CN-121978951-A - Control method, device, equipment and storage medium for aircraft flap follow-up system

CN121978951ACN 121978951 ACN121978951 ACN 121978951ACN-121978951-A

Abstract

The invention provides a control method, a device, equipment and a storage medium of an aircraft flap follow-up system, which belong to the field of aircraft control, and the method comprises the steps of acquiring azimuth angles between a flap loading point and a follow-up system pulley and rotating angles of flaps relative to a preset system fixed frame in real time; generating a perpendicularity error signal based on the deviation between the azimuth angle and a preset perpendicularity angle, inputting the perpendicularity error signal to a self-adaptive PID controller, adjusting control parameters of the PID controller according to the perpendicularity error, outputting a displacement adjustment quantity, calculating a feedforward compensation quantity based on the angular speed of a flap angle, integrating the total displacement change quantity obtained by adding the displacement adjustment quantity and the feedforward compensation quantity to generate a position control instruction of a follow-up system, and inputting the position control instruction to an executing mechanism of the follow-up system to realize closed-loop control of the azimuth angle to the preset perpendicularity angle. Thus, tracking performance and steady-state control precision of the system in a dynamic process are greatly improved.

Inventors

WANG WENLI
CHEN XIANMIN
LI SANYUAN
ZHOU TING
WANG HU

Assignees

中国飞机强度研究所

Dates

Publication Date: 20260505
Application Date: 20260206

Claims (10)

1. A method of aircraft flap follower system control, the method comprising: acquiring azimuth angles between a flap loading point and a follow-up system pulley and the rotation angle of the flap relative to a preset system fixed frame in real time; generating a perpendicularity error signal based on a deviation between the azimuth angle and a preset perpendicularity angle; Inputting the perpendicularity error signal into a self-adaptive PID controller, adjusting control parameters of the PID controller according to the perpendicularity error, and outputting displacement adjustment quantity; Calculating a feedforward compensation amount based on an angular velocity of the flap angle; Integrating the total displacement variation obtained by adding the displacement adjustment quantity and the feedforward compensation quantity to generate a position control instruction of a follow-up system; And inputting the position control instruction to an actuating mechanism of the follow-up system to realize closed-loop control of the azimuth angle to the preset vertical angle.
2. The method of claim 1, wherein adjusting the control parameters of the PID controller according to the magnitude of the perpendicularity error comprises: When the absolute value of the error is larger than a preset error threshold value, increasing the proportional coefficient and reducing the differential coefficient; and when the absolute value of the error is smaller than a preset error threshold value, reducing the proportional coefficient and increasing the differential coefficient.
3. The method of claim 1, wherein the feedforward compensation amount is calculated by the formula: ; Wherein, the For the feed-forward gain to be the same, Is the angular velocity of the flap angle.
4. The method of claim 1, wherein the position control instruction is generated by the formula: ; Wherein, the For the displacement adjustment amount output by the self-adaptive PID controller, Is the feedforward compensation amount.
5. The method of claim 1, wherein the azimuth angle between the flap loading point and the follower system pulley, and the rotation angle of the flap relative to the preset system fixed frame, are acquired in real time by a spatial transformation sensor comprising: The reference end of the first sensor is fixedly connected to the flap loading point, and the measuring end of the first sensor is fixedly connected to the center of the pulley and is used for outputting an azimuth angle; and the reference end of the second sensor is fixedly connected with the system frame, and the measuring end of the second sensor is fixedly connected with the flap body and is used for outputting the flap corner.
6. The method of claim 1, wherein the perpendicularity error signal is calculated by the formula: ; Wherein, the In order to set the vertical angle in advance, Is the azimuth angle measured in real time.
7. The method of claim 1, wherein the actuator is a translational joint in the multi-body dynamics model, and the position control instructions are used to drive the translational joint in motion.
8. An aircraft flap follower system control apparatus, the apparatus comprising: The acquisition module is used for acquiring the azimuth angle between the flap loading point and the follow-up system pulley and the rotation angle of the flap relative to a preset system fixed frame in real time; The calculation module is used for generating a perpendicularity error signal based on the deviation between the azimuth angle and a preset perpendicularity angle, inputting the perpendicularity error signal into the self-adaptive PID controller, adjusting control parameters of the PID controller according to the error magnitude, and outputting a displacement adjustment quantity; The generation module is used for integrating the total displacement variation obtained by adding the displacement adjustment quantity and the feedforward compensation quantity to generate a position control instruction of the follow-up system; and the adjusting module is used for inputting the position control instruction to an executing mechanism of the follow-up system so as to realize closed-loop control of the azimuth angle to the preset vertical angle.
9. A computer readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any of the preceding claims 1-7.
10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of any of the preceding claims 1 to 7 when the program is executed.

Description

Control method, device, equipment and storage medium for aircraft flap follow-up system Technical Field The invention belongs to the field of airplane control, and particularly relates to a control method, a device, equipment and a storage medium of an airplane flap follow-up system. Background In aircraft flap fatigue reliability tests, physical loading devices (such as electrohydraulic servo rams, wire ropes, pulley modules, and servo motor driven lead screw mechanisms) are typically employed to simulate flight loads on a physical test bench. In order to overcome the bottleneck of high cost and long period of physical test, the virtual simulation technology has become an important development direction. The existing advanced scheme digitally models the entity device through the combination of multi-body dynamics software (Simscape Multibody) and a control system simulation platform (Simulink), and drives a virtual follow-up system through an open loop or simple PID control instruction according to a preset geometric relationship. The control architecture of the conventional simulation-based aircraft flap follow-up loading system only calculates a driving instruction according to a preset geometric relationship, and completely lacks a measuring and feedback link of a real-time space included angle between a steel wire rope and a flap loading plane, so that the control architecture cannot sense and correct verticality deviation generated in the simulation process. Therefore, the control framework cannot sense the perpendicularity deviation, so that inherent inertia of a servo mechanism and system nonlinearity cannot be effectively compensated, and obvious phase lag and steady-state errors exist when the flap motion is dynamically tracked, so that the accuracy and reliability of a flap control result are seriously restricted. Disclosure of Invention In order to solve the problems, the invention provides a control method, a control device and a control device for an aircraft flap follow-up system and a storage medium. In order to achieve the above object, the present invention provides the following technical solutions: A method of aircraft flap follower system control, the method comprising: acquiring azimuth angles between a flap loading point and a follow-up system pulley and the rotation angle of the flap relative to a preset system fixed frame in real time; generating a perpendicularity error signal based on a deviation between the azimuth angle and a preset perpendicularity angle; Inputting the perpendicularity error signal into a self-adaptive PID controller, adjusting control parameters of the PID controller according to the perpendicularity error, and outputting displacement adjustment quantity; Calculating a feedforward compensation amount based on an angular velocity of the flap angle; Integrating the total displacement variation obtained by adding the displacement adjustment quantity and the feedforward compensation quantity to generate a position control instruction of a follow-up system; And inputting the position control instruction to an actuating mechanism of the follow-up system to realize closed-loop control of the azimuth angle to the preset vertical angle. Optionally, the adjusting the control parameter of the PID controller according to the magnitude of the perpendicularity error includes: When the absolute value of the error is larger than a preset error threshold value, increasing the proportional coefficient and reducing the differential coefficient; and when the absolute value of the error is smaller than a preset error threshold value, reducing the proportional coefficient and increasing the differential coefficient. Optionally, the calculation formula of the feedforward compensation amount is: ; Wherein, the For the feed-forward gain to be the same,Is the angular velocity of the flap angle. Optionally, the generation formula of the position control instruction is: ; Wherein, the For the displacement adjustment amount output by the self-adaptive PID controller,Is the feedforward compensation amount. Optionally, the azimuth angle between the flap loading point and the following system pulley and the rotation angle of the flap relative to the preset system fixed frame are obtained in real time through a space transformation sensor, wherein the space transformation sensor comprises: The reference end of the first sensor is fixedly connected to the flap loading point, and the measuring end of the first sensor is fixedly connected to the center of the pulley and is used for outputting an azimuth angle; and the reference end of the second sensor is fixedly connected with the system frame, and the measuring end of the second sensor is fixedly connected with the flap body and is used for outputting the flap corner. Optionally, the calculation formula of the perpendicularity error signal is: ; Wherein, the In order to set the vertical angle in advance,Is the azimuth angle measured in real