CN111413954A - Detection method for steering engine system of unmanned helicopter - Google Patents
Detection method for steering engine system of unmanned helicopter Download PDFInfo
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- CN111413954A CN111413954A CN202010289135.XA CN202010289135A CN111413954A CN 111413954 A CN111413954 A CN 111413954A CN 202010289135 A CN202010289135 A CN 202010289135A CN 111413954 A CN111413954 A CN 111413954A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0262—Confirmation of fault detection, e.g. extra checks to confirm that a failure has indeed occurred
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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Abstract
A detection method of an unmanned helicopter steering engine system comprises two stages of pre-installation testing and post-installation detecting, wherein the post-installation detecting stage comprises two parts of pre-flight testing and post-installation periodic detecting; before installation, testing to run-in and test each steering engine in the steering engine system, and applying complex alternating load conforming to the working reality of the steering engines to the steering engines in the test; the pre-flight test after installation is to detect the response condition of the steering engine system to a complex control instruction before the previous flight; the regular detection after the installation is to combine the regular detection requirement of the unmanned helicopter to carry out the dislocation test on each steering engine regularly and test the working condition of each steering engine under the complex load. The invention has the advantages that: systematizing the test requirements of the steering engine system, and accurately determining the response condition of the steering engine to instructions by simulating the actual working condition to obtain the trend of the change of the working performance of the steering engine; the risk that the steering engine system breaks down in the flight process is reduced, and the flight safety of the unmanned helicopter is improved.
Description
Technical Field
The invention relates to a detection method of an unmanned helicopter steering engine system, which is used for comprehensively obtaining whether the working state of the steering engine system meets the air flight requirement or not by simulating the actual working condition (or more severe condition) and measuring the working performance change trend of the steering engine system.
Background
An important component of a rotor wing control system of the unmanned helicopter is a set of electro-hydraulic servo steering engine system. The steering engine system is driven by an airborne hydraulic system, changes the position of a valve rod of an electro-hydraulic servo valve by responding to an operating instruction of a flight control computer, changes the extending length of each steering engine output shaft, operates an automatic rotor tilter to enable the blades of a rotor to be periodically changed, and realizes the control function of the flight of the unmanned helicopter. The steering engine system is a key system of the unmanned helicopter, measures the working conditions of the steering engines of all components, and can effectively reduce the flight safety risk of the unmanned helicopter.
At present, the detection method of the rudder machine system mainly comprises the following two methods:
① before installation, the steering engine system is subjected to functional test:
before the machine is installed, a steering engine system is subjected to function test, and the main method is as follows: firstly, mounting each steering engine in a steering engine system on a test board through a clamp to provide a load with fixed parameters for the steering engine; then all the steering engines are connected with a hydraulic source through hydraulic pipelines to provide driving force for the steering engines to actuate; and connecting each steering engine with the servo controller of the simulated flight control computer through a cable again to provide control signals for the steering engine servo valve. And finally, sending a running-in instruction with a simpler function by the servo controller, and testing whether the steering engine is blocked when reciprocating under a fixed load. If the steering engine works normally in the running-in test period (generally 3 continuous working cycles), the steering engine is determined to meet the technical requirements of the installation.
② functional test is carried out on the steering engine system before flight:
in the self-checking process before the pilotless helicopter sails, the airborne flight control computer detects the functions of the steering engine system: after the unmanned helicopter is powered on, each steering engine is driven by an airborne hydraulic system and receives a control instruction from a flight control computer; after the steering engine is initialized, the corresponding control command is subjected to centering operation; the steering engine is provided with an output shaft position sensor which feeds an output shaft elongation signal back to the flight control computer, the flight control computer determines whether each steering engine is normally centered, and if the steering engine is normally centered, the steering engine system is judged to pass the pre-flight test.
In addition, a test instruction of the steering engine system can be uploaded to the airborne flight control computer by the ground control station, the flight control computer controls the steering engine system to perform four tests such as total distance adjustment, yaw adjustment, pitching adjustment, rolling adjustment and the like, and whether the steering engine system works normally or not is confirmed by a crew member when the four tests are performed.
The existing steering engine system detection method has the following problems:
① the basic principle of testing the functions of steering engine system before loading is that the failure data statistics of electromechanical equipment shows that the failure probability follows the bathtub curve distribution.
The method is effective for the statistics of large sample quantities, and particularly, each steering engine system cannot completely ensure no flight safety risk. In addition, the load applied to the steering engine during the function test is a fixed load instead of a complex alternating load during actual work, so that the test method has a misjudgment risk.
② before flight, the steering engine system is subjected to functional test, which only comprises detection items such as centering test, total distance adjustment, yaw adjustment, pitch adjustment, roll adjustment and the like, and only tests the response condition of the steering engine system to simple working instructions.
Disclosure of Invention
The invention provides a detection method of an unmanned helicopter steering engine system, which is used for respectively finishing corresponding test requirements of the steering engine system before installation, before flight, at regular detection and the like, so that the misjudgment rate of the existing steering engine system test method is reduced, and the safety risk in flight of the unmanned helicopter is reduced.
The technical scheme of the invention is as follows: the detection method of the steering engine system of the unmanned helicopter is characterized by comprising two stages of pre-installation testing and post-installation detecting, wherein the post-installation detecting stage comprises two parts of pre-flight testing and post-installation periodic detecting; before installation, testing to run-in and test each steering engine in the steering engine system, and applying alternating complex load conforming to the working reality of the steering engines to the steering engines in the test; the pre-flight test after installation is to detect the response condition of the steering engine system to a complex control instruction before the previous flight, including instruction response speed and instruction execution precision; the regular detection after the installation is to combine the regular detection requirement of the unmanned helicopter to carry out the dislocation test on each steering engine regularly and test the working condition of each steering engine under the complex load.
The invention has the advantages that: systematizing the test requirement of the steering engine system, comprehensively measuring the working condition of the steering engine system by simulating the actual working condition (or more severe condition), and accurately determining the response condition of the steering engine to instructions to obtain the trend of the change of the working performance of the steering engine; a systematic testing method for the steering engine system of the unmanned helicopter is provided.
Drawings
FIG. 1 is a schematic diagram of the steering engine detection device of the present invention;
fig. 2 is a schematic diagram of the structure of the loading test station of the present invention.
Description of reference numerals: A. the device comprises a tested steering engine, a steering engine detection device B, a hydraulic pipeline 1, a power supply output line 2, a hydraulic control and feedback signal line 3; 4. a detection feedback signal line 5, a detection control signal output line 6, a detection output line 7, a parameter feedback line 8 and a base.
Detailed Description
The invention provides a method for detecting a steering engine system of an unmanned helicopter in order to effectively test the steering engine system. Before installation, testing to run-in and test each steering engine in the steering engine system, and applying alternating complex load conforming to the working reality of the steering engines to the steering engines in the test; the pre-flight test after installation is to detect the response condition of the steering engine system to a complex control instruction before the previous flight, including instruction response speed and instruction execution precision; the regular detection after the installation is to combine the regular detection requirement of the unmanned helicopter to carry out the dislocation test on each steering engine regularly and test the working condition of each steering engine under the complex load.
The specific method for realizing the detection of the steering engine system comprises the following steps:
① test method before installation:
before the machine is installed, a clamp is used for fixing a tested steering engine and a loading test table, and the loading test table is used for providing complex alternating load for steering engine test (the load is equivalent to or more severe than the actual working condition); the tested steering engine is connected with the steering engine detection equipment through the test cable and the test pipeline, the steering engine is driven to work under complex alternating load through the steering engine detection equipment, and mechanical and electrical performances of each steering engine during working are tested, including but not limited to performance parameters such as steering engine mechanical stroke, output control force, working current and sensor precision.
② pre-flight test method:
before flying, the unmanned helicopter is powered on, and the airborne flight control computer automatically detects the centering response condition of the steering engine system; then, the steering engine detection equipment is linked with the flight control computer through a data channel, the steering engine detection equipment simulates a ground control station through the data channel to send an operation instruction to the flight control computer, and simple work instruction response detection is firstly carried out on a steering engine system; and then enabling the flight control computer to send a control instruction for simulating an air flight state to the steering engine system, and controlling the steering engine to simulate the adjustment of the attitude, the yaw and the total distance of the unmanned helicopter in the flight state, wherein the simulation process covers all actual working strokes of the steering engines.
In the test process before flight, all parameters are fed back to the steering engine detection equipment through data; the steering engine detection equipment receives and records steering engine working parameters, a single steering engine detection result/parameter recording database is established according to the steering engine serial number, detection software gives comprehensive judgment according to the current detection result of the steering engine working, historical data records and the comparison condition of the steering engine design requirements, and the comparison method is a conventional detection method.
③ regular detection method after installation:
the method comprises the steps of firstly, detaching the steering engines from the unmanned helicopter, then mechanically connecting the steering engines with a loading test board, connecting the steering engines with steering engine detection equipment through pipelines and lines to complete construction of a test system (the connection mode is ① and ②), providing power and control signals for the steering engines by the steering engine detection equipment to enable the steering engines to actuate, providing complex alternating load (the load is equivalent to or more severe than the actual working condition) by the loading test board, detecting parameters of the steering engines during working through sensors in the test system, and finally, comprehensively judging the working condition and the parameter change trend of the steering engines through data comparison conditions by combining steering engine design parameters and historical data in a database.
Referring to fig. 1, a steering engine detection device B used in the steering engine system detection method of the present invention includes an industrial personal computer, a hydraulic drive system, a signal collector, a signal output module, a power supply module, a test cable, a test pipeline (hydraulic pipeline 1), and a mobile platform. The industrial personal computer is internally provided with flight parameter interpretation software and a database (conventional technology) for parameter display and information interpretation; the hydraulic driving system adopts a working medium which is universal with the tested steering engine A to provide hydraulic driving force for the tested steering engine A to work through a hydraulic pipeline 1, and a sensor (not shown in the figure) for measuring parameters such as hydraulic oil pressure, hydraulic oil temperature, hydraulic oil flow and the like is arranged in the hydraulic pipeline 1 of the hydraulic driving system; all parameters monitored by a sensor on the tested steering engine A and a sensor in the steering engine detection equipment are fed back to the industrial personal computer through the signal collector; and a control instruction sent by the industrial personal computer is transmitted to an electro-hydraulic servo valve in the tested steering engine A by the signal output module. And the steering engine detection equipment B is arranged on a movable platform.
Referring to fig. 2, the loading test bench used in the steering engine system detection method of the present invention includes a test bench base 8, a torque motor M, a controller (circuit board), a programmable power supply, a coupling, and a special fixture. The controller is provided with a human-computer interaction device for editing parameters of the loaded load and setting a functional relation between the loading torque and the loading time or the random distribution condition of the loading torque along with the time; the torque motor M realizes the function of outputting complex alternating load under the common control of the controller and the programmable power supply; the coupler and the clamp transmit the load to the tested steering engine A through mechanical connection. The torque motor M, the controller, the programmable power supply, the coupler and the special fixture are all arranged on the test bench base 8.
The steering engine system detection method comprises the steps that the working conditions of a steering engine system in stages of before installation, after installation and the like are detected through steering engine detection equipment and a loading test bench, and the working conditions of the steering engine are judged through quantitative analysis of parameters such as steering engine consumption current, output torque, response rate and the like obtained through testing through detection software; and determining the change trend of the working parameters of the steering engine by combining the result of the quantitative analysis with the historical detection data of the corresponding steering engine in the database, and judging the state condition of the steering engine in advance according to the change trend of the working condition of the steering engine for preventive repair or part replacement.
Claims (6)
1. The detection method of the steering engine system of the unmanned helicopter is characterized by comprising two stages of pre-installation testing and post-installation detecting, wherein the post-installation detecting stage comprises two parts of pre-flight testing and post-installation periodic detecting; before installation, testing to run-in and test each steering engine in the steering engine system, and applying alternating complex load conforming to the working reality of the steering engines to the steering engines in the test; the pre-flight test after installation is to detect the response condition of the steering engine system to a complex control instruction before the previous flight, including instruction response speed and instruction execution precision; the regular detection after the installation is to combine the regular detection requirement of the unmanned helicopter to carry out the dislocation test on each steering engine regularly and test the working condition of each steering engine under the complex load.
2. The method of claim 1, wherein the pre-installation testing is performed by: before the machine is installed, a clamp is used for fixing a tested steering engine and a loading test table, and the loading test table is used for providing complex alternating load for steering engine test (the load is equivalent to or more severe than the actual working condition); the tested steering engine is connected with the steering engine detection equipment through the test cable and the test pipeline, the steering engine is driven to work under complex alternating load through the steering engine detection equipment, and mechanical and electrical performances of each steering engine during working are tested, including but not limited to performance parameters such as steering engine mechanical stroke, output control force, working current and sensor precision.
3. The method of claim 1, wherein the method of pre-flight testing is: before flying, the unmanned helicopter is powered on, and the airborne flight control computer automatically detects the centering response condition of the steering engine system; then, the steering engine detection equipment is linked with the flight control computer through a data channel, the steering engine detection equipment simulates a ground control station through the data channel to send an operation instruction to the flight control computer, and simple work instruction response detection is firstly carried out on a steering engine system; and then enabling the flight control computer to send a control instruction for simulating an air flight state to the steering engine system, and controlling the steering engine to simulate the adjustment of the attitude, the yaw and the total distance of the unmanned helicopter in the flight state, wherein the simulation process covers all actual working strokes of the steering engines.
In the test process before flight, all parameters are fed back to the steering engine detection equipment through data; and the steering engine detection equipment receives and records the operating parameters of the steering engine, and gives comprehensive judgment according to the operating history of the steering engine and the design requirements.
4. The method of claim 3, wherein said onboard flight control computer monitors the operating parameters of each steering engine, including but not limited to response speed, deviation values, operating current, line pressure, hydraulic oil temperature, etc.; the steering engine detection equipment acquires the working parameters of each steering engine monitored by the flight control computer through a data interface, records the acquired working parameters of each steering engine and stores the parameters into a database; the flight parameter interpretation software arranged in the steering engine detection equipment can quickly compare whether the working parameters of each steering engine meet the design requirements or not, and can give the variation trend of the working parameters of the steering engines by comparing historical data, so that whether the working condition of a steering engine system meets the use requirements of the unmanned helicopter in flight or not is comprehensively judged in the steering engine installation state.
5. The method of claim 3, wherein the simple work instructions include collective pitch, yaw, pitch, and roll adjustment instructions.
6. The method of claim 1, wherein the post-installation periodic inspection is performed by: the steering engines are periodically detected to be out of position by combining the periodic detection requirement of the unmanned helicopter and the working requirements of medium and heavy maintenance; firstly, after each steering engine is detached from the unmanned helicopter, each steering engine is mechanically connected with a loading test board and is connected with steering engine detection equipment through pipelines and lines to complete the construction of a test system, the steering engine detection equipment provides power and control signals for the steering engine to actuate the steering engine, the loading test board provides complex alternating load (the load is equivalent to or more severe than the actual working condition), the working parameters of the steering engine are detected through a sensor in the test system, and finally the working condition and the parameter change trend of the steering engine are comprehensively judged by combining steering engine design parameters and historical data in a database.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010289135.XA CN111413954A (en) | 2020-04-14 | 2020-04-14 | Detection method for steering engine system of unmanned helicopter |
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| CN202010289135.XA CN111413954A (en) | 2020-04-14 | 2020-04-14 | Detection method for steering engine system of unmanned helicopter |
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| CN111413954A true CN111413954A (en) | 2020-07-14 |
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Cited By (1)
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| CN112278318A (en) * | 2020-09-22 | 2021-01-29 | 长沙五七一二飞机工业有限责任公司 | Helicopter hydraulic steering engine tester and test method |
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Application publication date: 20200714 |