transmission component (104), jet vane rudder face (105), angular rate gyroscope (106), D.C. regulated power supply (107), dynamic signal testing equipment (108) and data handling machine (109), wherein, servo test cell (101) is connected with controller (102) and dynamic signal testing equipment (108) respectively, controller (102) is connected with actuator (103), actuator (103) is connected with transmission component (104), transmission component (104) is connected with jet vane rudder face (105), jet vane rudder face (105) is connected with angular rate gyroscope (106), angular rate gyroscope (106) is connected with D.C. regulated power supply (107) and dynamic signal testing equipment (108) respectively, dynamic signal testing equipment (108) is connected with data handling machine (109).
Servo test cell (101) sends command signal respectively to controller (102) and dynamic signal testing equipment (108); Controller (102) receives the command signal that servo test cell (101) sends, and send drive singal to actuator (103), drive ram (103) is according to the requirement campaign of drive singal; Transmission component (104) is by the Movement transmit of actuator (103) to jet vane rudder face (105), and the angle that jet vane rudder face (105) is specified according to command signal does angular motion; D.C. regulated power supply (107) is angular rate gyroscope (106) power supply; Angular speed when angular rate gyroscope (106) senses that jet vane rudder face (105) does angular motion, sends the angular speed simulating signal sensed to dynamic signal testing equipment (108); The command signal that dynamic signal testing equipment (108) reception servo test cell (101) sends and the angular speed simulating signal that angular rate gyroscope (106) sends, angular speed simulating signal is converted to angular speed digital signal, then sends to data handling machine (109) by after angular speed digital signal and instruction signal storage; Data handling machine (109) receives two kinds of signals that dynamic signal testing equipment (108) sends, and processes rear acquisition jet vane system response amplitude-frequency phase frequency result to signal.
2. jet vane mission nonlinear frequency characteristic according to claim 1 obtains system, it is characterized in that: described servo test cell (101) is connected by cable with controller (102) and dynamic signal testing equipment (108) respectively, controller (102) is connected by cable with actuator (103), actuator (103) is connected by cable with transmission component (104), transmission component (104) is connected by cable (105) with jet vane rudder face, angular rate gyroscope (106) is fixedly connected on the outside surface of jet vane rudder face (105), angular rate gyroscope (106) is connected by cable with D.C. regulated power supply (107) and dynamic signal testing equipment (108) respectively, dynamic signal testing equipment (108) is connected by cable with data handling machine (109).
3. jet vane mission nonlinear frequency characteristic according to claim 1 and 2 obtains system, it is characterized in that: described angular rate gyroscope (106) adopts VG091B type gyro to realize, D.C. regulated power supply (107) adopts SS3323 type can follow the tracks of DC stable power supply and realizes, and dynamic signal testing equipment (108) adopts PXI-4472B type dynamic acquisition card to realize.
4. adopt jet vane mission nonlinear frequency characteristic according to claim 1 to obtain the jet vane mission nonlinear frequency characteristic acquisition methods of system realization, specifically comprise the steps:
The first step: synchronously send command signal to controller (102) and dynamic signal testing equipment (108) by servo test cell (101);
Second step: controller (102) drive ram (103), does angular motion by transmission component (104) excitation jet vane rudder face (105) according to command signal defined terms;
3rd step: jet vane rudder face (105) the angular speed simulating signal recorded is sent to dynamic signal testing equipment (108) by angular rate gyroscope (106), signal-testing apparatus (108) diagonal angle velocity simulation signal carries out A/D conversion, obtain angular speed digital signal, the command signal gathered in angular speed digital signal and the first step synchronously stores by dynamic signal testing equipment (108);
4th step: the two kinds of signals stored in the 3rd step are sent in data handling machine (109), command signal process is obtained the angular displacement instruction inputted by data handling machine (109), angular speed digital signal integration is obtained the angular displacement response of jet vane rudder face (105), carry out frequency characteristic calculating according to angular displacement instruction and angular displacement response diagonal displacement, obtain frequency characteristic amplitude-frequency phase frequency result;
5th step: change the amplitude of command signal, repeats first to fourth step, obtains the non-linear frequency characterization result of jet vane system under different magnitude;
6th step: the frequency characteristic result that the 5th step obtains is analyzed, whole jet vane system resonance frequencies and enlargement factor under obtaining different magnitude;
7th step: the resonance frequency of non-linear frequency characterization result obtain the 6th step and enlargement factor are analyzed, for the design of servo-drive system and control system provides reference.
5. jet vane mission nonlinear frequency characteristic acquisition methods according to claim 4, it is characterized in that: in the described first step, command signal is sine sweep command signal.
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| CN106976550A (en) * | 2017-03-09 | 2017-07-25 | 南京理工大学 | A kind of aircraft gas rudder and airvane link gear |
| CN108332929A (en) * | 2018-03-02 | 2018-07-27 | 北京强度环境研究所 | The frequency characteristic measurement system and method for flexible joint nozzle |
| CN114237039A (en) * | 2021-10-25 | 2022-03-25 | 中国航空工业集团公司成都飞机设计研究所 | Suppression method suitable for nonlinear structure control coupling |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106976550A (en) * | 2017-03-09 | 2017-07-25 | 南京理工大学 | A kind of aircraft gas rudder and airvane link gear |
| CN106976550B (en) * | 2017-03-09 | 2019-07-12 | 南京理工大学 | A kind of aircraft gas rudder and airvane linkage mechanism |
| CN108332929A (en) * | 2018-03-02 | 2018-07-27 | 北京强度环境研究所 | The frequency characteristic measurement system and method for flexible joint nozzle |
| CN114237039A (en) * | 2021-10-25 | 2022-03-25 | 中国航空工业集团公司成都飞机设计研究所 | Suppression method suitable for nonlinear structure control coupling |
| CN114237039B (en) * | 2021-10-25 | 2024-06-18 | 中国航空工业集团公司成都飞机设计研究所 | Suppression method suitable for nonlinear structure control coupling |
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