CN114608786B - Aircraft dynamic derivative test data processing method - Google Patents
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Abstract
The invention discloses an aircraft dynamic derivative test data processing method, which is applied to the field of aircraft test data processing and comprises the following steps: obtaining a truncated signal; carrying out direct current component filtering processing on a first moment signal and a first angular displacement signal in the truncated signals to obtain a second moment signal and a second angular displacement signal; processing the second moment signal and the second angular displacement signal to obtain a first amplitude estimation value and a first initial phase estimation value of a 1 st harmonic component in the second moment signal, and a second amplitude estimation value and a second initial phase estimation value of the 1 st harmonic component in the second angular displacement signal; obtaining a phase difference based on the first initial phase estimation value and the second initial phase estimation value; calculating to obtain a pneumatic pitch damping moment derivative and a pneumatic pitch restoring moment derivative based on the phase difference, the first amplitude estimation value and the second amplitude estimation value; the method can effectively remove noise influence and improve the accuracy of the aerodynamic pitch damping moment derivative and the aerodynamic pitch restoring moment derivative.
Description
Technical Field
The invention belongs to the field of aircraft test data processing, and particularly relates to a method for processing aircraft dynamic derivative test data.
Background
The dynamic derivative is a characteristic parameter of the dynamic aerodynamic characteristics of the aircraft and is also an important parameter for aircraft control system design and aircraft quality analysis, the gain coefficient is usually determined by the control system design based on the dynamic derivative, the dynamic derivative directly determines the convergence and dispersion characteristics of the oscillation of the aircraft open-loop system when the aircraft open-loop system is disturbed, the stability of the aircraft closed-loop system not only depends on the aerodynamic stability, but also is mainly related to the control system, and the control system can change the stability of the system through the feedback of the attitude plane and the angular rate. The rapid and accurate prediction of the dynamic derivative is critical to the design and safety of the aircraft. The method for acquiring the dynamic derivative of the aircraft mainly comprises theoretical calculation, numerical simulation and wind tunnel test. The theoretical method is high in efficiency, but the application range is narrow, the precision is usually not high, the numerical simulation method is high in efficiency, but the dependence degree on the algorithm is high, and wind tunnel test data are usually needed to be verified. Therefore, the test simulation still has an important effect on the prediction of the aircraft dynamic derivative, the environmental interference is more received in the wind tunnel test process, and the data processing of the wind tunnel test is still the core technology for obtaining the accurate dynamic derivative. In the case of an aircraft with a small angle of attack and attached flow, the dynamic derivative of the aircraft can be obtained by an engineering calculation method, but with the expansion of the angle of attack range and the complication of the appearance of the aircraft, the dynamic derivative is dependent on the reasons of flow separation, vortex formation and fragmentation and the like to a certain extent. It is difficult to simulate the flow separation, vortex formation, and fragmentation in a dynamic state by numerical methods. The dynamic derivative wind tunnel test is usually carried out by a free vibration method and a forced vibration method. Forced vibration is the forcing of a model to vibrate at a fixed frequency in one or more degrees of freedom in simple harmonics (rotation or translation). Forced vibration methods typically work in a resonance region away from the model balance system, where frequency and amplitude can be separately adjusted to allow dynamic instability testing. During the test, the change of the attack angle and the sideslip angle is realized through the wind tunnel turntable rotation angle and the support rod rotation angle combined mechanism. Four directional degrees of freedom including rotation about the three body axes of the model and movement normal thereto may be achieved. The simple harmonic oscillation motion is driven by a direct current servo motor, the motor rotates and is transmitted to a crank through a speed reducer, and the crank rotates to drive a connecting rod to move up and down to change the angle between a swing rod and the vertical direction, so that the pitching oscillation of the airplane is realized.
When the model performs single-degree-of-freedom pitching forced vibration, the vibration differential equation is as follows:
in the formula (1), the reaction mixture is,to rotate the inertia about the pitch axis through the center of mass,in order to be the angular displacement of the model,andfirst and second derivatives of the angular displacement respectively,andknown respectively for the mechanical damping and spring constant of the vibration system,in order to know the frequency of the vibration,as the time of the vibration, there is,is a natural number with a base number of natural,is the unit of an imaginary number,in order to add a forced vibration moment value,andthe derivative of the pneumatic pitching resistance moment and the derivative of the restoring moment are respectively values which are finally required to be acquired in the dynamic derivative test.
it can be seen that the key to the data processing of the forced vibration dynamic derivative test is to acquire the amplitude of the applied external momentAmplitude of angular displacementAnd the initial phase difference between the two。
By digital sampling, the torque signal can be sampledAnd sampling the angular displacement signalRespectively expressed as:
in the formula (3), the reaction mixture is,、、and、andrespectively representing the amplitudes of the direct current component, the 1 st harmonic component and the mth harmonic component of the torque signal and the angular displacement signal;andrespectively representing the initial phases of the 1 st harmonic component and the mth harmonic component of the torque signal,、andrespectively representing the initial phases of the 1 st harmonic component, the mth harmonic component and the frequency offset component of the angular displacement signal;which represents the frequency offset component of the received signal,for the magnitude of the frequency offset component,is the frequency offset;andrespectively representing the harmonic component orders of the torque signal and the angular displacement signal,,andrespectively representing a sampling time point and a sampling length;andrespectively, mean value is 0 and variance isThe two are independent of each other.
According to the formula (2), the dynamic derivative value can be obtained only by calculating the amplitude and the phase difference of the 1 st harmonic of the torque signal and the angular displacement signal. Currently, there are several main processing methods for dynamic derivative test data:
the first type: and the Fourier transform method is used for directly carrying out Fourier transform on the torque signal and the angular displacement signal to obtain the amplitude and the initial phase of the torque signal and the angular displacement signal. The method has simple steps and is easy to realize, but is greatly influenced by noise and harmonic waves, and the precision needs to be improved.
The second type: the delay correlation method directly delays the signal according to the known vibration frequency to realize the 90-degree phase shift of the sampling signal. In practical use, due to the random step-out influence of the driving motor, the angular displacement signal is easy to find out frequency offset, the method does not have the capability of resisting the frequency offset, phase shift errors can be caused by direct use, and the calculation precision of the dynamic derivative is reduced.
In the third category: the method combining Hilbert and a related method comprises the steps of firstly inhibiting the influence of noise and harmonic waves through a band-pass filter, and then obtaining the amplitude and the initial phase of a main frequency component of a signal by using the Hilbert and the related method. Because the harmonic wave is not filtered thoroughly, the residual harmonic wave can generate frequency spectrum leakage, which affects the estimation precision of amplitude and initial phase, and the method is not suitable for the condition of small frequency offset. More importantly, the method does not consider the times of harmonic components, cannot accurately inhibit harmonic influence, and reduces the estimation precision of the amplitude and the initial phase, thereby influencing the data processing precision of the dynamic derivative test.
The traditional wind tunnel test data dynamic derivative processing method can analyze data to obtain a dynamic derivative, but still has the problems of low precision, complex processing process, low efficiency and the like.
Disclosure of Invention
Aiming at the problems, the invention provides a data processing method for the aircraft dynamic derivative test, which can effectively remove the noise influence, extract the main test parameters and improve the accuracy of the pneumatic pitching damping moment derivative and the pneumatic pitching restoring moment derivative.
In order to achieve the aim, the invention provides an aircraft dynamic derivative test data processing method, which comprises the following steps:
acquiring and obtaining sampling torque signalAnd sampling the angular displacement signalTruncating the sampled signal to obtain a first torque signalAnd a first angular displacement signal;
Carrying out direct current component filtering processing on the first moment signal and the first angular displacement signal to respectively obtain a second moment signal and a second angular displacement signal;
analyzing and processing the second moment signal to obtain a first amplitude estimation value and a first initial phase estimation value of a 1 st harmonic component in the second moment signal;
analyzing and processing the second angular displacement signal to obtain a second amplitude estimation value and a second initial phase estimation value of a 1 st harmonic component in the second angular displacement signal;
obtaining a phase difference based on the first initial phase estimate and the second initial phase estimate;
and respectively calculating and obtaining an aerodynamic pitch damping moment derivative and an aerodynamic pitch restoring moment derivative based on the phase difference, the first amplitude estimation value and the second amplitude estimation value.
In order to inhibit the influence of harmonic component and frequency offset component frequency spectrum leakage and improve the data processing precision of a dynamic derivative test, the invention provides the method, firstly, the sampling signal is truncated to obtain an approximate whole-period sampling signal, and the direct current component in the torque signal and the angular displacement signal is filtered; and secondly, estimating the harmonic times of the moment signal by utilizing a subtraction strategy and judging the energy ratio, and obtaining the accurate amplitude and initial phase of the 1 st harmonic component of the moment signal in the modes of the subtraction strategy, spectral analysis, iterative computation and the like. Then, the angular displacement signal is processed by using the same idea, and the accurate amplitude and initial phase of the 1 st harmonic component of the angular displacement signal are obtained. And finally, calculating a damping moment derivative and a restoring moment derivative according to the amplitudes of the main frequency components of the torque signal and the angular displacement signal and the initial phase difference between the two.
Preferably, the calculation modes of the aerodynamic pitch damping moment derivative and the aerodynamic pitch restoring moment derivative are respectively as follows:
wherein,andrespectively the derivative of the pneumatic pitch resistance torque and the derivative of the restoring torque,to rotate the inertia about the pitch axis through the center of mass,andknown respectively as mechanical damping and spring constant for vibration systems,in order to be the frequency of the vibration,is an estimate of the first amplitude value,is an estimate of the second amplitude value and,is the phase difference.
Preferably, the following method is adopted to perform truncation processing on the sampling signal to obtain a truncated signal, so as to perform truncation on the sampling signal to obtain the truncated signal, so that the truncated signal satisfies sampling of a whole period as much as possible. Shortened lengthExpressed as:
wherein,less than the length of the sampled signal,Represents the closest approachIs a positive integer of (a) to (b),is a positive integer, and satisfy,Express getThe absolute value of (a) is,a first threshold value is indicated which is,is the vibration frequency.
Preferably, the first moment signal and the first angular displacement signal in the truncated signals are subjected to dc component filtering processing in the following manner:
wherein,in order to index the signal(s),in order to shorten the length of the optical fiber,in order to be able to generate the first torque signal,in order to be the first angular displacement signal,in order to be able to generate the second torque signal,in the form of the second angular displacement signal,andrepresenting the order of the harmonic components of the second moment signal and the second angular displacement signal respectively,representing the magnitude of the mth harmonic component in the second moment signal,representing the magnitude of the mth harmonic component in the second angular displacement signal,representing the mth harmonic component of the second moment signalAt the initial phase, the phase of the phase-locked loop,representing an initial phase of an mth harmonic component in the second angular displacement signal;the magnitudes of the frequency offset components in the second angular displacement signal,in order to be the amount of frequency offset,representing the initial phase of the frequency offset component in the second angular displacement signal,andrespectively mean value of 0 and variance ofWhite additive gaussian noise.
Preferably, the analyzing and processing the second moment signal to obtain a first amplitude estimation value and a first initial phase estimation value of a 1 st harmonic component in the second moment signal specifically includes:
step 1: calculating and obtaining the harmonic times of the second moment signal and the complex amplitude of each harmonic component in the second moment signal;
step 2: constructing a first reference signal based on the calculation result of the step 1, obtaining a third moment signal based on the first reference signal and the second moment signal, and updating the complex amplitude of each harmonic component in the second moment signal based on the third moment signal;
and step 3: and (3) carrying out multiple iterative calculations on the step (2), and obtaining a first amplitude estimated value and a first initial phase estimated value of the 1 st harmonic component in the second moment signal based on the iterative calculation result.
Preferably, the step 1 is specifically according toThe second torque signal is processed in the following steps 1.1 to 1.6 in sequence:
step 1.2: subtracting the second reference signal from the second torque signal to obtain a fourth torque signal;
step 1.3: based on the fourth moment signal and the vibration frequency, calculating to obtain the second moment signaliA complex amplitude of the sub-harmonic component;
step 1.4: based on the second one obtained in step 1.3iConstructing a third reference signal by the complex amplitude of the subharmonic component, and calculating to obtain a third reference signal based on the third reference signaliA first energy of the sub-harmonic component;
step 1.5: calculating a second energy for obtaining the second torque signal, calculating a second energy based on the first energy and the second energyiEnergy ratio of harmonic component based oniBefore obtaining the energy ratio of harmonic componentiThe sum of the energy ratios of the individual harmonic components;
step 1.6: before judgmentiWhether the sum of the energy ratios of the harmonic components is greater than or equal to a second threshold value, if so, theniIs taken as the harmonic order of the second torque signal。
Preferably, the second energy of the second torque signal is calculated by:
wherein,is the second energy, and is,in order to truncate the signal length of the signal,in order to sample the point in time,is the second torque signal.
Preferably, the firstiThe complex amplitude of the subharmonic component is calculated in the following manner:
wherein,is as followsiThe complex amplitude of the sub-harmonic components,in order to truncate the signal length of the signal,in order to sample the point in time,in order to be able to generate the second torque signal,in order to be the frequency of the vibration,is a natural number with a base number of natural,is an imaginary unit.
Preferably, the third reference signal is:
wherein,is the third reference signal and is the third reference signal,is as followsiThe complex amplitude of the sub-harmonic components,in order to sample the point in time,in order to be the frequency of the vibration,is a natural number with a base number of natural,is the unit of an imaginary number,to representComplex conjugation of (a);
first, theiThe first energy of the subharmonic component is:
wherein,is as followsThe energy is used for supplying energy to the power supply,the signal length for the truncated signal;
Wherein,is the second torque signal is a function of the second torque signal,is the second reference signal.
Preferably, the step 2 specifically includes:
step 2.1: constructing a first reference signal based on the calculation result of step 1,Expressed as:
wherein,is shown asiThe complex conjugate of the complex amplitude of the sub-harmonic component,in order to sample the point in time,in order to be the frequency of the vibration,is a natural number with a base number of natural,is the unit of an imaginary number,representing the order of the harmonic components of the second moment signal,is as followsA sub-harmonic component reference signal;
step 2.2: obtaining a third torque signal based on the first reference signal and the second torque signal,Expressed as:
Step 2.3: based on the third torque signalThe complex amplitude of each harmonic component in the second moment signal is updated.
Preferably, the first amplitude estimation value and the first initial phase estimation value of the 1 st harmonic component in the second moment signal are calculated by:
wherein,is an estimate of the first amplitude value,is the first initial phase estimate value and is,is the complex amplitude of the 1 st harmonic component in the second moment signal,representation complex amplitudeThe value of the modulus of the (c) component,representation complex amplitudeThe angle of (c).
Preferably, the analyzing and processing the second angular displacement signal to obtain a second amplitude estimation value and a second initial phase estimation value of the 1 st harmonic component in the second angular displacement signal specifically includes:
step a: calculating to obtain the harmonic times of the second angular displacement signal, a second estimation value of the complex amplitude of each harmonic component in the second angular displacement signal and the complex amplitude of the frequency offset component in the second angular displacement signal;
step b: constructing a fourth reference signal based on the calculation result of the step a, obtaining a third angular displacement signal based on the fourth reference signal and the second angular displacement signal, and updating the complex amplitude of each harmonic component and the complex amplitude of the frequency offset component in the second angular displacement signal based on the third angular displacement signal; obtaining a frequency offset component positive frequency component in the second angular displacement signal based on the complex amplitude of each harmonic component in the second angular displacement signal and the complex amplitude of the frequency offset component; calculating and updating a frequency offset component complex amplitude value based on a frequency offset component positive frequency component in the second angular displacement signal; updating a frequency offset component reference signal based on the updated frequency offset component complex amplitude, and updating the third angular displacement signal based on the updated frequency offset component reference signal;
step c: and c, carrying out multiple iterative calculations on the step b, and obtaining a second amplitude estimated value and a second initial phase estimated value of the 1 st harmonic component in the second angular displacement signal based on the iterative calculation result.
Preferably, the step a specifically includes:
according toThe second angular displacement signal is analyzed, the construction includesReference signal of harmonic component and frequency deviation component;
Wherein,is as followsiiThe sub-harmonic component is referenced to the signal,for the frequency offset component reference signal(s),is a sampling time point;
based on the reference signalProcessing the second angular displacement signal to obtain a processed second angular displacement signal;
the construction comprises the followingiReference signal of subharmonic componentBased onCalculate the firstiEnergy of subharmonic component;
Based on the index of the frequency offset componentAnd spectral offset estimationCalculating the complex amplitude of the frequency offset component;
Based onAndbefore calculation is obtainediSum of energy ratios of harmonic component and frequency offset component;
When in useGreater than or equal to a third threshold value at which timeiIs the harmonic order of the second angular displacement signal。
Wherein,is shown asiThe complex conjugate of the complex amplitude of the sub-harmonic component,being a harmonic order of the second angular displacement signal,in order to sample the point in time,in order to be the frequency of the vibration,is a natural number with a base number of natural,is the unit of an imaginary number,is as followsThe sub-harmonic component is referenced to the signal,is a frequency offset component reference signal;
Wherein,in order to be said second angular displacement signal,for the length of the second angular displacement signal,in order to sample the point in time,in order to be the frequency of the vibration,is a natural number with a base number of natural,in units of imaginary numbers.
Based on updated secondiComplex amplitude of subharmonic componentAccording toCalculating to obtain the complex amplitude of each harmonic component;
Wherein,is an index to the frequency offset component,for the purpose of the spectral offset estimation,being a harmonic order of the second angular displacement signal,in order to truncate the signal length of the signal,in order to sample the point in time,is the complex conjugate of the complex magnitude of the frequency offset component,is as followsThe sub-harmonic component is referenced to the signal,in order to be said second angular displacement signal,is a natural number with a base number of natural,in units of imaginary numbers.
Preferably, the second amplitude estimation value of the 1 st harmonic component in the second angular displacement signal isThe second initial phase estimation value of the 1 st harmonic component in the second angular displacement signal is:
Wherein,being the complex amplitude of the 1 st harmonic component in the second angular displacement signal,representation complex amplitudeThe value of the modulus of the (c) component,representation complex amplitudeThe angle of (c).
One or more technical schemes provided by the invention at least have the following technical effects or advantages:
the invention can effectively remove the noise influence and improve the accuracy of the pneumatic pitching damping moment derivative and the pneumatic pitching restoring moment derivative.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention;
FIG. 1 is a schematic flow chart of a method for processing data of a dynamic derivative test of an aircraft according to the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflicting with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described and thus the scope of the present invention is not limited by the specific embodiments disclosed below.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for processing aircraft dynamic derivative test data, and the method for processing aircraft dynamic derivative test data according to the present invention can be divided into four steps: signal preprocessing, moment signal analysis, angular displacement signal analysis and dynamic derivative calculation.
Signal preprocessing:
firstly, according to the known vibration frequency, a sampling signal is truncated to obtain a truncated signal, wherein the acquisition signal can be acquired through related equipment or a sensor.
In formula (4):in order to shorten the length of the optical fiber,represents the closest approachThe positive integer of (a) is,is a positive integer, and satisfy,Express getThe absolute value of (a) is,a first threshold value is indicated which is,is the vibration frequency.
Then, the dc component in the truncated signal is filtered out:
Analyzing a torque signal:
when the moment signal is analyzed, three steps are divided. The first step is as follows: and calculating the harmonic frequency of the signal.
Secondly, based on the preprocessed torque signal and vibration frequency, calculatingiThe complex amplitude of the sub-harmonic component.
In the formula:as a parameterIs determined by the estimated value of (c),is as followsiThe complex amplitude of the sub-harmonic components,are complex symbols.
Then based on the secondiComplex amplitude of subharmonic component, the construction containing only the firstiReference signal of subharmonic component(ii) a And calculate the firstiEnergy of subharmonic component。
Then it is firstiThe energy ratio of the harmonic component is:
therefore, frontiThe sum of the energy ratios of the harmonic components is:
finally, according toThe sequence of (2) analyzing the torque signal, the structure containing the frontReference signal of harmonic component。
And a subtraction strategy is adopted to subtract the middle front of the torque signalThe harmonic components.
Will be provided withSubstitution of formula (8), substitutionCalculating the firstiComplex amplitudes of subharmonic components, calculated using equations (8) - (12)iEnergy ratio of individual harmonic components. When in useWhen the temperature of the water is higher than the set temperature,is a threshold value of 2, at this timeiIs the harmonic order of the torque signal。
The second step is that: and calculating the more accurate complex amplitude of each harmonic component.
Firstly, according to the rough estimation value of the complex amplitude of each harmonic component in the first step, aiming at the second stepiA sub-harmonic component of structure containingA harmonic component not to be estimated andireference signal with sub-harmonic component negative frequency component phase-superposed。
Secondly, subtracting the reference signal in the moment signal by adopting a subtraction strategyTo obtain the firstiPositive frequency component of subharmonic component。
Then, willSubstitution of formula (8), substitutionUpdate the firstiThe complex amplitude of the sub-harmonic component.
Finally, according toThe more accurate complex amplitude of each harmonic component is obtained through the loop calculation of the expressions (15) and (16).
The third step: the exact amplitude and initial phase of the 1 st harmonic component are calculated.
To the second stepPerforming sub-iterative computation to obtain an accurate amplitude estimation value of the 1 st harmonic component of the torque signalAnd an initial phase estimate。
Angular displacement signal analysis
The method is consistent with the torque signal analysis idea, and the analysis process is also divided into three steps aiming at the angular displacement signal. The first step is as follows: the harmonic order of the signal is calculated.
Secondly, according to the known vibration frequency, the solution ofiThe complex amplitude of the sub-harmonic component.
In the formula (19), the compound represented by the formula (I),is as followsiThe complex amplitude of the sub-harmonic component.
Then, the structure contains only the secondiReference signal of subharmonic componentAnd calculate the firstiEnergy of subharmonic component。
Then it is firstiThe energy fraction of the subharmonic component is:
when in useThen, the spectral index of the frequency offset component is calculated. Using a subtraction strategy to sum the angular displacement signal and a reference signalSubtracting to obtain a signal containing a frequency offset component。
In the indexInterpolation is carried out on two sides, the interval is 0.5, and the frequency spectrum of the interpolation point on the left side is calculatedAnd right hand interpolated point spectrumAnd calculating the spectral offset according to the interpolation point spectrum.
In the formula (27), the reaction mixture is,represents taking a complex numberAn imaginary part of (c).
Based on the index of the frequency offset componentAnd spectral offset estimationAnd calculating the complex amplitude of the frequency deviation component.
In the formula (28), the reaction mixture is,is the complex amplitude of the frequency offset component.
Then a frequency offset component reference signal may be constructed:
The energy of the frequency offset component is:
the energy ratio of the frequency offset component is:
thus, frontiThe sum of the energy ratios of the harmonic and frequency-offset components is:
finally, according toIn a sequence of angular displacement signals, the structure including the firstReference signal of harmonic component and frequency deviation component。
And a subtraction strategy is adopted to subtract the middle front of the angular displacement signalHarmonic components and frequency offset components.
Will be provided withSubstitution (19), substitutionCalculating the firstiThe complex amplitude of the subharmonic component is calculated using the equations (20) - (22), (32) - (34)iEnergy ratio of harmonic component and frequency offset component. When in useWhen the temperature of the water is higher than the set temperature,is a threshold value of 3, at this timeiThe value of (A) is the harmonic frequency of the angular displacement signal。
The second step is that: the complex amplitude of each component is calculated.
First, rough estimation values of harmonic components and frequency offset components are calculated for the first stepiA sub-harmonic component of structure containingHarmonic frequency components not to be estimated, secondiReference signal with sub-harmonic negative frequency component and frequency offset component superposed。
Secondly, adopting a subtraction strategy to combine the angular displacement signal and the reference signalAre subtracted to obtain the firstiSub-harmonic component positive frequency component。
Then, willSubstitution (19), substitutionUpdate the firstiComplex amplitude of the subharmonic component, and according toThe more accurate complex amplitude of each harmonic component is obtained through the loop calculation of the expressions (35) and (36).
Finally, aiming at the frequency deviation component, according to the more accurate complex amplitude of each harmonic component, a subtraction strategy is adopted to subtract all harmonic components and the negative frequency components of the frequency deviation component in the angular displacement signal to obtain the positive frequency components of the frequency deviation component。
Will be provided withSubstitution of formulae (26) to (28)Calculating the complex amplitude value and the spectral offset of the obtained frequency offset component, and constructing a frequency offset component reference signal by using the formula (29)。
The third step: the exact amplitude and initial phase of the 1 st harmonic component are calculated.
To the second stepPerforming sub-iterative computation to obtain an accurate amplitude estimation value of the 1 st harmonic component of the angular displacement signalAnd an initial phase estimate。
Calculating a dynamic derivative:
and after the amplitude value and the initial phase of the 1 st harmonic component of the torque signal and the angular displacement signal are obtained, calculating the phase difference between the moment signal and the angular displacement signal.
And calculating the derivative of the aerodynamic pitch resistance moment by using the formula (2)And aerodynamic pitch recovery moment derivative。
Although the invention has given a specific dynamic derivative calculation process, aiming at the requirement of the dynamic derivative, the method can process the aerodynamic parameters of various aircrafts with the change of the motion state along with the time, and the obtained dynamic derivative can be directly used as the input parameter of the dynamic stability analysis of the aircrafts, thereby realizing the mode analysis of long period and short period of the aircrafts, further researching the longitudinal dynamic balance capability, control capability and the like of the aircrafts, analyzing the aircraft roll convergence, the Dutch roll and spiral mode and the like according to the horizontal heading mode, providing data support for the aircraft control strategy and control law design, and further guiding the improvement research of the overall layout of the aircrafts.
According to the content, the invention mainly provides a method for efficiently processing dynamic test data of a wind tunnel, obtains the concerned dynamic derivative parameters of the aircraft in different flight states, and provides parameter input for the aerodynamic layout design and flight control of the aircraft.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (11)
1. An aircraft dynamic derivative test data processing method is characterized by comprising the following steps:
when the aircraft performs a dynamic derivative experiment, a data acquisition unit is used for acquiring the torque and angular displacement change conditions of the aircraft to obtain sampling signals, wherein the sampling signals comprise torque signalsAnd angular displacement signalTruncating the sampled signal to obtain a first torque signalAnd a first angular displacement signal;
Carrying out direct current component filtering processing on the first moment signal and the first angular displacement signal to respectively obtain a second moment signal and a second angular displacement signal;
analyzing and processing the second moment signal to obtain a first amplitude estimation value and a first initial phase estimation value of a 1 st harmonic component in the second moment signal;
analyzing and processing the second angular displacement signal to obtain a second amplitude estimation value and a second initial phase estimation value of a 1 st harmonic component in the second angular displacement signal;
obtaining a phase difference based on the first initial phase estimate and the second initial phase estimate;
respectively calculating and obtaining an aerodynamic pitch damping moment derivative and an aerodynamic pitch restoring moment derivative based on the phase difference, the first amplitude estimation value and the second amplitude estimation value;
the calculation modes of the aerodynamic pitch damping moment derivative and the aerodynamic pitch restoring moment derivative are respectively as follows:
wherein,andrespectively the derivative of the pneumatic pitch resistance torque and the derivative of the restoring torque,to rotate the inertia about the pitch axis through the center of mass,andknown respectively for the mechanical damping and spring constant of the vibration system,in order to be the frequency of the vibration,is an estimate of the first amplitude value,is the second amplitude estimate and is,is the phase difference;
calculating to obtain the truncation length aiming at the sampling signalIntercepting the mid-front of the sampled signalThe point data realizes the truncation processing of the sampling signal to obtain the length ofThe truncated first moment signal and the first angular displacement signal of (a);the calculation method is as follows:
wherein,less than the length of the sampled signal,Represents the closest approachIs a positive integer of (a) to (b),is a positive integer, and satisfy,Express getThe absolute value of (a) is,a first threshold value is indicated which is,is the vibration frequency;
and performing direct-current component filtering processing on the first moment signal and the first angular displacement signal in the following way:
wherein,in order to index the signal(s),in order to be able to generate the second torque signal,in the form of the second angular displacement signal,andrepresenting the order of the harmonic components of the second moment signal and the second angular displacement signal respectively,representing the magnitude of the mth harmonic component in the second moment signal,representing the magnitude of the mth harmonic component in the second angular displacement signal,representing the initial phase of the mth harmonic component in the second moment signal,representing an initial phase of an mth harmonic component in the second angular displacement signal;is the magnitude of the frequency offset component in the second angular displacement signal,is the frequency offset,Representing the initial phase of the frequency offset component in the second angular displacement signal,andrespectively mean value of 0 and variance ofAdditive white gaussian noise of (1);
the analyzing and processing the second moment signal to obtain a first amplitude estimation value and a first initial phase estimation value of a 1 st harmonic component in the second moment signal specifically includes:
step 1: calculating and obtaining the harmonic times of the second moment signal and the complex amplitude of each harmonic component in the second moment signal;
step 2: constructing a first reference signal based on the calculation result of the step 1, obtaining a third moment signal based on the first reference signal and the second moment signal, and updating the complex amplitude of each harmonic component in the second moment signal based on the third moment signal;
and step 3: performing iterative computation for multiple times on the step 2, and obtaining a first amplitude estimated value and a first initial phase estimated value of the 1 st harmonic component in the second moment signal based on the iterative computation result;
the analyzing and processing the second angular displacement signal to obtain a second amplitude estimation value and a second initial phase estimation value of a 1 st harmonic component in the second angular displacement signal specifically includes:
step a: calculating to obtain the harmonic times of the second angular displacement signal, a second estimation value of the complex amplitude of each harmonic component in the second angular displacement signal and the complex amplitude of the frequency offset component in the second angular displacement signal;
step b: constructing a fourth reference signal based on the calculation result of the step a, obtaining a third angular displacement signal based on the fourth reference signal and the second angular displacement signal, and updating the complex amplitude of each harmonic component and the complex amplitude of the frequency offset component in the second angular displacement signal based on the third angular displacement signal; obtaining a frequency offset component positive frequency component in the second angular displacement signal based on the complex amplitude of each harmonic component in the second angular displacement signal and the complex amplitude of the frequency offset component; calculating and updating a frequency offset component complex amplitude value based on a frequency offset component positive frequency component in the second angular displacement signal; updating a frequency offset component reference signal based on the updated frequency offset component complex amplitude, and updating the third angular displacement signal based on the updated frequency offset component reference signal;
step c: and c, carrying out multiple iterative calculations on the step b, and obtaining a second amplitude estimated value and a second initial phase estimated value of the 1 st harmonic component in the second angular displacement signal based on the iterative calculation result.
2. Method for processing data of aircraft dynamic derivative tests according to claim 1, characterized in that step 1 is carried out in particular according toThe second torque signal is processed in the following steps 1.1 to 1.6 in sequence:
step 1.2: subtracting the second reference signal from the second torque signal to obtain a fourth torque signal;
step 1.3: based on the fourth moment signal and the vibration frequency, calculating to obtain the second moment signaliA complex amplitude of the sub-harmonic component;
step 1.4: based on the second one obtained in step 1.3iConstructing a third reference signal by the complex amplitude of the subharmonic component, and calculating to obtain a third reference signal based on the third reference signaliA first energy of the sub-harmonic component;
step 1.5: calculating a second energy for obtaining the second torque signal, calculating a second energy based on the first energy and the second energyiEnergy ratio of sub-harmonic component based oniBefore obtaining the energy ratio of the subharmonic componentiThe sum of the energy ratios of the individual harmonic components;
3. The method for processing aircraft dynamic derivative test data according to claim 2, wherein the second energy of the second torque signal is calculated by:
4. The aircraft dynamic derivative test data processing method of claim 2, wherein the first step isiThe complex amplitude of the subharmonic component is calculated in the following manner:
wherein,is as followsiThe complex amplitude of the sub-harmonic components,in order to shorten the length of the optical fiber,in order to index the signal(s),in order to be able to generate the second torque signal,in order to be the frequency of the vibration,is a natural number with a base number of natural,is an imaginary unit.
5. The aircraft dynamic derivative test data processing method according to claim 2, wherein the third reference signal is:
wherein,is the third reference signal and is the third reference signal,is as followsiThe complex amplitude of the sub-harmonic components,in order to index the signal(s),in order to be the frequency of the vibration,is a natural number with a base number of natural,is the unit of an imaginary number,to representComplex conjugation of (a);
first, theiThe first energy of the subharmonic component is:
7. The aircraft dynamic derivative test data processing method according to claim 1, wherein the step 2 specifically comprises:
step 2.1: constructing a first reference signal based on the calculation result of step 1,Expressed as:
wherein,is shown asiThe complex conjugate of the complex amplitude of the sub-harmonic component,in order to index the signal(s),in order to be the frequency of the vibration,is a natural number with a base number of natural,is the unit of an imaginary number,representing the order of the harmonic components of the second moment signal,is as followsA sub-harmonic component reference signal;
step 2.2: obtaining a third torque signal based on the first reference signal and the second torque signal,Expressed as:
wherein,is the second torque signal is a function of the second torque signal,is a first reference signal;
8. The method for processing the data of the aircraft dynamic derivative test according to claim 1, wherein the first amplitude estimation value and the first initial phase estimation value of the 1 st harmonic component in the second moment signal are calculated by:
wherein,is an estimate of the first amplitude value,is the first initial phase estimate value and is,is the complex amplitude of the 1 st harmonic component in the second moment signal,representation complex amplitudeThe value of the modulus of the (c) component,representation complex amplitudeThe angle of (c).
9. The aircraft dynamic derivative test data processing method according to claim 1, wherein the step a specifically comprises:
according toThe second angular displacement signal is analyzed, the construction includesReference signal of harmonic component and frequency deviation component;
Wherein,is as followsThe sub-harmonic component is referenced to the signal,for the frequency offset component reference signal(s),indexing the signal;
based on the reference signalProcessing the second angular displacement signal to obtain a processed second angular displacement signal;
the construction comprises the followingiReference signal of subharmonic componentBased onCalculate the firstiEnergy of subharmonic component;
Based on the index of the frequency offset componentAnd spectral offset estimationCalculating the complex amplitude of the frequency offset component;
Based onAndbefore calculation is obtainediSum of energy ratios of harmonic component and frequency offset component;
10. The method for processing aircraft dynamic derivative test data according to claim 1, wherein the fourth reference signal is;
Wherein,is shown asiThe complex conjugate of the complex amplitude of the sub-harmonic component,being a harmonic order of the second angular displacement signal,in order to index the signal(s),in order to be the frequency of the vibration,is a natural number with a base number of natural,is the unit of an imaginary number,is as followsThe sub-harmonic component is referenced to the signal,is a frequency offset component reference signal;
based on updated secondiComplex amplitude of subharmonic componentAccording toCalculating to obtain the complex amplitude of each harmonic component;
Wherein,is an index to the frequency offset component,for the purpose of the spectral offset estimation,being a harmonic order of the second angular displacement signal,is the complex conjugate of the complex magnitude of the frequency offset component,is as followsThe sub-harmonic component is referenced to the signal.
11. The method for processing data of aircraft dynamic derivative tests according to claim 1, wherein the second amplitude estimation value of the 1 st harmonic component in the second angular displacement signal isThe second initial phase estimation value of the 1 st harmonic component in the second angular displacement signal is:
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