CN111003205A - Control method for improving robustness of steering engine dynamic stiffness test system - Google Patents
Control method for improving robustness of steering engine dynamic stiffness test system Download PDFInfo
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- CN111003205A CN111003205A CN201911243960.XA CN201911243960A CN111003205A CN 111003205 A CN111003205 A CN 111003205A CN 201911243960 A CN201911243960 A CN 201911243960A CN 111003205 A CN111003205 A CN 111003205A
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- 238000012360 testing method Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000000694 effects Effects 0.000 claims abstract description 5
- 230000003321 amplification Effects 0.000 claims description 2
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 2
- 238000004458 analytical method Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/007—Subject matter not provided for in other groups of this subclass by applying a load, e.g. for resistance or wear testing
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- Testing Of Engines (AREA)
Abstract
The invention provides a control method for improving the robustness of a steering engine dynamic stiffness test system, which has the following principle: a feedback system is added in the steering engine dynamic stiffness testing system, after the instruction of a main control valve core/motor controller for controlling the position change of a loaded object execution mechanism is extracted, a feedback signal is formed after certain processing, and then the feedback signal is integrated with a loading instruction signal to control the loaded object execution mechanism. The method is suitable for the force tracking precision applied to the low-frequency (0.1 Hz-8 Hz) loading stage, and can obtain more satisfactory test effect by adjusting the control parameters of the steering engine dynamic stiffness test system aiming at different loaded objects. The control method solves the trouble caused by non-instruction position disturbance, is suitable for different loading objects, and improves the robustness of the system.
Description
Technical Field
The invention belongs to the field of automatic control, and particularly relates to a control method for improving the robustness of a steering engine dynamic stiffness test system.
Background
The steering engine dynamic stiffness testing system is a feedback control system, a loaded object ideally stays at a certain fixed position in the process of applying force loading, however, certain non-instruction position disturbance exists in the loaded object at the low-frequency loading stage in the actual test process, and the root cause of the phenomenon is that strong interference exists between the internal environment and the external environment on a main control valve core/motor controller. Therefore, the loading force cannot be accurately tracked, and certain trouble is brought to the analysis of dynamic stiffness data in a low-frequency stage. Meanwhile, when the steering engine dynamic stiffness test system aims at loaded objects of different models, the degree of position disturbance is greatly different, the control parameter of the steering engine dynamic stiffness test system cannot achieve a satisfactory effect, and the robustness is poor.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide a control method for improving the robustness of a steering engine dynamic stiffness test system, which can eliminate most position disturbances aiming at different loaded objects, and can obtain a satisfactory test effect by properly adjusting control parameters, so that the steering engine dynamic stiffness test system can adapt to the loaded objects of various models, and the robustness of the steering engine dynamic stiffness test system is improved.
In order to solve the technical problem, the control method of the invention is that a feedback system is added in a steering engine dynamic stiffness test system, and after the instruction of a main control valve core/motor controller for controlling the position change of a loaded object execution mechanism is extracted, a feedback signal is formed after certain processing, and then the feedback signal is integrated with a loading instruction signal to control the loaded object execution mechanism.
Further, the extracted command of the main control valve core/motor controller is a main control valve core position non-command disturbance/motor movement non-command disturbance signal.
Further, after the extracted command of the main control valve core/motor controller is processed by the signal processing device, the formed signal is a direct current quantity.
Further, the dc component needs to be linearly amplified to form a feedback signal.
Further, the above-mentioned manner of combining the feedback signal and the load instruction signal is linear amplification superposition combination.
The control method for improving the robustness of the steering engine dynamic stiffness test system is applied to the force tracking precision in the low-frequency loading stage.
Further, the low frequency range is 0.1 Hz to 8Hz, because the internal and external environments in the low frequency range have strong interference to the main control valve core/motor controller.
Aiming at different loaded objects, a more satisfactory test effect can be obtained by adjusting the control parameters of the steering engine dynamic stiffness test system.
The control method improves the force tracking precision of the steering engine dynamic stiffness test system in the low-frequency (0.1 Hz-8 Hz) loading stage, and solves the trouble caused by non-instruction position disturbance; meanwhile, the system can envelop loaded objects of different models, the perturbation range of control parameters is wide, and the robustness is improved.
Drawings
FIG. 1 is a control schematic block diagram of a steering engine dynamic stiffness test system of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to fig. 1, and it is obvious that the described embodiments are only a specific embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the control system mainly includes a negative feedback loop and a positive feedback superposition loop. The specific control principle is as follows:
step 1: the command F1 and the force sensor feedback value F2 form negative feedback, and the difference value e1 enters the PI controller to carry out proportional and differential calculation to obtain a value K1;
step 2: a main control valve core position command/motor motion command is led out from a main control valve/motor controller of a loaded object, enters a signal conditioning device to process a main control valve alternating current signal or a motor controller signal into direct current L1, and L1 forms a K2 signal after being amplified by a proportion K;
step 3: the K1 signal and the K2 signal are superposed to form a K3 command, and the command enters a servo valve to control the output force of the loading cylinder;
step 4: the force sensor feeds back a new beat of force F2 and the above steps are repeated.
Claims (8)
1. A control method for improving the robustness of a steering engine dynamic stiffness test system is characterized by comprising the following steps: a feedback system is added in the steering engine dynamic stiffness testing system, after the instruction of a main control valve core/motor controller for controlling the position change of a loaded object execution mechanism is extracted, a feedback signal is formed after certain processing, and then the feedback signal is integrated with a loading instruction signal to control the loaded object execution mechanism.
2. The control method for improving the robustness of the steering engine dynamic stiffness test system according to claim 1, wherein the control method comprises the following steps: the extracted command of the main control valve core/motor controller is a main control valve core position non-command disturbance/motor movement non-command disturbance signal.
3. The control method for improving the robustness of the steering engine dynamic stiffness test system according to claim 2, wherein the control method comprises the following steps: and after the non-command disturbance signal of the position of the valve core of the main control valve/the non-command disturbance signal of the motor movement is processed by the signal processing device, the formed signal is direct current.
4. The control method for improving the robustness of the steering engine dynamic stiffness test system according to claim 3, wherein the control method comprises the following steps: the direct current quantity needs to be linearly amplified to form a feedback signal.
5. The control method for improving the robustness of the steering engine dynamic stiffness test system according to claim 4, wherein the control method comprises the following steps: the feedback signal and the loading instruction signal are synthesized in a linear amplification superposition mode.
6. The control method for improving the robustness of the steering engine dynamic stiffness test system is characterized by comprising the following steps of: the method is suitable for the force tracking precision applied to the low-frequency loading stage.
7. The control method for improving the robustness of the steering engine dynamic stiffness test system according to claim 6, wherein the control method comprises the following steps: the low frequency range is 0.1 Hz-8 Hz.
8. The control method for improving the robustness of the steering engine dynamic stiffness test system according to any one of claims 1 to 7, wherein the control method comprises the following steps: aiming at different loaded objects, a more satisfactory test effect can be obtained by adjusting the control parameters of the steering engine dynamic stiffness test system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911243960.XA CN111003205A (en) | 2019-12-06 | 2019-12-06 | Control method for improving robustness of steering engine dynamic stiffness test system |
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| CN201911243960.XA CN111003205A (en) | 2019-12-06 | 2019-12-06 | Control method for improving robustness of steering engine dynamic stiffness test system |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106055753A (en) * | 2016-05-24 | 2016-10-26 | 北京航空航天大学 | Steering engine instruction dynamic compensation control method of electro-hydraulic load simulator redundant force |
| CN106706240A (en) * | 2016-12-15 | 2017-05-24 | 中国航空工业集团公司西安飞机设计研究所 | Actuator dynamic stiffness test method |
| CN107203184A (en) * | 2017-06-20 | 2017-09-26 | 南京理工大学 | The dynamic control method of straight line steering wheel Electric Loading System |
| CN107621343A (en) * | 2017-09-07 | 2018-01-23 | 北京航空航天大学 | A dynamic stiffness testing device |
| CN207675890U (en) * | 2017-12-29 | 2018-07-31 | 四川保元防务技术有限公司 | A kind of steering engine simulation TT＆C system |
| US20180223785A1 (en) * | 2017-02-08 | 2018-08-09 | Pratt & Whitney Canada Corp. | Method and system for testing operation of solenoid valves |
| CN110333695A (en) * | 2019-06-30 | 2019-10-15 | 南京理工大学 | An electric linear loading control system |
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2019
- 2019-12-06 CN CN201911243960.XA patent/CN111003205A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106055753A (en) * | 2016-05-24 | 2016-10-26 | 北京航空航天大学 | Steering engine instruction dynamic compensation control method of electro-hydraulic load simulator redundant force |
| CN106706240A (en) * | 2016-12-15 | 2017-05-24 | 中国航空工业集团公司西安飞机设计研究所 | Actuator dynamic stiffness test method |
| US20180223785A1 (en) * | 2017-02-08 | 2018-08-09 | Pratt & Whitney Canada Corp. | Method and system for testing operation of solenoid valves |
| CN107203184A (en) * | 2017-06-20 | 2017-09-26 | 南京理工大学 | The dynamic control method of straight line steering wheel Electric Loading System |
| CN107621343A (en) * | 2017-09-07 | 2018-01-23 | 北京航空航天大学 | A dynamic stiffness testing device |
| CN207675890U (en) * | 2017-12-29 | 2018-07-31 | 四川保元防务技术有限公司 | A kind of steering engine simulation TT＆C system |
| CN110333695A (en) * | 2019-06-30 | 2019-10-15 | 南京理工大学 | An electric linear loading control system |
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