CN-122001265-A - Method and system for regulating and controlling motor power of simulator actuator cylinder, electronic equipment and storage medium

CN122001265ACN 122001265 ACN122001265 ACN 122001265ACN-122001265-A

Abstract

The invention relates to the technical field of computers, in particular to a motion control scene in an artificial intelligence system in the production field. A method for regulating and controlling motor power of actuator cylinder of analog machine, system, electronic equipment and storage medium includes setting basic parameters and setting up error correction model of multidimensional sensor, collecting and calibrating multisource data of motor, cabin gesture, load, environment and abnormal sound in real time, calculating real-time power requirement and power adaptation degree based on coupling model of operation action-load-power, carrying out pre-judging risk of insufficient power and classified early warning of abnormal sound by fusion tensor from encoder and gradient lifting tree, carrying out protection of temperature rise, overload and frequent regulation by adopting multi-mode power regulation mechanism according to pre-judging and judging result, collecting regulated data closed loop correction model and updating in increment. The scheme suppresses abnormal sound, improves power matching and system stability, and supports quick adaptation of simulators of different models.

Inventors

LEI XU
CHEN CONG
LIU LEI
SUN YOUPING

Assignees

珠海翔翼航空技术有限公司

Dates

Publication Date: 20260508
Application Date: 20260407

Claims (10)

1. The method for regulating and controlling the power of the motor of the actuator cylinder of the simulator is characterized by comprising the following steps of: Setting basic parameters and establishing a multidimensional sensor error correction model; Collecting multiple types of operation parameters in real time, selecting key data, and performing real-time error calibration based on the error correction model of the multi-dimensional sensor to obtain preprocessed real-time operation data; Constructing a multi-manipulation action-load-power coupling mathematical model based on the real-time operation data, calculating the real-time power requirement of the actuator motor, and calculating the power adaptation degree of the actuator motor based on the real-time output power of the actuator motor and the real-time power requirement; Based on the real-time operation data, the real-time power requirement and the power adaptation degree, a pre-judging result of the risk of insufficient power in a future period is obtained through a pre-judging model, an abnormal sound early warning is output according to the pre-judging result, and meanwhile the power adaptation degree is monitored to obtain a judging result of whether the real-time power of the actuator motor is enough to support the current steering action; And adjusting the output power of the actuator motor by adopting a multi-mode adjusting mechanism according to the pre-judging result and the judging result, monitoring the adjusted power adaptation degree and abnormal sound intensity, and correcting parameters of a regulation model according to the monitoring result, wherein the regulation model comprises the coupling mathematical model and the pre-judging model.
2. The method of claim 1, wherein setting basic parameters and establishing a multidimensional sensor error correction model, further comprises: the basic parameters at least comprise: Rated power of an actuator cylinder motor, angle ranges of various maneuvering actions, a load fluctuation threshold value, a power deviation threshold value, an abnormal sound detection threshold value, a power adaptation degree threshold value and an extreme environment judgment threshold value; Setting a configurable parameter interface, which is used for configuring parameters including a ram stiffness coefficient, a transmission mechanism friction coefficient, a ram motor efficiency reference value, a transmission efficiency reference value and various operating actions corresponding to a ram moment arm according to a model number of a simulator, and internally arranging a parameter template of the multi-model simulator; Calibrating sensor error coefficients under different temperature, vibration and operation time conditions by a temperature compensation algorithm, a vibration filtering algorithm and a drift calibration algorithm, and establishing a multidimensional sensor error correction model; And constructing a historical database for storing historical operation data comprising various operating actions, different angles, different loads, and different temperatures of the motor power, abnormal sound intensity, power adaptation degree data, extreme working condition data and fault data of the actuator.
3. The method for controlling power of an actuator motor of an analog machine according to claim 1, wherein collecting multiple types of operation parameters in real time, selecting key data, performing real-time error calibration based on the error correction model of the multi-dimensional sensor, obtaining preprocessed real-time operation data, further comprising: Collecting in real time at a set sampling frequency: Real-time current, real-time voltage, real-time rotating speed, winding temperature and running time of the actuator motor simulate real-time pitching angle, rolling angle, yaw angle, corresponding angular speed and angular acceleration of a cabin, real-time load, environment temperature, environment vibration intensity of the cabin, real-time abnormal sound intensity and abnormal sound frequency of the cabin; Based on the double-backup configuration of combining the main sensor and the standby sensor, when the main sensor fails, the data of the standby sensor is automatically switched to, and when the standby sensor is also abnormal, missing data is supplemented through relevant data fitting; Denoising the acquired data based on time domain averaging, sliding window integration and median filtering, removing abnormal data, and performing real-time error calibration through the multi-dimensional sensor error correction model; and carrying out standardization processing on the calibrated data to obtain the preprocessed real-time operation data.
4. The method of claim 1, wherein constructing a multi-steering-load-power coupled mathematical model based on the real-time operational data, calculating a real-time power demand of the actuator motor, and calculating a power adaptation of the actuator motor based on a real-time output power of the actuator motor and the real-time power demand, further comprising: Analyzing the load composition during various maneuvering actions, and calculating the total load born by the actuator cylinder through the gravity load of the cabin, the inertial load of the maneuvering actions and the friction load of the transmission mechanism, wherein the gravity load and the inertial load are calculated differently according to the types of pitching, rolling, yawing and linkage actions, and an environmental vibration correction coefficient is introduced, and for the linkage actions, the total load is the weighted sum of all single action loads, and an action switching correction coefficient is introduced; Calculating the real-time power demand of the actuator cylinder motor based on the total load, the real-time movement speed of the actuator cylinder, the real-time operation efficiency of the actuator cylinder motor and the real-time operation efficiency of the transmission mechanism, wherein the real-time movement speed of the actuator cylinder is obtained by deriving time from displacement of the actuator cylinder; calculating real-time output power of the actuator cylinder motor based on real-time working voltage, real-time working current and real-time operating efficiency of the actuator cylinder motor, taking the ratio of the real-time output power to the real-time power requirement as the power adaptation degree of the actuator cylinder motor, and calculating the power adaptation degree change rate at the same time; The real-time operation efficiency and the real-time operation efficiency of the transmission mechanism are dynamically corrected according to the operation time, the ambient temperature, the winding temperature and the ambient vibration intensity of the actuator motor; And extracting potential correlation characteristics of loads and power in the multi-source coupling data through tensors from the encoder, and adopting a migration learning algorithm to migrate model parameters of similar working conditions in the historical data to extreme working conditions.
5. The method for controlling power of an actuator motor of an analog machine according to claim 1, wherein based on the real-time operation data, the real-time power requirement and the power adaptation degree, a pre-judgment result of risk of insufficient power in a future period is obtained through a pre-judgment model, and an abnormal sound early warning is output according to the pre-judgment result, and meanwhile, the power adaptation degree is monitored to obtain a judgment result of whether the real-time power of the actuator motor is enough to support a current steering action, further comprising: constructing the preprocessed real-time operation data as tensors, and extracting low-dimensional hidden space feature vectors from the encoder through the tensors; Inputting the low-dimensional hidden space feature vector into a gradient lifting tree model obtained by classifying and training a historical database according to the operation type, the environment type and the fault type, and obtaining a pre-judging value of power deviation, power adaptation degree and a fault type label; Dividing abnormal sound early warning into a plurality of grades according to the pre-judging value, the power adaptation degree change rate, the real-time abnormal sound intensity, the abnormal sound frequency and the environmental parameter of the power deviation, and obtaining a preliminary fault type distinguishing result according to the correlation between the abnormal sound frequency and the motor rotating speed, the correlation between the abnormal sound frequency and the actuator cylinder displacement and the working state of the sensor; And establishing an early warning threshold dynamic correction model by analyzing historical early warning data, dynamically adjusting a threshold according to environmental parameters and manipulation action types, triggering insufficient power early warning when the power adaptation degree is lower than the power adaptation degree threshold, and triggering insufficient power aggravated early warning when the power adaptation degree change rate is lower than a set threshold.
6. The method of claim 1, wherein the adjusting the output power of the actuator motor by using a multi-mode adjustment mechanism according to the pre-determination result and the determination result, further comprises: Setting the basic power of the actuator motor by combining the current operation type and the environmental parameters based on the real-time power demand, reserving power redundancy in the basic power, and dynamically correcting the basic power redundancy value according to the winding temperature, the operation duration and the environmental parameters of the actuator motor; Calculating dynamic compensation power and extreme environment correction power through a PID control algorithm according to the early warning level, the pre-judging value of the power deviation, the power adaptation degree change rate and the environmental parameter to obtain total compensation power adjustment quantity, wherein the control parameter of the PID controller is dynamically adjusted according to the early warning level and the environmental type; Based on the basic power and the total compensation power adjustment quantity, realizing power output by adjusting the voltage and the current of the actuator motor, limiting the power change rate, prejudging motion switching by analyzing the change trend of the manipulation motion identification data, and adjusting control parameters in advance; And monitoring the winding temperature and the running current of the actuator motor, starting cooling measures or switching to a standby motor when the winding temperature exceeds a temperature threshold value, starting a load shunt mechanism when the real-time output power of the actuator motor exceeds the protection multiple of the rated power of the actuator motor, and limiting the power regulation frequency of the actuator motor.
7. The method for controlling power of a motor of an actuator cylinder of an analog machine according to claim 6, wherein the power adaptation degree and abnormal sound intensity after adjustment are monitored, and parameters of a control model are corrected according to the monitoring result, further comprising: Acquiring the power, abnormal sound intensity, abnormal sound frequency, pre-judging value of power deviation, power adaptation degree change rate and winding temperature of the regulated actuator cylinder motor, and judging the regulating effect and risk state by combining the current operating action type and environmental parameters; When the adjusting effect is poor or risks exist, dynamically correcting control parameters of the PID controller according to the adjusting effect deviation, the current manipulation action type, the environment parameters and the risk states, correcting efficiency parameters in the coupling mathematical model, load weights of different manipulation actions and environment correction coefficients, and performing closed-loop treatment on the risks; adopting an incremental training strategy, classifying according to the type of the manipulation action, the type of the environment and the type of the fault, adding the regulated real-time data into a historical database, carrying out iterative updating on the pre-judging model, and switching to the standby model when the control performance index deviates from a set threshold value; combining fault type labels, real-time operation parameters and abnormal sound characteristics, comparing historical fault data, outputting a positioning result of a fault part and fault degree, and outputting an overhaul suggestion.
8. A simulator actuator motor power regulation system, comprising: the system initialization and parameter calibration module is configured to set basic parameters and establish a multidimensional sensor error correction model; The multi-source data real-time acquisition and preprocessing module is configured to acquire multiple types of operation parameters in real time, select key data, and perform real-time error calibration based on the multi-dimensional sensor error correction model to obtain preprocessed real-time operation data; The coupling model construction and power demand and adaptation degree calculation module is configured to construct a multi-manipulation action-load-power coupling mathematical model based on the real-time operation data, calculate the real-time power demand of the actuator motor, and calculate the power adaptation degree of the actuator motor based on the real-time output power of the actuator motor and the real-time power demand; The power deficiency pre-judging, abnormal sound early warning and power adaptation degree real-time monitoring module is configured to obtain a pre-judging result of the risk of power deficiency in a future period through a pre-judging model based on the real-time operation data, the real-time power requirement and the power adaptation degree, output abnormal sound early warning according to the pre-judging result, and monitor the power adaptation degree to obtain a judging result of whether the real-time power of the actuator motor is enough to support the current operation; and the multi-mode power self-adaptive regulation and closed-loop feedback module is configured to regulate the output power of the actuator motor by adopting a multi-mode regulation mechanism according to the pre-judging result and the judging result, monitor the regulated power adaptation degree and abnormal sound intensity, and correct parameters of a regulation model according to the monitoring result, wherein the regulation model comprises the coupling mathematical model and the pre-judging model.
9. An electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface, the memory are in communication with each other via the communication bus, and wherein the memory has a computer program stored therein, which when executed by the processor, causes the processor to perform the steps of the method according to any of claims 1 to 7.
10. A computer readable storage medium, characterized in that it stores a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the method of any one of claims 1 to 7.

Description

Method and system for regulating and controlling motor power of simulator actuator cylinder, electronic equipment and storage medium Technical Field The invention relates to the technical field of computers, in particular to a method and a system for regulating and controlling motor power of an actuator cylinder of an analog machine, electronic equipment and a storage medium. Background The motion system of the full-motion simulator drives the cabin to simulate the flight attitude through the actuator cylinder, and the power control of the actuator cylinder motor directly influences the simulation experience and the operation reliability of the simulator. In the prior art, fixed power output modes are mostly adopted for power control of an actuator cylinder motor, and rough adjustment of motor power is realized through simple load feedback in part of schemes. Aiming at the abnormal sound problem of the motion system of the simulator, a treatment mode of post investigation and component replacement is mostly adopted, and a motor or a damaged transmission component with larger power is replaced after a fault component is positioned through means of drawing tracing, line measurement, cross serial components and the like. The motor power control method is mostly dependent on manual experience setting or fixed control parameters, and basic control over motor power is realized through a preset parameter system. The partial scheme is provided with basic sensors for collecting motor operation, load and motion related data of a simulator, and the partial scheme is used for supporting simple power adjustment and fault detection and can realize basic positioning of a fault actuator motor. However, the prior art has the following drawbacks: The power control mode is stiff, load difference design aiming at multiple manipulation actions is not realized, instantaneous load fluctuation during action switching cannot be matched, and mismatching of power and load is easy to occur; Abnormal sound treatment is in a passive mode after a fact, and a pre-judging and active suppressing mechanism is not available, so that core causes of power mismatch cannot be solved from the root; The control logic lacks self-adaptive capability, relies on manual experience or fixed parameters, and cannot cope with dynamic changes of load, environment and motor performance; The sensor is subjected to error-free correction design, and is easily influenced by vibration, temperature and drift to generate measurement deviation, so that power calculation and regulation misalignment are caused; The model has poor adaptability, only depends on conventional historical data training, and cannot cope with special working conditions such as extreme angles, complex linkage and the like; The fault positioning capability is weak, only the fault motor can be identified, and specific fault types such as motor performance attenuation, transmission component abrasion, sensor faults and the like can not be distinguished; the system has poor universality, is difficult to apply in large scale without designing an adaptation scheme aiming at simulators of different models, has no complete closed-loop regulation system, and can not continuously and iteratively improve the regulation effect; The extreme environment adaptability is insufficient, and the system stability and the regulation and control precision are reduced under high and low temperature and strong vibration. Aiming at the problems, the invention builds a set of intelligent power regulation and control scheme for the motor of the actuator cylinder of the simulator by referring to the intelligent perception and decision idea in the artificial intelligent system in the production field and combining the modularized integration idea of the artificial intelligent middleware and the function library and utilizing the abnormal sound feature extraction method of the computer visual and audio sense software and the operation and action recognition technology of the biological feature recognition software so as to solve the core defects of power mismatch, abnormal sound passive treatment, lack of closed loop self-adaption and the like in the prior art. Disclosure of Invention The invention aims to provide a method, a system, electronic equipment and a storage medium for regulating and controlling the power of an actuating cylinder motor of an analog machine, which are used for solving the technical problems caused by unmatched actuating cylinder motor power and load of the actuating cylinder motor under various operation actions, stiff power control mode, no self-adaptive capacity, sensor measurement deviation, poor model adaptability, inaccurate fault positioning, lack of closed-loop regulation and generalized design in the prior art. In order to solve the technical problems, the invention provides a method for regulating and controlling the power of an actuator cylinder motor of an analog machine, which comprises