CN105510034B - Jet vane mission nonlinear frequency characteristic obtains system and method - Google Patents
Jet vane mission nonlinear frequency characteristic obtains system and method Download PDFInfo
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- CN105510034B CN105510034B CN201410490209.0A CN201410490209A CN105510034B CN 105510034 B CN105510034 B CN 105510034B CN 201410490209 A CN201410490209 A CN 201410490209A CN 105510034 B CN105510034 B CN 105510034B
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Abstract
The present invention relates to automatic control technology fields, system and method is obtained more particularly to a kind of jet vane mission nonlinear frequency characteristic, purpose is to solve traditional acquisition methods only to measure jet vane actuator output characteristics, and the technical issues of whole system frequency characteristic cannot be obtained.It is characterized in that, it includes 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 processing computer (109).The present invention can measure comprising jet vane rudder face architectural characteristic including entire combustion gas rudder system frequency characteristic, when test result is unsatisfactory for design requirement, the problem of reflecting for test result is improved jet vane servo-drive system with control system, to improve the performance of rudder system.
Description
Technical field
The present invention relates to automatic control technology fields, and in particular to a kind of jet vane mission nonlinear frequency characteristic obtains system
System and method.
Background technology
The frequency characteristic of combustion gas rudder system is the important evidence of Design of Attitude Control System.Command signal passes through servo and driver
Structure driving jet vane does angular movement, and due to the intrinsic elastic characteristic of the rudderpost rudder face structure of jet vane, command signal is in close knot
During structure resonant frequency, amplification phenomenon is likely to occur in transmittance process.Simultaneously because the non-linear and structure dress of servo mechanism
The gap of timing, under different excitation magnitudes, system can show obvious nonlinear characteristic.
It is existing acquisition jet vane system response method the shortcomings that be：Only measure actuator Displacement Feedback relative instruction
Characteristic not including structural elasticity characteristic, causes model accuracy not high.If structural elasticity frequency is very low, easily sent out with servo
Raw coupling, reduces the stability of control design case, has a negative impact.
The content of the invention
Present invention aim to address traditional acquisition methods only to measure jet vane actuator output characteristics, and cannot obtain
Whole system frequency characteristic the technical issues of, provide one kind and be accurately obtained jet vane mission nonlinear frequency characteristic, to carry
The jet vane mission nonlinear frequency characteristic of high servo-drive system and the accuracy of Control System Design model obtains system and method.
What the present invention was realized in：
A kind of jet vane mission nonlinear frequency characteristic obtains system, including 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 processing computer；
Servo test cell is connected respectively with controller and dynamic signal testing equipment, and controller is connected with actuator, and actuator is with passing
Dynamic component connection, transmission component are connected with jet vane rudder face, and jet vane rudder face is connected with angular rate gyroscope, angular rate gyroscope difference
It is connected with D.C. regulated power supply and dynamic signal testing equipment, dynamic signal testing equipment is connected with data processing computer.
Servo test cell sends command signal to controller and dynamic signal testing equipment respectively；Controller receives servo
Test cell send command signal, to actuator send drive signal, drive ram according to drive signal requirement campaign；
The movement of actuator is passed to jet vane rudder face by transmission component so that jet vane rudder face is done according to angle as defined in command signal
Angular movement；D.C. regulated power supply is powered for angular rate gyroscope；Angular rate gyroscope senses angle when jet vane rudder face does angular movement
Rate sends the angular speed analog signal sensed to dynamic signal testing equipment；Dynamic signal testing equipment receives servo
The angular speed analog signal that the command signal and angular rate gyroscope that test cell is sent are sent, angular speed analog signal is converted to
Then angular speed digital signal will be sent to data processing computer after angular speed digital signal and command signal storage；Data
It handles computer and receives two kinds of signals that dynamic signal testing equipment is sent, combustion gas rudder system frequency is obtained after handling signal
Rate characteristic amplitude-frequency phase frequency result.
Servo test cell as described above passes through cable connection, control with controller and dynamic signal testing equipment respectively
Device passes through cable connection, one end connection of actuator and transmission component, the other end and the jet vane rudder of transmission component with actuator
Face connects, and angular rate gyroscope is fixedly connected on the outer surface of jet vane rudder face, angular rate gyroscope respectively with D.C. regulated power supply
With dynamic signal testing equipment by cable connection, dynamic signal testing equipment passes through cable connection with data processing computer.
Angular rate gyroscope as described above realized using VG091B types gyro, and D.C. regulated power supply uses SS3323 types can be with
Track DC stable power supply realizes that dynamic signal testing equipment is realized using PXI-4472B type dynamic acquisitions card.
The jet vane mission nonlinear frequency of system realization is obtained using the jet vane mission nonlinear frequency characteristic
Characteristic acquisition methods, specifically comprise the following steps：
The first step：From servo test cell is synchronous command signal is sent to controller and dynamic signal testing equipment；
Second step：Controller drive ram encourages jet vane rudder face according to item as defined in command signal by transmission component
Part does angular movement；
3rd step：The jet vane rudder face angular speed analog signal measured is transmitted to dynamic signal testing and set by angular rate gyroscope
Standby, the diagonal velocity simulation signal of signal-testing apparatus carries out A/D conversions, obtains angular speed digital signal, dynamic signal testing is set
It is standby synchronous by the command signal gathered in angular speed digital signal and the first step storage；
4th step：The two kinds of signals stored in 3rd step are transmitted in data processing computer, data processing computer
Command signal is handled to the angular displacement instruction inputted, angular speed digital signal is integrated to obtain the angular displacement of jet vane rudder face
Response carries out frequency characteristic calculating according to angular displacement instruction and angular displacement response diagonal displacement, obtains frequency characteristic amplitude-frequency phase frequency
As a result；
5th step：Change the amplitude of command signal, repeat first to fourth step, obtain the non-of combustion gas rudder system under different magnitudes
Linear frequency characterization result；
6th step：The frequency characteristic result obtained to the 5th step is analyzed, and obtains entire jet vane system under different magnitudes
Resonant frequency of uniting and amplification factor；
7th step：The resonant frequency and amplification factor of the non-linear frequency characterization result of 6th step acquisition are carried out to score
Analysis, can provide reference for the design of servo-drive system and control system.
In the first step as described above, command signal is sine sweep command signal.
The beneficial effects of the invention are as follows：
The present invention is inputted using servo instruction, and sinusoidal excitation is carried out to combustion gas rudder system, and synchro measure jet vane rudder face is rung
Should, the frequency characteristic that entire combustion gas rudder system is obtained with instruction input is exported by rudder face, then changes the amplitude of command signal,
Multiple measuring system frequency characteristic obtains the non-linear frequency characteristic of combustion gas rudder system.This method can be measured comprising jet vane
The frequency characteristic of entire combustion gas rudder system including rudder face architectural characteristic, when test result is unsatisfactory for design requirement, for survey
The problem of test result reflects, jet vane servo-drive system is improved with control system, to improve the performance of rudder system.
Description of the drawings
Fig. 1 is that the jet vane mission nonlinear frequency characteristic of the present invention obtains the structure diagram of system.
Specific embodiment
The present invention is described further with reference to the accompanying drawings and examples.
As shown in Figure 1, a kind of jet vane mission nonlinear frequency characteristic obtains system, including servo test cell 101, control
It is device 102 processed, actuator 103, transmission component 104, jet vane rudder face 105, angular rate gyroscope 106, D.C. regulated power supply 107, dynamic
State signal-testing apparatus 108 and data processing computer 109.Servo test cell 101 respectively with controller 102 and Dynamic Signal
Test equipment 108 connects, and controller 102 is connected with actuator 103, and actuator 103 is connected with transmission component 104, transmission component
104 are connected with jet vane rudder face 105, and jet vane rudder face 105 is connected with angular rate gyroscope 106, angular rate gyroscope 106 respectively with directly
Stream regulated power supply 107 and dynamic signal testing equipment 108 connect, dynamic signal testing equipment 108 and data processing computer 109
Connection.
Servo test cell 101 sends command signal to controller 102 and dynamic signal testing equipment 108 respectively；Control
Device 102 receives the command signal that servo test cell 101 is sent, and drive signal, drive ram 103 are sent to actuator 103
According to the requirement campaign of command signal；The movement of actuator 103 is passed to jet vane rudder face 105 by transmission component 104 so that combustion
Gas rudder rudder face 105 does angular movement according to angle as defined in drive signal；D.C. regulated power supply 107 is powered for angular rate gyroscope 106；
Angular rate gyroscope 106 senses angular speed when jet vane rudder face 105 does angular movement, and the angular speed analog signal sensed is passed
Give dynamic signal testing equipment 108；Dynamic signal testing equipment 108 receives the command signal that servo test cell 101 is sent
The angular speed analog signal sent with angular rate gyroscope 106, is converted to angular speed digital signal, then by angular speed analog signal
Data processing computer 109 will be sent to after angular speed digital signal and command signal storage；Data processing computer 109 receives
Two kinds of signals that dynamic signal testing equipment 108 is sent obtain jet vane system response amplitude-frequency after handling signal
Phase frequency result.
In the present embodiment, servo test cell 101 passes through respectively with controller 102 and dynamic signal testing equipment 108
Cable connection, with actuator 103 by cable connection, actuator 103 is connected controller 102 with one end of transmission component 104, is passed
The other end of dynamic component 104 is connected with jet vane rudder face 105, and angular rate gyroscope 106 is fixedly connected on the outer of jet vane rudder face 105
On surface, angular rate gyroscope 106 moves respectively with D.C. regulated power supply 107 and dynamic signal testing equipment 108 by cable connection
State signal-testing apparatus 108 passes through cable connection with data processing computer 109.
Servo test cell 101, controller 102, actuator 103, transmission component 104 and jet vane rudder face 105 are combustion gas
The component of rudder system is existing equipment.Angular rate gyroscope 106 is using the realization of VG091B types gyro, D.C. regulated power supply
107 can be traced DC stable power supply realization using SS3323 types, and dynamic signal testing equipment 108 is using PXI-4472B types dynamic
Capture card is realized.
The jet vane mission nonlinear frequency that system realization is obtained using above-mentioned jet vane mission nonlinear frequency characteristic is special
Property acquisition methods, specifically comprise the following steps：
The first step：From servo test cell 101 is synchronous instruction is sent to controller 102 and dynamic signal testing equipment 108
Signal.The command signal is sine sweep command signal.
Second step：102 drive ram 103 of controller encourages jet vane rudder face 105 according to finger by transmission component 104
Condition as defined in signal is made to do angular movement.
3rd step：The 105 angular speed analog signal of jet vane rudder face measured is transmitted to Dynamic Signal by angular rate gyroscope 106
Test equipment 108,108 diagonal velocity simulation signal of signal-testing apparatus carry out A/D conversions, obtain angular speed digital signal, move
State signal-testing apparatus 108 is synchronous to store the command signal gathered in angular speed digital signal and the first step.
4th step：The two kinds of signals stored in 3rd step are transmitted in data processing computer 109, data processing calculates
Command signal is handled the angular displacement instruction inputted by machine 109, and angular speed digital signal is integrated to obtain jet vane rudder face 105
Angular displacement response, according to angular displacement instruction and angular displacement response diagonal displacement carry out frequency characteristic calculating, obtain frequency characteristic
Amplitude-frequency phase frequency result.
5th step：Change the amplitude of sine sweep instruction, repeat first to fourth step, obtain jet vane under a variety of different magnitudes
The non-linear frequency characterization result of system.
6th step：The frequency characteristic result obtained to the 5th step is analyzed, and obtains entire jet vane system under different magnitudes
Resonant frequency of uniting and amplification factor.
7th step：The resonant frequency and amplification factor of the non-linear frequency characterization result of 6th step acquisition are carried out to score
Analysis, can provide reference for the design of servo-drive system and control system.
The present invention is inputted using servo instruction, and sinusoidal excitation is carried out to combustion gas rudder system, and synchro measure jet vane rudder face is rung
Should, the frequency characteristic that entire combustion gas rudder system is obtained with instruction input is exported by rudder face, then changes the amplitude of command signal,
Multiple measuring system frequency characteristic obtains the non-linear frequency characteristic of combustion gas rudder system.This method can be measured comprising jet vane
The frequency characteristic of entire combustion gas rudder system including rudder face architectural characteristic, when test result is unsatisfactory for design requirement, for survey
The problem of test result reflects, jet vane servo-drive system is improved with control system, to improve the performance of rudder system.
Claims (5)
1. a kind of jet vane mission nonlinear frequency characteristic obtains system, it is characterised in that：It includes 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 processing computer (109)；Wherein, servo test is single
First (101) are connected respectively with controller (102) and dynamic signal testing equipment (108), controller (102) and actuator (103)
Connection, actuator (103) are connected with transmission component (104), and transmission component (104) is connected with jet vane rudder face (105), jet vane
Rudder face (105) is connected with angular rate gyroscope (106), and angular rate gyroscope (106) is believed respectively with D.C. regulated power supply (107) and dynamic
The connection of number test equipment (108), dynamic signal testing equipment (108) are connected with data processing computer (109)；
Servo test cell (101) sends command signal to controller (102) and dynamic signal testing equipment (108) respectively；Control
Device (102) processed receives the command signal that servo test cell (101) is sent, and sends drive signal to actuator (103), driving is made
Move requirement campaign of the device (103) according to drive signal；The movement of actuator (103) is passed to jet vane by transmission component (104)
Rudder face (105) so that jet vane rudder face (105) does angular movement according to angle as defined in command signal；D.C. regulated power supply (107)
It powers for angular rate gyroscope (106)；Angular rate gyroscope (106) senses angular speed when jet vane rudder face (105) does angular movement,
Send the angular speed analog signal sensed to dynamic signal testing equipment (108)；Dynamic signal testing equipment (108) receives
The angular speed analog signal that the command signal and angular rate gyroscope (106) that servo test cell (101) is sent are sent, by angular speed
Analog signal is converted to angular speed digital signal, then will be sent to after angular speed digital signal and command signal storage at data
Manage computer (109)；Data processing computer (109) receives two kinds of signals that dynamic signal testing equipment (108) is sent, to letter
Jet vane system response amplitude-frequency phase frequency result is obtained after number being handled.
2. jet vane mission nonlinear frequency characteristic according to claim 1 obtains system, it is characterised in that：Described watches
It takes test cell (101) and passes through cable connection, controller with controller (102) and dynamic signal testing equipment (108) respectively
(102) with actuator (103) by cable connection, actuator (103) is connected with one end of transmission component (104), transmission component
(104) the other end is connected with jet vane rudder face (105), and angular rate gyroscope (106) is fixedly connected on jet vane rudder face (105)
On outer surface, angular rate gyroscope (106) passes through electricity with D.C. regulated power supply (107) and dynamic signal testing equipment (108) respectively
Cable connects, and dynamic signal testing equipment (108) passes through cable connection with data processing computer (109).
3. jet vane mission nonlinear frequency characteristic according to claim 1 or 2 obtains system, it is characterised in that：It is described
Angular rate gyroscope (106) realize that direct current can be traced using SS3323 types in D.C. regulated power supply (107) using VG091B types gyro
Stabilized power source realizes that dynamic signal testing equipment (108) is realized using PXI-4472B type dynamic acquisitions card.
4. the combustion gas rudder system that system realization is obtained using jet vane mission nonlinear frequency characteristic described in claim 1 is non-thread
Resistant frequency characteristic acquisition methods, specifically comprise the following steps：
The first step：Referred to from servo test cell (101) is synchronous to controller (102) and dynamic signal testing equipment (108) transmission
Make signal；
Second step：Controller (102) drive ram (103) encourages jet vane rudder face (105) to press by transmission component (104)
Angular movement is done according to condition as defined in command signal；
3rd step：Jet vane rudder face (105) the angular speed analog signal measured is transmitted to Dynamic Signal by angular rate gyroscope (106)
Test equipment (108), the diagonal velocity simulation signal of dynamic signal testing equipment (108) carry out A/D conversions, obtain angular speed number
Signal, dynamic signal testing equipment (108) is synchronous to store the command signal gathered in angular speed digital signal and the first step；
4th step：The two kinds of signals stored in 3rd step are transmitted in data processing computer (109), data processing computer
(109) command signal is handled to the angular displacement instruction inputted, angular speed digital signal is integrated to obtain jet vane rudder face
(105) angular displacement response carries out frequency characteristic calculating according to angular displacement instruction and angular displacement response diagonal displacement, obtains frequency
Characteristic amplitude-frequency phase frequency result；
5th step：Change the amplitude of command signal, repeat first to fourth step, obtain the non-linear of combustion gas rudder system under different magnitudes
Frequency characteristic result；
6th step：The frequency characteristic result obtained to the 5th step is analyzed, and it is humorous to obtain entire combustion gas rudder system under different magnitudes
Vibration frequency and amplification factor；
7th step：The resonant frequency and amplification factor of the non-linear frequency characterization result of 6th step acquisition are compared and analyzed,
Design for servo-drive system and control system provides reference.
5. jet vane mission nonlinear frequency characteristic acquisition methods according to claim 4, it is characterised in that：Described
In one step, command signal is sine sweep command signal.
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| CN106976550B (en) * | 2017-03-09 | 2019-07-12 | 南京理工大学 | A kind of aircraft gas rudder and airvane linkage mechanism |
| CN108332929B (en) * | 2018-03-02 | 2021-01-05 | 北京强度环境研究所 | Frequency characteristic measuring system and method for flexible nozzle |
| 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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| US8567331B2 (en) * | 2008-12-11 | 2013-10-29 | University Of Wyoming | Rudder roll stabilization by nonlinear dynamic compensation |
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