CN106289708A - Pose scaling method for the motion of captive trajectory wind tunnel test - Google Patents
Pose scaling method for the motion of captive trajectory wind tunnel test Download PDFInfo
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- CN106289708A CN106289708A CN201610594904.0A CN201610594904A CN106289708A CN 106289708 A CN106289708 A CN 106289708A CN 201610594904 A CN201610594904 A CN 201610594904A CN 106289708 A CN106289708 A CN 106289708A
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M9/00—Aerodynamic testing; Arrangements in or on wind tunnels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The present invention is provided to the pose scaling method of the motion of captive trajectory wind tunnel test, the method is for using six bar parallel moving mechanisms in captive trajectory wind tunnel test, set up the relation between model center-of-mass coordinate and model attitude angle and motor code-disc value, obtain the unknown parameter in captive trajectory wind tunnel test six bar parallel moving mechanism accordingly.First the present invention determines the mathematical model structure of captive trajectory wind tunnel test six bar parallel moving mechanism according to theoretical derivation, then survey calculation is along the silent flatform Hooke's hinge centre coordinate of guide rail whole process, relation between matching silent flatform Hooke's hinge centre coordinate and motor code-disc value, afterwards by measuring the pose of fixed point, utilize nonlinear least square method, unknown parameter in getting parms model, it is achieved the pose staking-out work to captive trajectory wind tunnel test six bar parallel moving mechanism.The present invention may be used for the pose of six bar parallel moving mechanisms of captive trajectory wind tunnel test and demarcates, and the location accuracy of pose is high.
Description
Technical field
The invention belongs to wind tunnel test field, be specifically related to the position of a kind of motion for captive trajectory wind tunnel test
Appearance scaling method.
Background technology
Store Combinations track capture wind tunnel test (Captive Trajectory System, CTS).It is outside a kind of measurement
Hang the experimental technique of thing dropping trajectory, be wind tunnel test, Fluid Mechanics Computation test and the combination of flight mechanics test.
Captive trajectory wind tunnel test needs a set of six-freedom motion mechanism that can accurately control.Six-freedom motion mechanism
Can be series connection six-freedom motion mechanism, it is also possible to be six-freedom motion mechanism in parallel.Compared to series connection six degree of freedom fortune
Motivation structure, six-freedom motion mechanism in parallel has positioning precision height, movement velocity is fast, rigidity is big, blockage percentage is little and carrying energy
The feature that power is strong.At present, the six-freedom motion mechanism being used for captive trajectory testing both at home and abroad is all series connection six-freedom motion
Mechanism, parallel connection six-freedom motion mechanism is for the first time used for captive trajectory testing by the present invention.
Parallel moving mechanism for captive trajectory wind tunnel test, it is desirable to driving force is big, space is big and blockage percentage is most
The least, the most typically use motor to drive silent flatform, long fulcrum bar and the 6-PTRT parallel institution of petty action platform layout.
Captive trajectory wind tunnel test requires to realize being accurately positioned pose, with accurate simulation store Combinations during blowing
Dropping trajectory.The position error of parallel institution is caused by many factors, mainly includes processing and the dress of each component of parallel institution
Join error that error, temperature and deformation under load causes, error etc. that vibration causes.The manufacturing and positioning errors of part, component
Gap equal error between deformation, kinematic pair can account for the 60%-70% of whole error.Carrying out Kinematic Calibration is to reduce parallel machine
The effective means of structure position error.Kinematic Calibration method both domestic and external according to metering system difference can be divided into self-calibrating method and
Outer scaling method.Self-calibrating method is by internal sensor survey calculation model pose, and outer scaling method utilizes external sensor to survey
Amount model pose.
The parallel institution of captive trajectory wind tunnel test is according to self-calibrating method, and built-in sensors will enlarging mechanism stifled
Plug degree, and in process of the test, built-in sensors is the most impaired.
Summary of the invention
The present invention uses outer scaling method, with absolute measurement arm as survey tool, by measuring and the essence of moving platform consolidation
Finished cross calibrated mount.Inverse Kinematics Solution and motor code-disc value is utilized to establish Kinematic Calibration model based on inverse solution,
Utilize method of least square that six-degree-of-freedom parallel connection mechanism has been carried out Kinematic Calibration.
It is an object of the invention to: for using the captive trajectory wind tunnel test of six bar parallel moving mechanisms to model pose
Positioning accuracy request, it is provided that the scaling method of a kind of model pose.
The technical scheme is that
For the pose scaling method of the motion of captive trajectory wind tunnel test, it comprises the steps:
(1) mathematical model of the six bar parallel moving mechanisms for captive trajectory wind tunnel test is built；
(2) wind tunnel axis system is set up；
(3) measure wind tunnel side wall guide rail coordinate of silent flatform fixing point in journey, and converted according to wind tunnel axis system
For the coordinate of hinge centres on silent flatform, matching silent flatform hinge centres coordinate is about the linear formula of motor code-disc value；
(4) Selection Model name pose sequence 1 is as demarcating pose sequence, and the demarcation pose of measurement model, acquisition is used for
The Model Measured pose data demarcated, and according to linear about motor code-disc value of mathematical model and silent flatform hinge centres coordinate
Formula calculates motor code-disc Value Data；
(5) using Model Measured pose data and motor code-disc Value Data as input, nonlinear least square method is utilized to obtain
Take unknown structure parameter；
(6) Selection Model name pose sequence 2 is as verification pose sequence, and the verification pose of measurement model, acquisition is used for
The Model Measured pose data of verification, and according to the mistake of calibrated Model Measured pose Yu the Model Measured pose data of verification
Difference determines the location accuracy of captive trajectory wind tunnel test；
(7) if location accuracy is not up to the pose accuracy requirement of captive trajectory wind tunnel test, (4)～(6) step is repeated,
If location accuracy reaches the accuracy requirement of captive trajectory wind tunnel test, staking-out work terminates.
Preferably, in the pose scaling method of the described motion for captive trajectory wind tunnel test, according to
In the structure type of six bar parallel moving mechanisms of captive trajectory wind tunnel test, six bars are in parallel to utilize Inverse Kinematics Solution relation to determine
The Nonlinear Parameterization model of mechanism.
Preferably, in the pose scaling method of the described motion for captive trajectory wind tunnel test, described six
Bar parallel moving mechanism is 6-PTRT parallel institution.
Preferably, in the pose scaling method of the described motion for captive trajectory wind tunnel test, described six
Bar parallel moving mechanism has 6 side chains, every side chain has under 5 unknown parameters, respectively bar length, model coordinate systems dynamic
Platform hinge center is relative to the x coordinate error of silent flatform hinge centres under the coordinate of model barycenter, wind tunnel axis system.
Preferably, in the pose scaling method of the described motion for captive trajectory wind tunnel test, with as follows
Method sets up wind tunnel axis system:
One square chest is connected on wind tunnel side wall face, and makes the upper plane of square chest parallel with the lower wall surface of wind-tunnel entrance,
Use a fixing point on mutually perpendicular three faces of absolute measurement arm measure square chest and wind tunnel wall, thus set up square chest coordinate
System, moves to wind tunnel axis system by mobile initial point by square chest coordinate system.
Preferably, in the pose scaling method of the described motion for captive trajectory wind tunnel test, choose
Demarcation pose sequence needs to meet and requires as follows:
(1) number demarcating pose is at least 5；
(2) selected demarcation pose sequence is nonsingular, and goes through 6 degree of freedom, and 6 degree of freedom include that x is to translation, y
To translation, z to translation, elevating movement, yawing rotation and rolling movement.
Preferably, in the pose scaling method of the described motion for captive trajectory wind tunnel test, choose
Verification pose sequence 6 degree of freedom of traversal.
Present invention advantage compared with prior art is: the method uses six bars also in captive trajectory wind tunnel test
Connection motion, sets up the relation between model center-of-mass coordinate and model attitude angle and motor code-disc value, obtains accordingly capturing rail
Unknown parameter in mark wind tunnel test six bar parallel moving mechanism.First the present invention determines captive trajectory wind-tunnel according to theoretical derivation
Testing the mathematical model structure of six bar parallel moving mechanisms, then survey calculation is sat along the silent flatform Hooke's hinge center that guide rail is omnidistance
Mark, the relation between matching silent flatform Hooke's hinge centre coordinate and motor code-disc value, afterwards by measuring the pose of fixed point, profit
With nonlinear least square method, the unknown parameter in getting parms model, it is achieved in parallel to captive trajectory wind tunnel test six bar
The pose staking-out work of motion.The present invention may be used for the pose of six bar parallel moving mechanisms of captive trajectory wind tunnel test
Demarcating, the location accuracy of pose is high.
Part is embodied by the further advantage of the present invention, target and feature by description below, and part also will be by this
Invention research and practice and be understood by the person skilled in the art.
Accompanying drawing explanation
The flow process of the pose scaling method of the motion for captive trajectory wind tunnel test that Fig. 1 provides for the present invention
Figure；
Six bars in the pose scaling method of the motion for captive trajectory wind tunnel test that Fig. 2 provides for the present invention
The structural representation of parallel moving mechanism；
Wind-tunnel in the pose scaling method of the motion for captive trajectory wind tunnel test that Fig. 3 provides for the present invention
The position relationship schematic diagram of coordinate system and square chest；
Wind-tunnel in the pose scaling method of the motion for captive trajectory wind tunnel test that Fig. 4 provides for the present invention
Test schematic diagram.
Detailed description of the invention
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to description literary composition
Word can be implemented according to this.
Should be appreciated that used herein such as " have ", " comprising " and " including " term do not allot one or many
Other element individual or the existence of a combination thereof or interpolation.
As it is shown in figure 1, the invention provides a kind of pose scaling method for captive trajectory wind tunnel test motion,
Including:
(1) captive trajectory wind tunnel test six bar parallel moving mechanism mathematical model structure is determined.
Described six bar parallel moving mechanisms in step (1) are 6-PTRT parallel institution, as shown in Figure 2.Parallel institution
Having 6 side chains, every side chain can provide the equation of formula (1) under a pose, i.e. demarcate mathematical model.
AixI side chain moves ball pivot hinge x coordinate after coordinate transform under wind tunnel axis system
AiyI side chain moves ball pivot hinge y-coordinate after coordinate transform under wind tunnel axis system
AizI side chain moves ball pivot hinge z coordinate after coordinate transform under wind tunnel axis system
xia,xibI side chain quiet ball pivot hinge x coordinate is about the slope of motor code-disc value and intercept
yia,yibI side chain quiet ball pivot hinge y-coordinate is about the slope of motor code-disc value and intercept
zia,zibI side chain quiet ball pivot hinge z coordinate is about the slope of motor code-disc value and intercept
hiI side chain motor code-disc value
LiI side chain bar is long
In formula (1):
In formula (2):
aixI side chain moves ball pivot hinge x coordinate under model coordinate systems
aiyI side chain moves ball pivot hinge y-coordinate under model coordinate systems
aizI side chain moves ball pivot hinge z coordinate under model coordinate systems
TwmModel coordinate is tied to the transition matrix of wind tunnel axis system
Formula (1) and formula (2) collectively constitute the mathematical model of parallel institution Inverse Kinematics Solution relation.
(2) absolute measurement arm is used to set up wind tunnel axis system
The described method setting up wind tunnel axis system in step (2) is: be connected on wind tunnel side wall face by a square chest, and
And make the upper plane of square chest parallel with the lower wall surface of wind-tunnel porch, use mutually perpendicular three of absolute measurement arm measure square chest
A fixing point on face and wind tunnel wall, as shown in Figure 3.Square chest coordinate system is set up by three faces and a point.Here square chest is sat
Mark system is consistent with wind tunnel axis system three direction of principal axis, and only initial point is different.Absolute measurement arm measure wind tunnel axis system initial point is used to exist
Coordinate under square chest coordinate system, moves to wind tunnel axis system by square chest coordinate system.
(3) use absolute measurement arm measure wind tunnel side wall guide rail coordinate of silent flatform fixing point in journey, be converted to quiet flat
The coordinate of platform hinge centres, matching silent flatform hinge centres coordinate is about the linear formula of motor code-disc value.
The described silent flatform in step (3) moves forward and backward along wind tunnel side wall guide rail, and the position of movement is by motor code-disc value
Characterize.Silent flatform progressively moves to guide rail front end from guide rail rear end, uses absolute measurement arm measure silent flatform solid after often step puts in place
Fixed point coordinate under wind tunnel axis system.According to silent flatform fixing point and the geometry site of silent flatform hinge centres, calculate
Go out silent flatform hinge centres coordinate under wind tunnel axis system.
Owing to the x-axis in line slideway direction Yu wind tunnel axis system exists angle, the present invention establishes silent flatform hinge centres
Coordinate under wind tunnel axis system is about the linear relationship between motor code-disc value, such as formula (3).
Have 6 guide rails, therefore have 6 groups of silent flatform hinge centres coordinates about the linear public affairs between motor code-disc value
Formula.
(4) Selection Model name pose sequence 1 is as demarcating pose sequence, uses absolute measurement arm measure model pose,
Obtain the Model Measured pose data 1 for demarcating and motor code-disc Value Data 1.
Demarcation pose sequence in described step (4) needs to meet: pose quantity must be more than 5, and pose must go through 6
Individual degree of freedom, 6 degree of freedom be x to translation, y to translation, z to translation, elevating movement, yawing rotation and rolling movement.According to
Demarcate pose sequence, solve motor code-disc value 1 according to formula (1), and make model according to mark according to motor code-disc value 1 control motor
Location appearance sequence motion, uses the pose of absolute measurement arm progressively measurement model to obtain Model Measured pose.
(5) obtain parallel institution unknown structure parameter: using actual measurement model pose data 1 and motor code-disc value 1 as
Input, utilizes nonlinear least square method to obtain unknown structure parameter, obtains calibrated Pose Control program.
Parallel institution in described step (5) has 6 side chains, and every side chain has 5 unknown structure parameters, respectively
For: under bar length, model coordinate systems, moving platform hinge centres is relative to silent flatform hinge under the coordinate of model barycenter, wind tunnel axis system
The x coordinate error at center.For every side chain, the method obtaining unknown structure parameter is nonlinear least square method, with actual measurement
Model pose data 1 and motor code-disc value 1 as input, and introduce object function, see formula (4).
Wherein n is the number of model pose,For the code-disc value calculated according to formula (1), hjFor motor code-disc value 1.Use non-
Linear least square obtains the structural parameters combination making object function minimum.
(6) Selection Model name pose sequence 2 is as verification pose sequence, uses the position of absolute measurement arm measure model
Appearance, obtains the Model Measured pose data for verification, compares Model Measured pose and determines capture rail with the error verifying pose
The location accuracy of mark wind tunnel test.
Verification pose sequence in described step (6) needs to go through 6 degree of freedom.The structure ginseng that will obtain in step (5)
In number substitution formula (1), calculate the motor code-disc value 2 that verification pose is corresponding, and make model sport with this code-disc value control motor,
Using the pose of absolute measurement arm measure model, it is thus achieved that Model Measured pose 2, location accuracy represents with limit error, sees formula
(5)。
εi=xi-xinorm (5)
Wherein xiFor Model Measured pose 2, xinormFor verification pose sequence, εiFor location accuracy.
(7) according to the result of verification, if location accuracy is not up to the pose accuracy requirement of captive trajectory wind tunnel test, weight
Multiple (4)～(6) step, if location accuracy reaches the accuracy requirement of captive trajectory wind tunnel test, staking-out work terminates.
The pose accuracy of the captive trajectory wind tunnel test in described step (7) requires as shown in table 1.
Table 1 captive trajectory testing pose accuracy requirement
| Axially displacement error (mm) | ±0.1 |
| Vertical displacement error (mm) | ±0.1 |
| Lateral displacement error (mm) | ±0.1 |
| Angle of pitch error (°) | ±0.05 |
| Yaw angle error (°) | ±0.05 |
| Roll angle error (°) | ±0.05 |
The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.
Although embodiment of the present invention are disclosed as above, but it is not restricted in description and embodiment listed
Using, it can be applied to various applicable the field of the invention completely, for those skilled in the art, and can be easily
Realizing other amendment, therefore under the general concept limited without departing substantially from claim and equivalency range, the present invention does not limit
In specific details with shown here as the legend with description.
Claims (7)
1. it is used for the pose scaling method of the motion of captive trajectory wind tunnel test, it is characterised in that comprise the steps:
(1) mathematical model of the six bar parallel moving mechanisms for captive trajectory wind tunnel test is built；
(2) wind tunnel axis system is set up；
(3) measure wind tunnel side wall guide rail coordinate of silent flatform fixing point in journey, and be scaled according to wind tunnel axis system quiet
The coordinate of hinge centres on platform, matching silent flatform hinge centres coordinate is about the linear formula of motor code-disc value；
(4) Selection Model name pose sequence 1 is as demarcating pose sequence, and the demarcation pose of measurement model obtains and is used for demarcating
Model Measured pose data, and according to mathematical model and silent flatform hinge centres coordinate about the linear formula of motor code-disc value
Calculate motor code-disc Value Data；
(5) using Model Measured pose data and motor code-disc Value Data as input, nonlinear least square method is utilized to obtain not
Know structural parameters；
(6) Selection Model name pose sequence 2 is as verification pose sequence, the verification pose of measurement model, obtains and is used for verifying
Model Measured pose data, and come according to the error of calibrated Model Measured pose and the Model Measured pose data of verification
Determine the location accuracy of captive trajectory wind tunnel test；
(7) if location accuracy is not up to the pose accuracy requirement of captive trajectory wind tunnel test, (4)～(6) step is repeated, if
Location accuracy reaches the accuracy requirement of captive trajectory wind tunnel test, and staking-out work terminates.
2. the pose scaling method of the motion for captive trajectory wind tunnel test as claimed in claim 1, its feature exists
In, according to the structure type of the six bar parallel moving mechanisms for captive trajectory wind tunnel test, utilize Inverse Kinematics Solution relation true
The Nonlinear Parameterization model of fixed six bar parallel institutions.
3. the pose scaling method of the motion for captive trajectory wind tunnel test as claimed in claim 2, its feature exists
In, described six bar parallel moving mechanisms are 6-PTRT parallel institution.
4. the pose scaling method of the motion for captive trajectory wind tunnel test as claimed in claim 3, its feature exists
In, described six bar parallel moving mechanisms have 6 side chains, and every side chain has 5 unknown parameters, respectively bar length, model
Under coordinate system, moving platform hinge centres is relative to the x coordinate of silent flatform hinge centres under the coordinate of model barycenter, wind tunnel axis system
Error.
5. the pose scaling method for captive trajectory wind tunnel test motion as claimed in claim 1, it is characterised in that
Set up wind tunnel axis system in the following manner:
One square chest is connected on wind tunnel side wall face, and makes the upper plane of square chest parallel with the lower wall surface of wind-tunnel entrance, use
A fixing point on mutually perpendicular three faces of absolute measurement arm measure square chest and wind tunnel wall, thus set up square chest coordinate system,
By mobile initial point, square chest coordinate system is moved to wind tunnel axis system.
6. the pose scaling method of the motion flown for captive trajectory wind tunnel test as claimed in claim 1, its feature
Being, the demarcation pose sequence chosen needs to meet and requires as follows:
(1) number demarcating pose is at least 5；
(2) selected demarcation pose sequence is nonsingular, and goes through 6 degree of freedom, 6 degree of freedom include x to translation, y to flat
Shifting, z are to translation, elevating movement, yawing rotation and rolling movement.
7. the pose scaling method of the motion for captive trajectory wind tunnel test as claimed in claim 1, its feature exists
In, verification pose sequence 6 degree of freedom of traversal chosen.
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| CN106918434A (en) * | 2017-05-02 | 2017-07-04 | 中国空气动力研究与发展中心超高速空气动力研究所 | A kind of six degree of freedom captive trajectory testing method of online avoidance |
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| CN106918434A (en) * | 2017-05-02 | 2017-07-04 | 中国空气动力研究与发展中心超高速空气动力研究所 | A kind of six degree of freedom captive trajectory testing method of online avoidance |
| CN107121256A (en) * | 2017-05-02 | 2017-09-01 | 中国空气动力研究与发展中心超高速空气动力研究所 | A kind of six degree of freedom captive trajectory testing method of continuous in-orbit motion |
| CN107121256B (en) * | 2017-05-02 | 2018-10-09 | 中国空气动力研究与发展中心超高速空气动力研究所 | A kind of six degree of freedom captive trajectory testing method of continuous in-orbit movement |
| CN107991054A (en) * | 2017-11-08 | 2018-05-04 | 江西洪都航空工业集团有限责任公司 | A kind of captive trajectory experimental method |
| CN107991054B (en) * | 2017-11-08 | 2019-10-18 | 江西洪都航空工业集团有限责任公司 | A kind of captive trajectory experimental method |
| CN107860545A (en) * | 2017-12-04 | 2018-03-30 | 中国航空工业集团公司沈阳空气动力研究所 | The six degree of freedom system of large-scale transonic wind tunnel big load model captive trajectory testing |
| CN107860545B (en) * | 2017-12-04 | 2024-04-12 | 中国航空工业集团公司沈阳空气动力研究所 | Six-degree-of-freedom system for large transonic wind tunnel large load model capture track test |
| CN108195552A (en) * | 2018-03-20 | 2018-06-22 | 南京航空航天大学 | A kind of high-speed wind tunnel unmanned plane drop-test mechanism |
| CN111693246A (en) * | 2020-06-23 | 2020-09-22 | 中国空气动力研究与发展中心超高速空气动力研究所 | Method for distributing motion of main body and separating body track capture experiment of continuous on-orbit motion |
| CN112067248A (en) * | 2020-07-27 | 2020-12-11 | 中国航天空气动力技术研究院 | Nine-degree-of-freedom capture track test device and method for two-stage motion |
| CN112067248B (en) * | 2020-07-27 | 2022-09-23 | 中国航天空气动力技术研究院 | Nine-degree-of-freedom capture track test device and method for two-stage motion |
| CN111929023A (en) * | 2020-08-11 | 2020-11-13 | 日照坤仑智能科技有限公司 | Aircraft model driving system in wind tunnel and performance measuring method |
| CN112014062A (en) * | 2020-08-19 | 2020-12-01 | 中国航天空气动力技术研究院 | Pose measurement system and measurement method for wind tunnel free flight test model |
| CN112577708A (en) * | 2020-12-29 | 2021-03-30 | 中国航天空气动力技术研究院 | High-enthalpy shock tunnel engine push resistance measurement system method based on backlight imaging |
| CN113358325A (en) * | 2021-07-02 | 2021-09-07 | 中国空气动力研究与发展中心低速空气动力研究所 | Wind tunnel object throwing position and posture measuring method, device, equipment and storage medium |
| CN114441133A (en) * | 2021-12-28 | 2022-05-06 | 中国航天空气动力技术研究院 | Pose calibration method and device for wind tunnel test attack angle-double-rotating-shaft mechanism |
| CN114441133B (en) * | 2021-12-28 | 2023-06-06 | 中国航天空气动力技术研究院 | Pose calibration method and equipment for attack angle-double-rotating-shaft mechanism for wind tunnel test |
| CN116399543A (en) * | 2023-04-10 | 2023-07-07 | 四川省机械研究设计院(集团)有限公司 | Six-degree-of-freedom wind tunnel model supporting system based on Hexaglide parallel mechanism and control method |
| CN116399543B (en) * | 2023-04-10 | 2023-12-12 | 四川省机械研究设计院(集团)有限公司 | Six-degree-of-freedom wind tunnel model supporting system based on Hexaglide parallel mechanism and control method |
| CN117168312A (en) * | 2023-11-03 | 2023-12-05 | 中国航空工业集团公司沈阳空气动力研究所 | Method for measuring deicing track of rotating component in icing wind tunnel |
| CN117168312B (en) * | 2023-11-03 | 2024-01-26 | 中国航空工业集团公司沈阳空气动力研究所 | Method for measuring deicing track of rotating component in icing wind tunnel |
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