CN106840587B - Six degree of freedom wind tunnel test end position and attitude error penalty method based on six-dimensional force measurement - Google Patents
Six degree of freedom wind tunnel test end position and attitude error penalty method based on six-dimensional force measurement Download PDFInfo
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- CN106840587B CN106840587B CN201611268345.0A CN201611268345A CN106840587B CN 106840587 B CN106840587 B CN 106840587B CN 201611268345 A CN201611268345 A CN 201611268345A CN 106840587 B CN106840587 B CN 106840587B
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
A kind of six degree of freedom wind tunnel test end position and attitude error compensation method based on six-dimensional force measurement, it solves under the effect of unsteady aerodynamic loading, the execution end of mechanism in six degree of freedom generates very important elastic deformation error in the flexible deformation of different positions and pose, so that the problem of influencing the accuracy and reliability of wind tunnel test.Its packet step includes an end flexible deformation database for establishing execution end flexible deformation about the execution end of different positions and pose under the action of six component force of unit an of mechanism in six degree of freedom；According to end flexible deformation database, an end position and attitude error compensation database about six driving motor movement rotation angle of the execution end under different positions and pose is established；And when the mechanism in six degree of freedom carries out wind tunnel test, the error of the execution end of the mechanism in six degree of freedom is compensated according to the end position and attitude error compensation database.
Description
Technical field
The present invention relates to a kind of space mechanism in six degree of freedom for the test of wind-tunnel Multi-bodies Separation, belong to hypersonic wind tunnel
Test field, more particularly, to a kind of six degree of freedom wind tunnel test end position and attitude error compensation method based on six-dimensional force measurement.
Background technique
The test of hypersonic wind tunnel Multi-bodies Separation, be hypersonic wind tunnel carry out all kinds of hypersonic aircraft main bodys with
Safe separating characteristic and aerodynamic characteristic simulation test research between chorista.In the test of wind-tunnel mechanism in six degree of freedom, due to
Mechanism is not absolute rigidity, and flexible deformation can be generated by executing end effect loaded.It is acted in unsteady aerodynamic loading
Under, it executes end and generates very important elastic deformation error in the flexible deformation of different positions and pose, influence the precision of mechanism, use
Service life, the accuracy and authenticity of experimental data, even if installation, the assembly of mechanism can expire well in the processing of mechanism part
Sufficient condition, it is still necessary to carrying out error compensation to the flexible deformation of the execution end of mechanism.Therefore, the present invention provides a kind of base
In the six degree of freedom wind tunnel test end position and attitude error compensation method of six-dimensional force measurement, to solve the above problems.
Summary of the invention
The technical problem to be solved by the present invention is in the wind-tunnel six degree of freedom for carrying out the test of hypersonic wind tunnel Multi-bodies Separation
In mechanism, not being due to the mechanism in six degree of freedom is absolute rigidity, the execution end work loaded of the mechanism in six degree of freedom
With that can generate flexible deformation, the mechanism in six degree of freedom executes end in the bullet of different positions and pose under the effect of unsteady aerodynamic loading
Property deformation generate very important elastic deformation error so that influencing the accuracy and reliability of wind tunnel test.
Therefore, the purpose of the present invention is to provide a kind of six degree of freedom wind tunnel test end poses based on six-dimensional force measurement
Error compensating method is to solve the above problems, the six degree of freedom wind tunnel test end pose that should be measured based on six-dimensional force of the invention
Error compensating method is the technical solution adopted is that include the following steps:
1, in wind tunnel test system, the execution terminal model for establishing the mechanism in six degree of freedom is acted in six component force of unit
The elastic deformation error table that the flexible deformation of lower different positions and pose is constituted, i.e. the execution end of the mechanism in six degree of freedom is in different positions
Correspond to the transition matrix of end elastic deformation error amount under appearance；
2, it is based on above-mentioned transition matrix, by Inverse Kinematics Solution, by the execution terminal model of the mechanism in six degree of freedom in list
The anti-solution of elastic deformation error table that the flexible deformation that six component forces of position act on lower different positions and pose is constituted obtains and establishes different positions and pose
The end position and attitude error of six rotation angles compensates table；
3, at a time elastic deformation error is retrieved when a certain pose in the execution end of the mechanism in six degree of freedom
Table obtains the elastic deformation error amount that six component force of unit under the pose acts on the execution end of the lower mechanism in six degree of freedom.Root
According to the six component dynamic force of end of balance real-time measurement inside terminal model, the end that sextuple dynamic force flexible deformation generates is obtained
Position and attitude error corrects six rotation angles based on end position and attitude error compensation table in real time, so that total travel dynamic compensates pneumatic carry
The elastic deformation error that lotus effect generates, reduces the elastic deformation error of aerodynamic loading.
The present invention further provides a kind of six degree of freedom wind tunnel test end position and attitude error compensation based on six-dimensional force measurement
Method comprising:
Step 1, execution end different positions and pose under the action of six component force of unit an of mechanism in six degree of freedom is established
One end flexible deformation database of the flexible deformation about the execution end；
Step 2, according to end flexible deformation database, the execution end driving under different positions and pose about six is established
One end position and attitude error compensation database of the movement rotation angle of motor；And
Step 3, when the mechanism in six degree of freedom carries out wind tunnel test, according to the end position and attitude error compensation database to this
The error of the execution end of mechanism in six degree of freedom compensates.
As to the six degree of freedom wind tunnel test end position and attitude error compensation method that should be measured based on six-dimensional force of the invention
Further preferred embodiment further comprise step in the step 3:
Step 3.1, it when the execution end of the mechanism in six degree of freedom is at a time in a certain pose, is based on executing end
The real-time loaded measurement of six component forces is held, flexible deformation database obtains the execution end under the moment pose by the end
Deflection；
Step 3.2, according to the deflection and the end position and attitude error offset data under execution end moment pose
Library obtains the compensation rate for needing to compensate the execution end；And
Step 3.3, the deformation of the execution end of the mechanism in six degree of freedom is compensated according to the compensation rate.
As to the six degree of freedom wind tunnel test end position and attitude error compensation method that should be measured based on six-dimensional force of the invention
Further preferred embodiment pass through the servo electricity of each different freedom degrees of the mechanism in six degree of freedom in the step 3.3
Machine compensates the deformation of the execution end of the mechanism in six degree of freedom according to the compensation rate.
As to the six degree of freedom wind tunnel test end position and attitude error compensation method that should be measured based on six-dimensional force of the invention
Further preferred embodiment the end entire motion space, complete is established by spline curve interpolation method in the step 1
Flexible deformation database under the appearance of position.
Of the invention should be based on the beneficial of the six degree of freedom wind tunnel test end position and attitude error compensation method that six-dimensional force measures
Effect is:
1, this is based on six freedom based on the six degree of freedom wind tunnel test end position and attitude error compensation method that six-dimensional force measures
Spend mechanism execute end measurement elastic error compensation, reduce intermediate link, can efficiently and conveniently reduce this six from
By the elastic deformation error of the execution end of degree mechanism, the authenticity of test data is improved, preferably simulates engineering reality
Situation.
2, wind load distributed force suffered by the execution end of the mechanism in six degree of freedom is transformed into the survey for concentrating on the concentrated force of end
Amount, it is convenient to carry out.
3, by testing, establishing database, each step of database item in test, clear logic reduces data
Processing links have saved the time, improve efficiency, reduce wind tunnel test cost.
Detailed description of the invention
In order to obtain above and other advantage and feature of the invention, tool of the invention shown in hereinafter reference will be made to the drawings
Body embodiment carries out more specific description to the present invention outlined above.It should be understood that these attached drawings illustrate only the present invention
Exemplary embodiments, therefore be not construed as limiting the scope of the present invention, by using attached drawing, the present invention will be carried out more
Specific and more detailed description and elaboration.In the accompanying drawings:
Fig. 1 is the schematic diagram of mechanism in six degree of freedom.
Fig. 2 is the control flow of the six degree of freedom wind tunnel test end position and attitude error compensation method based on six-dimensional force measurement
Schematic diagram.
Fig. 3 is the process signal of the six degree of freedom wind tunnel test end position and attitude error compensation method based on six-dimensional force measurement
Figure.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
As shown in Figure 1, one for pneumatic test mechanism in six degree of freedom include 1, X of a Z-direction movement mechanism to
3, one, the yawing rotation mechanism of movement mechanism 2, one Y-direction moves 4, pitching movement mechanisms 5, the mechanism and a rolling
Movement mechanism 6, wherein the Z-direction movement mechanism 1, the X to movement mechanism 2, the yawing rotation mechanism 3, the Y-direction motion 4,
It is together with the pitching movement mechanism 5 is serially connected with the rolling movement mechanism 6 and non-coupled, to realize the mechanism in six degree of freedom
Each freedom degree independently moving.A balance is arranged in the execution end of the rolling movement mechanism 6, to realize real-time six-dimensional force
Measurement, can measure six component aerodynamic loadings, since the mechanism in six degree of freedom has the characteristic of non-absolute rigidity and is testing
The effect of unsteady amount aerodynamic loading mechanism end is in environment to generate elastic error.
It will be appreciated by those skilled in the art that:
First, inertia force is distributed force, and without considering the time of power transmitting, inertia force acts on the moment of object, object
Deformation is generated immediately, i.e. deformation does not need the time.
Second, flexible deformation is deformed into as caused by inertia force, coefficient of elasticity is constant, it then follows Hooke's law.
The reason of third, the end position and attitude error of the execution end of the mechanism in six degree of freedom caused by inertia force, is sliding block
Deformation and model deform two parts.
4th, the deformation of the execution end of the mechanism in six degree of freedom is continuously, can to integrate.
5th, the displacement of the name movement of the mechanism in six degree of freedom obtained with the method for motion analysis using rigid member
It compares, the elastic displacement very little as caused by component flexible deformation.
6th, this elastic displacement will not influence the name movement of the mechanism in six degree of freedom.
By the 5th point and the 6th point it is recognised that the displacement of the real motion of the mechanism in six degree of freedom is considered as nominal fortune
The superposition of dynamic displacement and elastic displacement, and elastic displacement is considered as the elastic error of the mechanism in six degree of freedom.
It allows the execution end of the mechanism in six degree of freedom to bear aerodynamic loading and is adjusted to six component force measured value of balance difference
For unit load Fx(e), Fy(e), Fz(e), Mx(e), My(e), Mz(e), and the execution end of the mechanism in six degree of freedom is measured in difference
Elastic deformation error under pose, to show that the execution end of the mechanism in six degree of freedom under a certain pose is born unit six and divided
Loading gage lotus and the transition matrix T of elastic deformation error amount generated, wherein formula (1) is its calculating formula:
Finally obtained should be the execution end of mechanism in six degree of freedom in a certain pose (Xi, Yj, Zk, αl, βm, γn) place an order
Six component forces of position act on lower elastic deformation error table, as shown in the table:
Because the position and posture of the execution end of the mechanism in six degree of freedom is more, if end elastic error table is all built
Vertical, it is huge to will cause data, tables look-up and takes a long time, therefore the processing method when building table is to be well positioned to meet the six degree of freedom
In the case where mechanism kinematic performance and precision, certain pose section amount δ x, δ y, δ z, δ α, δ β, δ γ are chosen, measurement is read
Every two pose between be spaced the pose section amount.Due in actual motion, the execution end of the mechanism in six degree of freedom
End movement track be it is continuous, displacement, speed can derivation, integrable, elastic error deformation is also gradual change, so right
When some pose is not in upper table, the end elastic error deformation under the pose is obtained using spline curve interpolation method
Amount.
It is calculated by formula (1) after obtaining end distortion inaccuracy amount Δ x, Δ y, Δ z, Δ α, Δ β, Δ γ with Cha Shangbiao, warp
Inverse kinematic obtains the displacement of the lines margin of error Δ L of six driving sliding blocks1, Δ L2, Δ L3, Δ L4, Δ L5, Δ L6, and final
To the moving angular displacement error compensation amount Δ θ of six driving motorsx, Δ θy, Δ θz, Δ θα, Δ θβ, Δ θγ, in calculating process
Inverse kinematic matrix by matrix H, it is its calculating formula that K, which provides wherein formula (2) and formula (3):
Finally obtained end flexible deformation based on inverse kinematic must under driving motor angular displacement compensation scale it is as follows
Shown in table:
Equally, obtain the end elastic error deflection under a certain pose in table (2) by spline curve interpolation method
One-to-one series, based drive continuity therewith, which can not be found, equally takes spline curve interpolation method to obtain the position
End elastic error under appearance deforms corresponding driving motor angular displacement compensation rate.
When an end pose is (Xr, Yr, Zr, αr, βr, γr), corresponding pose lower end elastic deformation amount is (Δ
xr, Δ yr, Δ zr, Δ αr, Δ βr, Δ γr), corresponding motor angular displacement compensation rate is (Δ θx (r), Δ θy (r), Δ θz (r), Δ
θα (r), Δ θβ (r), Δ θγ (r)).When six component force load of end is (aFx(e) (r), bFy(e) (r), cFz(e) (r), dMx(e) (r),
eMy(e) (r), fMz(e) (r)), then motor angular displacement compensation rate is (a Δ θx (r), b Δ θy (r), c Δ θz (r), d Δ θα (r), e Δ θβ (r),
fΔθγ (r)).By correcting repeatedly, until error is within mechanism allowed band.
As shown in figure 3, the present invention further provides a kind of six degree of freedom wind tunnel test end positions based on six-dimensional force measurement
Appearance error compensating method comprising step:
Step 1, execution end different positions and pose under the action of six component force of unit an of mechanism in six degree of freedom is established
One end flexible deformation database of the flexible deformation about the execution end；
Step 2, according to end flexible deformation database, the execution end rotating under different positions and pose about six is established
One end position and attitude error compensation database of angle；And
Step 3, when the mechanism in six degree of freedom carries out wind tunnel test, according to the end position and attitude error compensation database to this
The error of the execution end of mechanism in six degree of freedom compensates.
Preferably, further comprise step in the step 3:
Step 3.1, when the execution end of the mechanism in six degree of freedom is at a time in a certain pose, pass through the end
Flexible deformation database obtains the deflection of the execution end；
Step 3.2, it according to the deflection of the execution end and the end position and attitude error compensation database, obtains needing to this
Execute the compensation rate that end compensates；And
Step 3.3, the deformation of the execution end of the mechanism in six degree of freedom is compensated according to the compensation rate.
Preferably, in the step 3.3, by the servo motors of each different freedom degrees of the mechanism in six degree of freedom according to
The compensation rate compensates the deformation of the execution end of the mechanism in six degree of freedom.
Preferably, in the step 1, which is established by spline curve interpolation method
Flexible deformation database under pose.
One embodiment of the present invention has been described in detail above, but the content is only preferable implementation of the invention
Example, should not be considered as limiting the scope of the invention.It is all according to all the changes and improvements made by the present patent application range
Deng should still be within the scope of the patent of the present invention.
Claims (4)
1. a kind of six degree of freedom wind tunnel test end position and attitude error compensation method based on six-dimensional force measurement, which is characterized in that should
Based on six-dimensional force measurement the position and attitude error compensation method of six degree of freedom wind tunnel test end include:
Step 1, establish the execution end an of mechanism in six degree of freedom under the action of six component force of unit different positions and pose about
One end flexible deformation database of the flexible deformation of the execution end；
Step 2, according to end flexible deformation database, establish the execution end under different positions and pose about six driving motors
Movement rotation angle an end position and attitude error compensation database；And
Step 3, the mechanism in six degree of freedom carry out wind tunnel test when, according to the end position and attitude error compensation database to this six from
It is compensated by the error of the execution end of degree mechanism.
2. a kind of six degree of freedom wind tunnel test end position and attitude error compensation side based on six-dimensional force measurement as described in claim 1
Method, which is characterized in that further comprise step in the step 3:
Step 3.1, it is real based on end is executed when the execution end of the mechanism in six degree of freedom is at a time in a certain pose
When the loaded measurement of six component forces, by the end, flexible deformation database obtains change of the execution end under the moment pose
Shape amount；
Step 3.2, the deflection according to the execution end under the moment pose and end error compensation under the pose
Database obtains the compensation rate for needing to compensate the execution end；And
Step 3.3, the deformation of the execution end of the mechanism in six degree of freedom is compensated according to the compensation rate.
3. a kind of six degree of freedom wind tunnel test end position and attitude error compensation side based on six-dimensional force measurement as claimed in claim 2
Method, which is characterized in that in the step 3.3, by the servo motors of each different freedom degrees of the mechanism in six degree of freedom according to
The compensation rate compensates the deformation of the execution end of the mechanism in six degree of freedom.
4. a kind of six degree of freedom wind tunnel test end position and attitude error compensation side based on six-dimensional force measurement as described in claim 1
Method, which is characterized in that in the step 1, the execution end entire motion space, whole positions are established by spline curve interpolation method
Flexible deformation database under appearance.
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| CN108225712B (en) * | 2017-12-29 | 2021-07-27 | 中国空气动力研究与发展中心设备设计及测试技术研究所 | Semi-flexible wall throat block and flexible plate control method for continuous transonic wind tunnel jet pipe section |
| CN112964450B (en) * | 2021-02-07 | 2022-05-10 | 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 predicting trajectory of wind tunnel multi-body separation test model |
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| JPH0631462A (en) * | 1992-07-17 | 1994-02-08 | Nissan Motor Co Ltd | Positioning controller for spot welding robot |
| CN103600354A (en) * | 2013-11-08 | 2014-02-26 | 北京卫星环境工程研究所 | Spacecraft mechanical arm flexible follow-up control gravity compensation method |
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2016
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0631462A (en) * | 1992-07-17 | 1994-02-08 | Nissan Motor Co Ltd | Positioning controller for spot welding robot |
| CN103600354A (en) * | 2013-11-08 | 2014-02-26 | 北京卫星环境工程研究所 | Spacecraft mechanical arm flexible follow-up control gravity compensation method |
Non-Patent Citations (1)
| Title |
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| 基于数据库查询的工业机器人误差补偿方法研究;赵俊伟等;《机床与液压》;20081130;全文 |
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