CN102507225A - Dynamic test method for rudder system - Google Patents
Dynamic test method for rudder system Download PDFInfo
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- CN102507225A CN102507225A CN2011102838679A CN201110283867A CN102507225A CN 102507225 A CN102507225 A CN 102507225A CN 2011102838679 A CN2011102838679 A CN 2011102838679A CN 201110283867 A CN201110283867 A CN 201110283867A CN 102507225 A CN102507225 A CN 102507225A
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- 238000012360 testing method Methods 0.000 claims abstract description 85
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- 230000004044 response Effects 0.000 claims description 8
- 206010044565 Tremor Diseases 0.000 claims description 3
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- 238000011056 performance test Methods 0.000 abstract description 2
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Abstract
The invention discloses a dynamic test method for a rudder system, which is used for generating control signals for controlling operation of the rudder system. The dynamic test method includes the steps: generating analytic signals according to input signal parameters; converting the analytic signals into test signals; compensating the test signals; and outputting the test signals. The dynamic test method can be used for testing ground-based simulated flight, and solves the problem that dynamic operation and performance test of the rudder system under real ballistic trajectory curve control cannot be verified under laboratory conditions.
Description
Technical field
The present invention relates to a kind of rudder system dynamic testing method.
Background technology
Rudder system is the important component part in the missile flight control system, is the topworks of missile control system, through driving control surface deflection, makes guided missile produce control or control moment, thereby stablizes missile flight state or change of flight state.Rudder system is made up of steering wheel, group amplifier, rudder face, feedback assembly, comparison means usually; At first comparison means receives outside control signal; The feedback signal that feeds back with feedback assembly compares, and when two signals do not wait, then gives group amplifier both differences; By the deflection of group amplifier control steering wheel, thus the action of control external control parts.
Traditional rudder system method of testing is many to be main with the static properties parameter testing, is difficult to various transient state abnormal occurrencies are made judgement promptly and accurately, and the dynamic property of rudder system is directly connected to the stability of missile flight and the rapidity of adjusting.The dynamic performance testing index of rudder system mainly contains transient process, sensitivity, overshoot and ballistic trajectory emulation etc.For transient process, sensitivity and overshoot test, testing process is clear and definite, and the pumping signal type is simple, can realize through existing software and hardware resources.The pumping signal of ballistic trajectory emulation is then generally irregular, and this pumping signal requires state and control timing can be in strict accordance with missile flight the time to control, and existing resources is difficult to the assurance real-time, and computing machine takies resource than higher.This performance methodology of traditional checking all will be carried out with actual flying test, and cost is high, and time-consuming, effort.Therefore the urgent need exploitation is a kind of can generate the rudder system control signal device of corresponding ballistic trajectory curve really according to the measured data in the actual flying test in the past, realizes replacing flight test with ground simulation test.Rudder system being carried out dynamic property detect, and then utilize the emulation dynamic transition process to detect information controlling models is carried out identification and emulation, will be the effective means of rudder system combination property analysis, design and dynamic property assessment, checking.
Summary of the invention
Technology of the present invention is dealt with problems and is: the deficiency to prior art provides a kind of rudder system dynamic testing method.Adopt the present invention can be used for the test of ground state, solved and under laboratory condition, can't verify dynamic operation situation and the problem of performance test of rudder system under true ballistic trajectory curve controlled situation.
Technical solution of the present invention is:
A kind of rudder system dynamic testing method is used for producing control rudder system working control signal, may further comprise the steps:
(1) steering order and the input signal parameter sent of receiving computer, said input signal parameter, comprise signal type, signal amplitude and or signal frequency, or the ballistic trajectory parameter of curve that produces during missile flight;
(2) according to steering order the input signal parameter is resolved the structure analytic signal, the analytic signal that obtains is sent into step (3), said analytic signal is direct current signal, AC signal or ballistic trajectory curve signal;
(3) analytic signal of sending into is judged:
If analytic signal is direct current signal or AC signal, directly send into step (4) as test signal;
If analytic signal is the ballistic trajectory curve signal, carries out filtering and output to step (4) as test signal;
(4) test signal to input compensates, and the test signal after will compensating is sent into step (5);
(5) test signal of step (4) being sent into is carried out buffer memory, test signal is carried out digital-to-analog conversion and filtering after, test signal is exported from one or more.
In the said step (3),, then carry out following filtering if analytic signal is the ballistic trajectory curve signal:
If the amplitude of analytic signal is then carried out limit filtration to analytic signal greater than the maximum amplitude of tested rudder system control signal, in the first mate that the amplitude of analytic signal is controlled at tested rudder system control signal is worth;
If the magnitude speed of analytic signal has surpassed the response speed of tested rudder system, then analytic signal is disappeared and tremble filtering;
If the high fdrequency component of analytic signal surpasses the highest frequency that tested rudder system can respond, then analytic signal is carried out LPF, surpass the high fdrequency component of tested rudder system responding range in the filtering analytic signal;
If need test to the response performance in the rudder system band frequency interval, then analytic signal is carried out bandpass filtering, obtain for the test signal in the tested frequency separation;
If need test to responding ability between the high frequency region of rudder system in the response frequency scope, then high-pass filtering is carried out in parsing, obtain the test signal in the high-frequency range.
Adopt single order or second-order model that test signal is compensated in the said step (4), obtain satisfactory test signal of precision and output.
Said step (5) is carried out RC filtering to test signal, R=100 Ω wherein, C=0.1uF.
In the said step (5), test signal is exported from 6 the road at most simultaneously.
The present invention compared with prior art has following advantage:
(1) the method for the invention real-time is good, timing accuracy is high.Traditional experiment test is controlled the output of test signal through computer software, and when time interval between two control signals of ballistic curve during less than 3ms, computing machine is difficult to guarantee according to this time output control signal and timing accuracy not high.The present invention is used to control the test signal of rudder system according to the input signal parameter generating; At the output row cache that advances; Test needs according to reality are exported, so concrete higher real-time, for example adopt the crystal oscillator of 2MHz in embodiments of the present invention; Time error is not more than 0.001ms, can satisfy the requirement in strict accordance with the time output control signal of external input signal.
(2) can effectively save resource for computer system; Use the method for the invention; Can the flow process that produce test signal be cured to independently on the hardware; Do not take the system for computer resource, can produce test signal according to flow process automatically after the input signal parameter of reentrying, no longer need computer system to control in real time.
(3) adopt the present invention can export one or more test signal simultaneously, can reach the output of 6 drive test trial signals at most.A common cover rudder system is 4 steering wheels, is 6 at most, therefore can satisfy and can satisfy greatest requirements.
(4), the present invention can produce according to the input signal parameter and comprise direct current, interchange and according to three kinds of dissimilar test signals of the ballistic trajectory curve of actual trajectory trajectory generation, the output type of test signal is abundant.
(5) the present invention is before to the output of ballistic trajectory curve test signal; According to the hands-on background of rudder system and the ballistic trajectory curve test signal of generation; Can carry out the filtering of various ways to test signal; When having satisfied test request, also guaranteed the security of test, can tested rudder system not damaged.
Description of drawings
Fig. 1 is a process flow diagram of the present invention;
Fig. 2 is an embodiment of the invention synoptic diagram.
Embodiment
Just combine accompanying drawing that the present invention is done further introduction below.
As shown in Figure 1, be process flow diagram of the present invention, specific as follows:
(1) computing machine is used for confirming the input signal parameter of test signal according to generation.Test signal of the present invention can be divided into direct current signal, AC signal and ballistic trajectory curve signal.For direct current signal, the input signal parameter is the amplitude of signal; For AC signal, the input signal parameter is the amplitude and the frequency of signal; For the ballistic trajectory curve signal, the actual trajectory track of computing machine during according to missile flight produces the input signal parameter.
(2) the input signal parameter that produces according to computing machine, the structure analytic signal.The analytic signal type of structure is corresponding with the test signal type, comprises direct current signal, AC signal and ballistic trajectory curve signal.
(3) be direct current signal or AC signal as if analytic signal, then inside produces because this signal is proving installation, can not disturbed by environment, only need compensate it to get final product, and need not carry out filtering.If analytic signal is the ballistic trajectory curve signal; Then, need carry out filtering because external input signal wants to investigate rudder system performance index in a certain respect because guided missile receives environmental disturbances cause having superposeed on the control signal certain noise signal or user in flight course.
Different for the needed control signal maximum amplitude of the rudder system of different model; Possibly be 8V, 10V or 12V; If surpass maximal value; Therefore then may cause damage,, will carry out limit filtration this geometric locus if the ballistic trajectory curve signal has when surpassing tested rudder system control signal maximum amplitude to rudder system; Because the response speed of rudder system is slow,, therefore when the external signal waveform has the bigger variation of amplitude, tackles it and disappear and tremble filtering so can not in time respond and possibly cause damage to the motor in the rudder system to significantly changing suddenly of signal; Rudder system is a LF-response system, can't in time respond for high-frequency signal, so when ballistic trajectory squiggle frequency is higher than the highest frequency that tested rudder system can respond, tackles this curve signal and carry out low-pass filtering treatment; When wanting to test, the user can adopt the bandpass filtering mode that the ballistic trajectory curve signal is carried out filtering when rudder ties up to the interval performance index of certain band frequency; If when the user wants to test the duty of rudder system under high-frequency controling signal, then need carry out high-pass filtering to external signal.
After the processing of completing steps (3), analytic signal will change step (4) over to as test signal.
(4) in step (4), need compensate test signal.Concrete compensation method is following: the first order modeling or the y=ax that can adopt the y=ax+b form
2The second-order model of+bx+c form compensates, and meets design requirement to satisfy the control signal output accuracy.Concrete which kind of model that adopts compensates, and depends on the linearity of D/A chip.Wherein the y in the expression formula exports to execution module control D/A output usefulness, and x is the analytic signal after step (3) is handled, and a, b, c then are the coefficients that the user comes out according to the linearity quality match of D/A chip.
(5) compensation after test signal will be carried out buffer memory, test signal is carried out digital-to-analog conversion and filtering after, according to the test request of reality test signal is exported from one or more.
According to said method, the present invention is when concrete the realization, and the mode that adopts the programming of hardware and VHDL language to combine will be cured the whole flow process that test signal generates and exports.Thereby can be after receiving computing machine output input signal parameter, autonomous completion realizes the test to the dynamic performance index of rudder system to the output of test signal.
As shown in Figure 2, said step (1)～(3) realize that through the signal generation module wherein, the parsing module in the signal generation module is accomplished the parsing to the input signal parameter, generates analytic signal.And, select whether to output to filtration module and carries out filtering or directly output to carrying out buffer memory among the SDRAM according to the type of analytic signal.After filtration module carries out aforesaid filtering to the analytic signal of ballistic trajectory curve signal, output to again and carry out buffer memory among the SDRAM.In the signal generation module, the analytic signal of storage is exported as test signal by SDRAM.
Said step (4) realizes through control module.In control module, be the test signal of AC signal for type, need carry out the configuration of interface sequence, calculate the control signal amplitude size that a certain moment execution module should be exported, so that execution module output control signal.After test signal is input to control module, store in the data buffer.And by the compensation of compensating module completion to test signal, compensation method as stated.Signal after compensation outputs to buffer memory in the register.
Said step (5) realizes that through execution module the user can export the signal waveform of identical amplitude simultaneously according to the practical situation of reality, also can export the waveform of different amplitude signals simultaneously, also or timesharing export the signal waveform of identical or different amplitude.Execution module is controlled the output of 6 road D/A chips direct current signal, AC signal or ballistic trajectory signal, and signal is handled the rear drive rudder system through RC filtering (main elimination power frequency is disturbed for R=100 Ω, C=0.1uF), realizes the work of imitating shell road geometric locus.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (5)
1. a rudder system dynamic testing method is used to produce the control signal of control rudder system work, it is characterized in that may further comprise the steps:
(1) steering order and the input signal parameter sent of receiving computer, said input signal parameter, comprise signal type, signal amplitude and or signal frequency, or the ballistic trajectory parameter of curve that produces during missile flight;
(2) according to steering order the input signal parameter is resolved the structure analytic signal, the analytic signal that obtains is sent into step (3), said analytic signal is direct current signal, AC signal or ballistic trajectory curve signal;
(3) analytic signal of sending into is judged:
If analytic signal is direct current signal or AC signal, directly send into step (4) as test signal;
If analytic signal is the ballistic trajectory curve signal, carries out filtering and output to step (4) as test signal;
(4) test signal to input compensates, and the test signal after will compensating is sent into step (5);
(5) test signal of step (4) being sent into is carried out buffer memory, test signal is carried out digital-to-analog conversion and filtering after, test signal is exported from one or more.
2. a kind of rudder system dynamic testing method according to claim 1 is characterized in that: in the said step (3), if analytic signal is the ballistic trajectory curve signal, then carry out filtering method according to following situation:
If the amplitude of analytic signal is then carried out limit filtration to analytic signal greater than the maximum amplitude of tested rudder system control signal, in the first mate that the amplitude of analytic signal is controlled at tested rudder system control signal is worth;
If the magnitude speed of analytic signal has surpassed the response speed of tested rudder system, then analytic signal is disappeared and tremble filtering;
If the high fdrequency component of analytic signal surpasses the highest frequency that tested rudder system can respond, then analytic signal is carried out LPF, surpass the high fdrequency component of tested rudder system responding range in the filtering analytic signal;
If need test to the response performance in the rudder system band frequency interval, then analytic signal is carried out bandpass filtering, obtain for the test signal in the tested frequency separation;
If need test to responding ability between the high frequency region of rudder system in the response frequency scope, then high-pass filtering is carried out in parsing, obtain the test signal in the high-frequency range.
3. a kind of rudder system dynamic testing method according to claim 1 is characterized in that: adopt single order or second-order model that test signal is compensated in the said step (4), obtain satisfactory test signal of precision and output.
4. a kind of rudder system dynamic testing method according to claim 1 is characterized in that: said step (5) is carried out RC filtering to test signal, R=100 Ω wherein, C=0.1uF.
5. a kind of rudder system dynamic testing method according to claim 1 is characterized in that: in the said step (5), test signal is exported from 6 the road at most simultaneously.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103019224A (en) * | 2012-11-27 | 2013-04-03 | 中国商用飞机有限责任公司 | System and method for dynamic testing of digital system under test |
| CN114051318A (en) * | 2021-11-15 | 2022-02-15 | 四川航天烽火伺服控制技术有限公司 | Servo, ultra-low temperature servo controller and its small space asymmetric PCB structure |
| CN116296345A (en) * | 2023-05-11 | 2023-06-23 | 西安晟昕科技股份有限公司 | Steering engine performance test method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103019224A (en) * | 2012-11-27 | 2013-04-03 | 中国商用飞机有限责任公司 | System and method for dynamic testing of digital system under test |
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| CN114051318A (en) * | 2021-11-15 | 2022-02-15 | 四川航天烽火伺服控制技术有限公司 | Servo, ultra-low temperature servo controller and its small space asymmetric PCB structure |
| CN116296345A (en) * | 2023-05-11 | 2023-06-23 | 西安晟昕科技股份有限公司 | Steering engine performance test method |
| CN116296345B (en) * | 2023-05-11 | 2023-08-15 | 西安晟昕科技股份有限公司 | Steering engine performance test method |
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