舵机带宽测试系统设计与试验方法研究
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摘要
舵机的性能直接影响无人机系统闭环综合特性和飞行安全,针对现阶段常用数字舵机未提供带宽指标的现状和控制律设计的实际需求,介绍了频域响应法进行舵机带宽测试的原理和采用相关测量法进行试验数据处理的方法,提出了利用无人机自身设备集成舵机带宽测试系统的设计思想和方案,总结了测试流程和注意事项,并以某型数字舵机为实例,将测试得到的频率特性数据与舵机标准二阶数学模型进行比较,分析发现测量系统存在时间延时导致相位误差较大,最后给出了舵机带宽修正方案,得到最符合实测结果的舵机标准近似二阶数学模型,从而得到该型舵机空载和带载情况下带宽和阻尼比指标,对指导无人机舵机选型和控制律设计优化提供了技术支持。
The performance of the actuator directly affects the closed loop comprehensive characteristics and flight safety of the UAV system.In view of the current situation that the digital actuator does not provide the bandwidth technical index and the actual demand of control law design,the principle and data processing method of bandwidth by using correlation measurement method are introduced, the design idea and scheme of using the UAV's own equipment to integrate the actuator bandwidth test system is put forward, and the test process and precautions are summed up.Finally, the actuator is taken as an example,the frequency characteristic data obtained by the test is compared with the two standard order mathematical model of the actuator.It is found that the time delay of the measurement system leads to the phase error, and the bandwidth correction scheme of the actuator bandwidth is given. The approximate two standard order mathematical model of the actuator which is most consistent with the measured results is sought,and The bandwidth and damping ratio of the rudder under no load and load condition are obtained, It provides technical support for actuator selection and control law design optimization.
The performance of the actuator directly affects the closed loop comprehensive characteristics and flight safety of the UAV system.In view of the current situation that the digital actuator does not provide the bandwidth technical index and the actual demand of control law design,the principle and data processing method of bandwidth by using correlation measurement method are introduced, the design idea and scheme of using the UAV's own equipment to integrate the actuator bandwidth test system is put forward, and the test process and precautions are summed up.Finally, the actuator is taken as an example,the frequency characteristic data obtained by the test is compared with the two standard order mathematical model of the actuator.It is found that the time delay of the measurement system leads to the phase error, and the bandwidth correction scheme of the actuator bandwidth is given. The approximate two standard order mathematical model of the actuator which is most consistent with the measured results is sought,and The bandwidth and damping ratio of the rudder under no load and load condition are obtained, It provides technical support for actuator selection and control law design optimization.
引文
[1] 张西涛, 江飞鸿, 赵海. 飞控系统极限环抑制对舵机性能的需求计算[J]. 飞行力学, 2009, 27(4):39-42.
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[3] 刘艳,高正红,张星雨.基于人机闭环稳定性的舵机速率限制边界[J].航空工程进展,2018,9(1):28-34.
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[9] 崔伟, 赵波. 便携式舵机测试系统的设计与应用[J]. 宇航计测技术, 2010, 30(3):57-61.
[10] 毛先柏,谢东,李昌禧.基于支持向量机的舵机带宽测试[J].计算机测量与控制,2007(11):1482-1483,1518.
[11] 牛海发, 牛明博. 无人机舵机测试系统软件设计与应用[J]. 测控技术, 2006, 25(12):64-67.
[12] 刘冰, 曹克强, 胡良谋. 自主式液压舵机测试系统设计研究[J]. 计算机测量与控制, 2007, 15(5):638-640.
[13] 郭晓楠,罗绪涛,徐挺.大攻角导弹舵机时频域特性与飞控系统匹配性研究[J].南昌航空大学学报(自然科学版),2015,29(1):27-32.
[14] 靳凌,董继鹏.考虑舵机故障的空空导弹飞行控制系统主动容错控制[J].弹箭与制导学报,2014,34(6):5-7,16.
[15] 张跃, 段镇. 轴对称飞行器滚转稳定控制与舵机技术指标[J]. 光学精密工程, 2010, 18(1):100-107.
[2] 孟捷, 徐浩军, 李大伟. 舵机带宽对Ⅱ型PIO预测影响研究[J]. 系统仿真学报, 2011, 23(4):813-816.
[3] 刘艳,高正红,张星雨.基于人机闭环稳定性的舵机速率限制边界[J].航空工程进展,2018,9(1):28-34.
[4] 习赵军.基于虚拟仪器的多路舵机测试系统[D].武汉:华中科技大学,2007.
[5] 王文辉.基于虚拟仪器技术的舵机振动测试系统研制[D].长沙:国防科学技术大学,2013.
[6] 牛海发, 牛明博. 一种基于虚拟仪器的舵机测试系统研制[J]. 实验技术与管理, 2007, 24(2):67-71.
[7] 谭营,许化龙,吴琳.基于LabVIEW的舵机测试系统设计[J].微计算机信息,2007(31):133-134,286.
[8] 苏继杰,鲍传美,郑幸,等.虚拟仪器的无人机舵机测试系统设计与实现[J].火力与指挥控制,2008,33(S2):164-165,173.
[9] 崔伟, 赵波. 便携式舵机测试系统的设计与应用[J]. 宇航计测技术, 2010, 30(3):57-61.
[10] 毛先柏,谢东,李昌禧.基于支持向量机的舵机带宽测试[J].计算机测量与控制,2007(11):1482-1483,1518.
[11] 牛海发, 牛明博. 无人机舵机测试系统软件设计与应用[J]. 测控技术, 2006, 25(12):64-67.
[12] 刘冰, 曹克强, 胡良谋. 自主式液压舵机测试系统设计研究[J]. 计算机测量与控制, 2007, 15(5):638-640.
[13] 郭晓楠,罗绪涛,徐挺.大攻角导弹舵机时频域特性与飞控系统匹配性研究[J].南昌航空大学学报(自然科学版),2015,29(1):27-32.
[14] 靳凌,董继鹏.考虑舵机故障的空空导弹飞行控制系统主动容错控制[J].弹箭与制导学报,2014,34(6):5-7,16.
[15] 张跃, 段镇. 轴对称飞行器滚转稳定控制与舵机技术指标[J]. 光学精密工程, 2010, 18(1):100-107.