CN103471805A - Three-freedom-degree minisize flapping-test measurement and control system - Google Patents
Three-freedom-degree minisize flapping-test measurement and control system Download PDFInfo
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- CN103471805A CN103471805A CN2013102806817A CN201310280681A CN103471805A CN 103471805 A CN103471805 A CN 103471805A CN 2013102806817 A CN2013102806817 A CN 2013102806817A CN 201310280681 A CN201310280681 A CN 201310280681A CN 103471805 A CN103471805 A CN 103471805A
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Abstract
The invention provides a three-freedom-degree minisize flapping-test measurement and control system. In the system, through an interface adapter, a computer is connected with three motor controllers so that three minisize motors are controlled respectively. Output ends of the minisize motors are connected with a three-dimensional flapping mechanism. An output part of the three-dimensional flapping mechanism is connected with a six-component minisize force/torque sensor. The six-component minisize force/ torque sensor is directly connected with a test wing. Each of the tail parts of the minisize motors is provided with a coder. Output ends of the coders are connected with the motor controllers. Output signals of the six-component minisize force/ torque sensor are connected with a signal conditioning box. The signal conditioning box is connected with an input end of a data acquisition card after amplifying a voltage signal acquired by the six-component minisize force/ torque sensor. An output end of the data acquisition card is connected with the computer. The three-freedom-degree minisize flapping-test measurement and control system enables the wing to realize three-dimensional combination flapping of any form. The system is simple and rapid in measurement scheme and at the same time capable of acquiring a plurality of aerodynamic-force data. The system is comparatively great in data synchronization and high in test efficiency.
Description
Technical field
The present invention relates to a kind of mini-sized flap wings test TT&C system, especially a kind ofly can carry out synchro control and can carry out the mini-sized flap wings test TT&C system of measuring in real time to aerodynamic force such as the power that produces in the process of fluttering, moments the rule of fluttering of flapping wing three degree of freedom.
Background technology
Micro flapping wing air vehicle is a kind of new ideas aircraft that imitates birds or insect flying, its relies on wing to flutter up and down to produce the required lift of flight and thrust, little, lightweight with volume, use the characteristics such as flexible to have a wide range of applications in national defence and civil area.Current confessed flapping wing motion high-lift mechanism mainly contains " bat flies (Clap-Fling) ", " delayed stall (Delayed Stall) ", " rotation circulation (Rotational Circulation) " and " wake flow is caught (Wake Capture) " etc., these high-lift phenomenons that form produces of fluttering for quantitative examination, must build and can control wing and realize three-dimensionally compoundly fluttering and carrying out the system of measuring in real time to the aerodynamic force in the process of fluttering, thereby obtain lift/thrust performance that difference is fluttered under pattern, optimize the track of fluttering.Open day on February 1st, 2012 of China Patent Publication No. CN102338690A() innovation and creation " a kind of Three-freedom-degree flapping-wing comprehensive experiment platform ", disclose a kind of mechanism form of Three Degree Of Freedom flapping wing platform, but also do not designed complete test TT&C system.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of mini-sized flap wings test TT&C system of complete practicality, can be by the synchro control to three micromachines, make wing realize compound the fluttering of three-dimensional of arbitrary form, and force and moment suffered in the wing motion process is measured and record in real time.
The technical solution adopted for the present invention to solve the technical problems is: comprise computing machine, interface adapter, electric machine controller, micromachine, scrambler, three-dimensional flapping mechanism, the miniature power/torque sensor of six components, signal condition box and data collecting card.
Computing machine connects three electric machine controllers by interface adapter, control respectively three micromachines, the output terminal of micromachine is connected with three-dimensional flapping mechanism, the output of three-dimensional flapping mechanism connects the miniature power/torque sensor of six components, and the miniature power/torque sensor of six components directly is connected with the test wing; The afterbody of each micromachine is equipped with scrambler, and the output terminal of scrambler is connected with electric machine controller; The output signal of the miniature power/torque sensor of six components is connected with the signal condition box, the voltage signal that the signal condition box records the miniature power/torque sensor of six components is connected with the input end of data collecting card after amplifying, and the output terminal of data collecting card is connected with computing machine.
Described computing machine comprises motion-control module, motion measurement module, aerodynamic force measurement module, data disaply moudle, data processing module and data preservation module.Three micromachines of motion-control module synchro control move back and forth according to the cyclical movement curve of setting, and by three-dimensional flapping mechanism by described to-and-fro movement combination, the three-dimensional of generation arbitrary form is fluttered; The motion measurement module is carried out Real-time Collection by electric machine controller to the instantaneous position in the motor movement process; The aerodynamic data that the aerodynamic force measurement module records the miniature power/torque sensor of six components by data collecting card is measured in real time; The geometric relationship of the data based flapping mechanism of motor position that data processing module records the motion measurement module is converted to the movement angle of wing three degree of freedom, after the wing angle-data is brought into to the aerodynamic force coordinate conversion matrix, aerodynamic data is converted to lift and the thrust of wing with respect to earth axes, finally generates aerodynamic force, the wing position test findings corresponding with the time of fluttering; Data disaply moudle demonstrates the power/M curve of wing and the movement position curve of three directions in real time; Data are preserved module all data of each measurement module and data processing module generation are preserved.
The invention has the beneficial effects as follows: can make wing realize compound the fluttering of three-dimensional of arbitrary form.This microsystem can be by direct flutter frequency, the amplitude of fluttering, torsional amplitude and scan the data such as amplitude and automatically generate the characteristics of motion separately of three micromachines and it is carried out of input in TT&C software, final on flapping mechanism by it in conjunction with compound the fluttering of three-dimensional that produces arbitrary form.Overcome so few, the bulky shortcoming of pilot system degree of freedom in the past, many-sided test figure can be provided for the research of bionic flapping-wing aerodynamic force.
Measurement scheme of the present invention is simple and direct, can obtain multiple aerodynamic data simultaneously.Because six component force/torque sensor directly is connected to the wing root, can directly measure like this wing relatively the flutter power of three directions of rotating shaft and the moment of three directions.The data that adopt this metering system to record not only can obtain lift and the thrust magnitude in the process of fluttering by coordinate conversion, can also calculate the data that the aerodynamic center, moment of inertia etc. of test wing utilize traditional wind tunnel test not record.
Data synchronism of the present invention is better, and test efficiency is high.Whole system can by TT&C software simultaneously the mode of being fluttered control and data acquisition.Can be fluttered continuously after the required aerodynamic force measurement of a certain state of fluttering the completes change of state and aerodynamic force is measured.
The accompanying drawing explanation
Fig. 1 is the block diagram of system of the present invention;
Fig. 2 is the data flow diagram between the TT&C software disparate modules in the present invention;
The control module that Fig. 3 is TT&C software in the present invention and aerodynamic force measurement module fundamental diagram;
Fig. 4 is that service test wing of the present invention is 4Hz in frequency, wind speed 4m/s, 20 ° of the amplitudes of fluttering, scan 5 ° of amplitudes, three coordinate axis M curve figure during 15 ° of torsional amplitudes in measured 1s time and corresponding motor position curve (moment unit is g/mm).
Embodiment
Below in conjunction with drawings and Examples, the present invention is further described, the present invention includes but be not limited only to following embodiment.
As shown in Figure 1, system mainly consists of computing machine 1, three-freedom miniature flapping wing test TT&C software 2, interface adapter 3, electric machine controller 4～6, micromachine 7～9, scrambler 10～12, three-dimensional flapping mechanism 13, the miniature power/torque sensor 14 of six components, signal condition box 15, data collecting card 16.
Computing machine is connected with interface adapter by USB interface, interface adapter is connected with electric machine controller after the USB formatted data is converted to the CAN form, electric machine controller connects micromachine, the output terminal of micromachine is connected with three-dimensional flapping mechanism, the output of three-dimensional flapping mechanism is connected with the miniature power/torque sensor of six components, and miniature power/torque sensor directly is connected with the test wing; The afterbody of micromachine is equipped with scrambler, and the output terminal of scrambler is connected with electric machine controller; The output signal of miniature power/torque sensor is connected with the signal condition box, and the voltage signal that the signal condition box records power/torque sensor is connected with the input end of data collecting card after amplifying, and the output terminal of data collecting card is connected with computing machine.
Three-freedom miniature flapping wing test TT&C software comprises motion-control module, motion measurement module, aerodynamic force measurement module, data disaply moudle, data processing module and data preservation module.Motion-control module can carry out synchro control to the characteristics of motion of three motors, and it is moved back and forth according to certain cyclical movement curve, and by three-dimensional flapping mechanism by its combination, the three-dimensional that produces arbitrary form is fluttered; The motion measurement module can be carried out Real-time Collection to the instantaneous position in the motor movement process by electric machine controller; The aerodynamic data that the aerodynamic force measurement module can record the miniature power/torque sensor of six components by data collecting card is measured in real time; The geometric relationship of the data based flapping mechanism of motor position that data processing module can record the motion measurement module is converted to the movement angle of wing three degree of freedom, aerodynamic data can be converted to lift and the thrust of wing with respect to earth axes after the wing angle-data is brought into to the aerodynamic force coordinate conversion matrix, finally generate aerodynamic force, the wing position test findings corresponding with the time of fluttering; Data disaply moudle can demonstrate the power/M curve of wing and the movement position curve of three directions in real time; Data are preserved module and all data of each measurement module and data processing module generation can be preserved.The data transmission relations of intermodule as shown in Figure 2.
The major function of TT&C software is Electric Machine Control and data acquisition, the program principle figure of these two parts as shown in Figure 3, below by its detailed description.
Electric Machine Control adopts sequential organization, and the control procedure of motor is decomposed into to the some frames in program, and carries out according to certain sequence.Wherein the first frame carries out interface initialization, makes to set up data between TT&C software and electric machine controller and is connected, and communication mode generally can be selected CAN interface or RS232 interface.The second frame is opened controller node and motor is enabled, for follow-up motion state ready.The 3rd frame completes the characteristics of motion of motor and controls, and mainly comprises a loop structure.Comprise the control commands such as motor zero is regulated, motion is opened, motion stops in loop structure, and the position data that the received code device returns after each control command completes.When motor moves with certain rule, program is carried out this frame circulation, with position control mode, motor is controlled, calculate respectively the next target location constantly of three motors according to the inputted wing form of fluttering, generate the target location array of a discrete form, and constantly sending to electric machine controller to make it arrive assigned address with the form of electric machine controller regulation, electric machine controller is subject to can using pid algorithm to form the closed-loop control to motor after value of feedback.The cycle of carrying out due to each circulation is in the 1ms magnitude, so in each cycle, the amount of exercise of motor is very little, adopts the motor motion control of this mode form can reach real-time and the continuity of motion.When needs finish motion, program enter the 4th frame discharge motor and close and electric machine controller between communication interface.
While needing to carry out data acquisition in the motion process at motor, program takes interrupt mode to enter the data acquisition circulation.Data acquisition module, by DAQ instrument sampling rate and the sampling time as requested in software, receives the data that in data collecting card, miniature six component force/torque sensor records.Once control and gather the required time of circulation also the magnitude of some milliseconds owing to completing on general computing machine, so the data visualization of motor position data and aerodynamic force is synchronous acquisition.The position data that last TT&C software is returned to three motors generates coordinate conversion matrix, just can generate lift and the thrust of wing after multiplying each other with aerodynamic data, and be kept in electrical form with the form of two-dimensional array.
Three Degree Of Freedom flapping wing test TT&C software is used the Labview language compilation, can under the Windows graphics environment, move.Motor movement parameter importation can be to the kinematic parameter independent input of motor, and the beginning with definition at zero point, motion with the function such as stop; The data that the balance data display unit can record miniature power/torque sensor are selected and are shown with the curve map form; Motor movement shows that part can demonstrate the characteristics of motion curve of three motors in real time; The environmental variance importation can, to the input of the environmental parameters such as the atmospheric pressure of experimental enviroment, temperature, wind speed, be kept in identical file together with other test figures; Whether data recording portion can select save data image and data precision figure place.
The computing machine of TT&C system uses the notebook computer with at least 2 USB interface, DC micromotor uses the FAULHABER2036_012B brshless DC motor, speed reduction unit is used the speed reduction unit that FAULHABER20/1 series reduction gear ratio is 43:1, electric machine controller uses FAULHABER series MCBL3006C controller, by the 24V switching power supply, powered, scrambler uses linear hall sensor, six component force/torque sensor are used the Nano17 of ATI company multiaxis power/moment SI-12-0.12 sensor and with the signal condition box, data collecting card is used the USB-6251 data collecting card of American National instrument company (NI).
Three Degree Of Freedom flapping wing test platform by mechanism's combination, is realized compound fluttering by the rotation of motor on wing.In order to meet the ordinary test requirement, this mechanism need to allow the maximum amplitude of fluttering of wing to be not less than 30 °, and the maximum twist amplitude is not less than 1/2 of the amplitude of fluttering, and the maximum amplitude of scanning is not less than 1/2 of the amplitude of fluttering.
In simultaneity factor, the performance of micromachine used is extremely important in controlling the wing motion.Be not less than 8Hz in order to meet the wing maximum frequency of fluttering, and the amplitude of fluttering is without the requirement of star's decay when high frequency motion, must selects power higher and can guarantee motor and the electric machine controller of kinematic accuracy.FAULHABER2036_012B brushless dc acc power is 20W, and maximum speed is 17600r/min, and the highest angular acceleration is 114 * 103rad/s2, and mechanical time constant is 16ms, can meet the motion requirement of wing.The MCBL3006C controller is a kind of Multipurpose electric machine controller, adopts the CAN bus to carry out data transmission, and transfer rate can reach 1Mb/s, and controller inside comprises the high-speed dsp chip, can in very large velocity range, to micromachine, realize high-precision position control.
The flight force and moment order of magnitude produced due to mini-sized flap wings is all very little, and the aerodynamic data produced in order accurately to record wing, need survey sensor that enough measuring accuracy are arranged, and the capture card transmission speed is very fast, the loss of data phenomenon can not occur.Nano17 multiaxis power/torque sensor Measurement Resolution is 1/256N, and deadweight is only 9.4g, maximum moment range ± 120Nmm, and the aerodynamic force that can produce flapping wing carries out high-acruracy survey.The USB-6251 of NI company data collecting card has 16 paths, and resolution is 16bit, and sampling rate is 1.25MS/s, can meet collection and transmission demand to surveyed aerodynamic data.
Testing wind-tunnel used is a small-sized DC closed type direct current wind-tunnel, the experimental section size: length * wide * height=1.05m * 1.2m * 2.0m, stablize wind speed range: 3～20.7m/s, turbulivity: 0.25%.Experimental situation design parameter: 25 ℃ of temperature, atmospheric pressure 96.96kpa, atmospheric density 1.1916kg/m3, μ=1.8E-5, Re=500000.
While being tested, at first test platform is placed in wind-tunnel to the amplitude of fluttering, data sampling rate and the sampling time of required duration of fluttering of input, the frequency of fluttering, three degree of freedom in the control module of Three Degree Of Freedom flapping wing test TT&C software.Open wind-tunnel and wind speed is adjusted to preset value, click " opening bus " button in TT&C software, and establish a connection between electric machine controller; Click in order " enabling " and " fluttering " button, this software just can be converted to inputted kinematic variables respectively the target location of 3 motor tests each discrete time point in the time, send to motor by electric machine controller, thereby realize required forms of motion on wing.After stablizing wait fluttering, one or more power that selection need to be recorded in the measurement module of TT&C software/moment data and filtering mode, after click " measurement " button, TT&C software will convert these data process data processing modules to two-dimensional array.Click " preservation " button, just test figure can be preserved the form with electrical form.
In addition, in " recorded data " tab of TT&C software, can observe real time data that miniature six component force/torque sensor measures with by electric current, the magnitude of voltage of micromachine; In Settings Tab, can be selected hardware setting such as the calibration file of power/torque sensor, CAN interface index, capture card numberings.
The M curve figure of three directions of wing in this process of the test is resulting and corresponding motor position curve are as shown in Figure 4, from this figure, can find out wing carry out three-dimensional while fluttering the measured moment of miniature six component force/torque sensor be obvious cyclical variation, line smoothing is stable.Can carry out more deep Aerodynamic Analysis and comparative study in change after trystate, for the mechanism research of flapping wing aircraft aerodynamic force and the track optimizing of fluttering provide reliable test figure.
Claims (2)
1. a three-freedom miniature flapping wing is tested TT&C system, comprise computing machine, interface adapter, electric machine controller, micromachine, scrambler, three-dimensional flapping mechanism, miniature power/the torque sensor of six components, signal condition box and data collecting card, it is characterized in that: computing machine connects three electric machine controllers by interface adapter, control respectively three micromachines, the output terminal of micromachine is connected with three-dimensional flapping mechanism, the output of three-dimensional flapping mechanism connects the miniature power/torque sensor of six components, miniature power/the torque sensor of six components directly is connected with the test wing, the afterbody of each micromachine is equipped with scrambler, and the output terminal of scrambler is connected with electric machine controller, the output signal of the miniature power/torque sensor of six components is connected with the signal condition box, the voltage signal that the signal condition box records the miniature power/torque sensor of six components is connected with the input end of data collecting card after amplifying, and the output terminal of data collecting card is connected with computing machine.
2. three-freedom miniature flapping wing according to claim 1 is tested TT&C system, it is characterized in that: described computing machine comprises motion-control module, motion measurement module, aerodynamic force measurement module, data disaply moudle, data processing module and data preservation module.Three micromachines of motion-control module synchro control move back and forth according to the cyclical movement curve of setting, and by three-dimensional flapping mechanism by described to-and-fro movement combination, the three-dimensional of generation arbitrary form is fluttered; The motion measurement module is carried out Real-time Collection by electric machine controller to the instantaneous position in the motor movement process; The aerodynamic data that the aerodynamic force measurement module records the miniature power/torque sensor of six components by data collecting card is measured in real time; The geometric relationship of the data based flapping mechanism of motor position that data processing module records the motion measurement module is converted to the movement angle of wing three degree of freedom, after the wing angle-data is brought into to the aerodynamic force coordinate conversion matrix, aerodynamic data is converted to lift and the thrust of wing with respect to earth axes, finally generates aerodynamic force, the wing position test findings corresponding with the time of fluttering; Data disaply moudle demonstrates the power/M curve of wing and the movement position curve of three directions in real time; Data are preserved module all data of each measurement module and data processing module generation are preserved.
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Application publication date: 20131225 |