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摘要:
主动侧杆系统存在的多余力问题造成了“抖杆打手”、态势感知差、特殊情况下易诱发飞行事故等问题。为更好地分析多余力的作用机理，确定系统参数对多余力的影响机理及规律，通过理论分析确定了与系统多余力相关的参数，基于蒙特卡罗仿真详细分析了各参数对系统多余力的影响，开展了多余力频谱分析，进行了各参数的多余力影响敏感性分析。通过定性定量分析确定了对系统多余力影响最大的因素，即驾驶员操纵频率、侧杆等效转动惯量、侧杆等效阻尼、转速传感器信号偏置、力矩传感器信号偏置，并分析了各参数对多余力的影响机理和程度，为主动侧杆系统多余力抑制方法设计和符合性验证研究提供了参考依据。
Abstract:In the active sidestick system, there is a problem of surplus force, which causes problems such as ‘jigging rod beater’, poor situational awareness, and easy to induce flight accidents under special circumstances. The parameters associated with the surplus force of the system were first identified through theoretical analysis. The influence of each parameter on the surplus force of the system was then thoroughly examined through Monte Carlo simulation. Based on the results of the Monte Carlo simulation, the spectrum analysis of the surplus force and the sensitivity analysis of the influence of the surplus force of each parameter were conducted in order to better understand the mechanism of the surplus force and determine the influence mechanism and law of the system parameters on the surplus force. The driver’s control frequency, the equivalent inertia of the sidestick, the equivalent damping of the sidestick, the signal bias of the speed sensor, and the signal bias of the torque sensor are among the factors that have the biggest effects on the surplus force of the system. The degree to which each parameter influences the surplus force is determined through qualitative and quantitative analysis, which serves as a guide for the design and compliance verification method of the surplus force suppression method of the active sidestick system.
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Key words:
- active sidestick /
- surplus force /
- Monte Carlo simulation /
- sensitivity analysis /
- servosystem
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图 6 扭转刚度对系统性能影响Bode图
Figure 6. Bode diagram of effect of torsional stiffness on system performance
图 7 电机转子转动惯量对系统性能影响Bode图
Figure 7. Bode diagram of effect of motor rotor moment of inertia on system performance
图 8 参数对多余力分布占比的影响
Figure 8. Influence of parameters on distribution proportion of surplus force
图 10 单参数变化时多余力分布散点图
Figure 10. Surplus force distribution scatter plot under single parameter variation
图 11 多参数变化时多余力分布散点图
Figure 11. Surplus force distribution scatter plot under multi-parameter variation
图 13 故障情况影响参数分布散点图
Figure 13. Fault condition affects parameter distribution scatter plot
参数 数值 电机相电阻$ {R} $/$ \Omega $ 1.3 电机相电感$ L $/$ {\mathrm{mH}} $ 1.175 永磁体磁链$ {\psi }_{{\mathrm{f}}} $/$ {\mathrm{Wb}} $ 0.0333 电机极对数$ {p}_{{\mathrm{n}}} $ 20 电机转子转动惯量$ J $/($ {{\mathrm{kg\cdot {m}^{2}}}} $) 0.000231 扭转刚度$ {g}_{{\mathrm{c}}} $/($ {{\mathrm{N\cdot m}}} \cdot {\mathrm{rad}}^{-1}$) 550 齿轮减速比$ i $ 8 侧杆长度$ l $/m 0.15 
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分类 影响多余力的因素 表现形式 驾驶员指令 驾驶员操纵频率 操纵频率在0～5 rad/s变化 传动装置 侧杆等效转动惯量 等效转动惯量有20%的偏差 侧杆等效阻尼 等效阻尼有30%的偏差 扭转刚度 扭转刚度有25%的偏差 电机参数 电机相电阻 相电阻有30%的误差 电机相电感 相电感有10%的误差 电机转子转动惯量 转子转动惯量有10%的误差 电机转矩系数 转矩系数有6%的差异 传感器、控制器 力指令信号延迟 力指令信号延迟2% 力矩传感器信号延迟 力矩传感器信号延迟0.5% 转速传感器信号延迟 转速传感器信号延迟0.5% 力矩传感器信号偏置 力矩传感器信号偏置20% 转速传感器信号偏置 转速传感器信号偏置20% 电流传感器信号偏置 电流传感器信号偏置20% 转速传感器信号噪声 向转速传感器注入2%、频率为50 Hz的白噪声 电流传感器信号噪声 向电流传感器注入2%、频率为50 Hz的白噪声
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表 3 多余力频谱仿真结果
Table 3. Spectrum simulation results of surplus force
参数 主频率/Hz 主频率幅值 THD/% 电流传感器信号噪声 5.7 6.418 12.85 力矩传感器信号偏置 5.18 6.444 20.07 电机转矩系数 5.7 6.742 10.94 转速传感器信号噪声 5.7 6.747 11.09 扭转刚度 5.7 6.782 10.70 转速传感器信号延迟 5.7 6.784 10.67 电机相电阻 5.7 6.784 10.69 电机相电感 5.7 6.784 10.69 电机转子转动惯量 5.7 6.8 10.56 电流传感器信号偏置 5.7 6.924 9.88 力指令信号延迟 5.7 7.543 6.73 转速传感器信号偏置 5.7 7.722 5.93 侧杆等效转动惯量 5.18 7.724 12.97 侧杆等效阻尼 5.7 9.648 4.91 驾驶员操纵频率 5.7 10.68 10.55 注：正常情况下，主频率为5.7 Hz，主频率幅值为6.933，THD为9.70%。
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表 4 参数敏感性
Table 4. Parameter sensitivity
参数 敏感度 敏感区间 驾驶员操纵频率 305.526 All 侧杆等效转动惯量 303.347 All 侧杆等效阻尼 241.265 0.101～0.133 力矩传感器信号偏置 12.576 −0.15～0.2 转速传感器信号偏置 0.2759 All 电流传感器信号噪声 0.1832 All 转速传感器信号噪声 0.1075 All 力指令信号延迟 0.0942 All
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